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Update the stereo sample:

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* add the HH4 mode
* option to display disparity with a color map
* display current settings in the title bar
* don't close app when wanting to take screenshots
This commit is contained in:
Pierre-Emmanuel Viel 2020-08-18 16:10:56 +02:00
parent f3cebb3e1b
commit 6d1f7c2b1b
1 changed files with 46 additions and 19 deletions
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65
samples/cpp/stereo_match.cpp
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@ -14,15 +14,16 @@
#include "opencv2/core/utility.hpp"
#include <stdio.h>
#include <sstream>
using namespace cv;
static void print_help(char** argv)
{
printf("\nDemo stereo matching converting L and R images into disparity and point clouds\n");
printf("\nUsage: %s <left_image> <right_image> [--algorithm=bm|sgbm|hh|sgbm3way] [--blocksize=<block_size>]\n"
printf("\nUsage: %s <left_image> <right_image> [--algorithm=bm|sgbm|hh|hh4|sgbm3way] [--blocksize=<block_size>]\n"
"[--max-disparity=<max_disparity>] [--scale=scale_factor>] [-i=<intrinsic_filename>] [-e=<extrinsic_filename>]\n"
"[--no-display] [-o=<disparity_image>] [-p=<point_cloud_file>]\n", argv[0]);
"[--no-display] [--color] [-o=<disparity_image>] [-p=<point_cloud_file>]\n", argv[0]);
}
static void saveXYZ(const char* filename, const Mat& mat)
@ -50,16 +51,17 @@ int main(int argc, char** argv)
std::string disparity_filename = "";
std::string point_cloud_filename = "";
enum { STEREO_BM=0, STEREO_SGBM=1, STEREO_HH=2, STEREO_VAR=3, STEREO_3WAY=4 };
enum { STEREO_BM=0, STEREO_SGBM=1, STEREO_HH=2, STEREO_VAR=3, STEREO_3WAY=4, STEREO_HH4=5 };
int alg = STEREO_SGBM;
int SADWindowSize, numberOfDisparities;
bool no_display;
bool color_display;
float scale;
Ptr<StereoBM> bm = StereoBM::create(16,9);
Ptr<StereoSGBM> sgbm = StereoSGBM::create(0,16,3);
cv::CommandLineParser parser(argc, argv,
"{@arg1||}{@arg2||}{help h||}{algorithm||}{max-disparity|0|}{blocksize|0|}{no-display||}{scale|1|}{i||}{e||}{o||}{p||}");
"{@arg1||}{@arg2||}{help h||}{algorithm||}{max-disparity|0|}{blocksize|0|}{no-display||}{color||}{scale|1|}{i||}{e||}{o||}{p||}");
if(parser.has("help"))
{
print_help(argv);
@ -74,12 +76,14 @@ int main(int argc, char** argv)
_alg == "sgbm" ? STEREO_SGBM :
_alg == "hh" ? STEREO_HH :
_alg == "var" ? STEREO_VAR :
_alg == "hh4" ? STEREO_HH4 :
_alg == "sgbm3way" ? STEREO_3WAY : -1;
}
numberOfDisparities = parser.get<int>("max-disparity");
SADWindowSize = parser.get<int>("blocksize");
scale = parser.get<float>("scale");
no_display = parser.has("no-display");
color_display = parser.has("color");
if( parser.has("i") )
intrinsic_filename = parser.get<std::string>("i");
if( parser.has("e") )
@ -238,6 +242,8 @@ int main(int argc, char** argv)
sgbm->setMode(StereoSGBM::MODE_HH);
else if(alg==STEREO_SGBM)
sgbm->setMode(StereoSGBM::MODE_SGBM);
else if(alg==STEREO_HH4)
sgbm->setMode(StereoSGBM::MODE_HH4);
else if(alg==STEREO_3WAY)
sgbm->setMode(StereoSGBM::MODE_SGBM_3WAY);
@ -254,7 +260,7 @@ int main(int argc, char** argv)
if (disp.type() == CV_16S)
disparity_multiplier = 16.0f;
}
else if( alg == STEREO_SGBM || alg == STEREO_HH || alg == STEREO_3WAY )
else if( alg == STEREO_SGBM || alg == STEREO_HH || alg == STEREO_HH4 || alg == STEREO_3WAY )
{
sgbm->compute(img1, img2, disp);
if (disp.type() == CV_16S)
@ -268,22 +274,13 @@ int main(int argc, char** argv)
disp.convertTo(disp8, CV_8U, 255/(numberOfDisparities*16.));
else
disp.convertTo(disp8, CV_8U);
if( !no_display )
{
namedWindow("left", 1);
imshow("left", img1);
namedWindow("right", 1);
imshow("right", img2);
namedWindow("disparity", 0);
imshow("disparity", disp8);
printf("press any key to continue...");
fflush(stdout);
waitKey();
printf("\n");
}
Mat disp8_3c;
if (color_display)
cv::applyColorMap(disp8, disp8_3c, COLORMAP_TURBO);
if(!disparity_filename.empty())
imwrite(disparity_filename, disp8);
imwrite(disparity_filename, color_display ? disp8_3c : disp8);
if(!point_cloud_filename.empty())
{
@ -297,5 +294,35 @@ int main(int argc, char** argv)
printf("\n");
}
if( !no_display )
{
std::ostringstream oss;
oss << "disparity " << (alg==STEREO_BM ? "bm" :
alg==STEREO_SGBM ? "sgbm" :
alg==STEREO_HH ? "hh" :
alg==STEREO_VAR ? "var" :
alg==STEREO_HH4 ? "hh4" :
alg==STEREO_3WAY ? "sgbm3way" : "");
oss << " blocksize:" << (alg==STEREO_BM ? SADWindowSize : sgbmWinSize);
oss << " max-disparity:" << numberOfDisparities;
std::string disp_name = oss.str();
namedWindow("left", cv::WINDOW_NORMAL);
imshow("left", img1);
namedWindow("right", cv::WINDOW_NORMAL);
imshow("right", img2);
namedWindow(disp_name, cv::WINDOW_AUTOSIZE);
imshow(disp_name, color_display ? disp8_3c : disp8);
printf("press ESC key or CTRL+C to close...");
fflush(stdout);
printf("\n");
while(1)
{
if(waitKey() == 27) //ESC (prevents closing on actions like taking screenshots)
break;
}
}
return 0;
}