www.pudn.com > Estereo.rar > main.cpp

/***************************************************************************  
* 
* Copyright 2004 by the Massachusetts Institute  of Technology.   All    
* rights reserved.  
*   
* Developed  by David Demirdjian 
* at the Computer Sciences and Artificial Intelligence Laboratory,  
* MIT, Cambridge, Massachusetts.  
*   
* Permission to use, copy, or modify this software and  its documentation  
* for  educational  and  research purposes only and without fee  is hereby  
* granted, provided  that this copyright notice and the original authors's  
* names appear  on all copies and supporting documentation.  If individual  
* files are  separated from  this  distribution directory  structure, this  
* copyright notice must be included.  For any other uses of this software,  
* in original or  modified form, including but not limited to distribution  
* in whole or in  part, specific  prior permission  must be  obtained from  
* MIT.  These programs shall not  be  used, rewritten, or  adapted as  the  
* basis  of  a  commercial  software  or  hardware product  without  first  
* obtaining appropriate licenses  from MIT.  MIT. makes no representations  
* about the suitability of this  software for any purpose.  It is provided  
* "as is" without express or implied warranty.  
*   
**************************************************************************/ 
#include "stereoMatching.h" 
#include "imageio.h" 
#include  
#include  
 
 
void printcommand() 
{ 
	printf("usage: estereox -l xxx -r xxx [-t xxx]\n");  
	printf("                -od xxx -oZ xxx\n");		  
	printf("                -cal foc(pix) baseline(mm) u0(pix) v0(pix) \n"); 
	printf("                -d 32(pix)\n");		  
} 
 
 
int getpos(int argc, char ** argv, char* optname) 
{ 
	for(int i=0; i=0) strcpy(lim, argv[c+1]); 
	c = getpos(argc,argv, "-r"); 
	if (c>=0) strcpy(rim, argv[c+1]); 
	c = getpos(argc,argv, "-t"); 
	if (c>=0) strcpy(tim, argv[c+1]); 
	c = getpos(argc,argv, "-od"); 
	if (c>=0) strcpy(odim, argv[c+1]); 
	c = getpos(argc,argv, "-oZ"); 
	if (c>=0) strcpy(oZim, argv[c+1]); 
	// disp 
	c = getpos(argc,argv, "-d"); 
	if (c>=0) numdisp = atoi(argv[c+1]); 
	// camera parameters 
	c = getpos(argc,argv, "-cal"); 
	if (c>=0) { 
		foc = atoi(argv[c+1]); 
		bline = atoi(argv[c+2])/1000.0f; 
		u0 = atoi(argv[c+3]); 
		v0 = atoi(argv[c+4]); 
	} 
 
 
	// ********** load images ***************** 
	char *ldata_orig = NULL,*rdata_orig = NULL,*tdata_orig = NULL; 
	char *ldata,*rdata,*tdata; 
	unsigned char *odata_orig,*odata;	 
	if (strcmp(lim,"")) loadPPM(lim, ldata_orig, ldata, width, height); 
	if (strcmp(rim,"")) loadPPM(rim, rdata_orig, rdata, width, height); 
	if (strcmp(tim,"")) loadPPM(tim, tdata_orig, tdata, width, height); 
		 
	int numimages; 
	if (ldata_orig && rdata_orig) { 
		numimages = (tdata_orig)?3:2;  
	} else { 
		printf("Cannot perform stereo on these images\n"); 
		printcommand(); 
		exit(1); 
	} 
		 
	// allocate memory of disparity image 
	ALLOC_ALIGN_MEMORY(odata, odata_orig, unsigned char, width*height); 
 
	// prepare for stereo 
	StereoMatching* stereo = new StereoMatching(); 
	stereo->setImageSize(width, height); 
	stereo->setHoropter(0); 
	stereo->setNumDepth(numdisp); 
	stereo->initializeContext(); 
 
	stereo->setCorrelationWindowSize(csize,csize); 
	stereo->setUndefinedDepthValue(0); 
	stereo->setAcceptDisparityThreshold(5);	 
	stereo->setCameraParameters(foc, bline, u0,v0); 
	 
 
	// ********** apply stereo algorithms ***************** 
	// estimate stereo			 
	if (numimages==2) stereo->doStereo((unsigned char*)ldata,(unsigned char*)rdata); 
	else stereo->doStereo((unsigned char*)ldata,(unsigned char*)rdata,(unsigned char*)tdata); 
 
	// improve stereo (optional)	  
	stereo->doStereo_grow(1, stereo_grow_ScoreValidation,  stereo_grow_nb_passes); 
 
	if (strcmp(oZim,"")) { 
		// do 3-D reconstruction (uses sub-pixel disparity)  
		stereo->doReconstruction(); 
		float* zimage = new float[width*height]; 
		stereo->getImage_Z(zimage); 
 
		// save depth image	 
		// ... write your code to write depth image here... 
		delete[] zimage; 
	} 
 
	// save disparity image 
	if (strcmp(odim,""))  
		savePGM(odim, (char*)stereo->getDisparityImage(), width, height); 
 
	return  1; 
}