www.pudn.com > stereo.rar > CaliDoc.cpp
// CaliDoc.cpp : implementation of the CCaliDoc class
//
#include "stdafx.h"
#include
#include "Cali.h"
#include "CDIB.h"
#include "Corner.h"
#include "PriorityQueue.h"
#include "CaliDoc.h"
#ifdef _DEBUG
#define new DEBUG_NEW
#undef THIS_FILE
static char THIS_FILE[] = __FILE__;
#endif
/////////////////////////////////////////////////////////////////////////////
// CCaliDoc
IMPLEMENT_DYNCREATE(CCaliDoc, CDocument)
BEGIN_MESSAGE_MAP(CCaliDoc, CDocument)
//{{AFX_MSG_MAP(CCaliDoc)
ON_COMMAND(ID_CALI_CORNERDETE, OnCaliCornerdete)
ON_COMMAND(ID_CALI_INICALI, OnCaliInicali)
ON_COMMAND(ID_CALI_PROPAGATION, OnCaliPropagation)
ON_COMMAND(ID_CALI_WHOLE, OnCaliWhole)
ON_COMMAND(ID_CALI_RGBTOGRAY, OnCaliRgbtogray)
ON_COMMAND(ID_READ_LEFT, OnReadLeft)
ON_COMMAND(ID_READ_RIGHT, OnReadRight)
ON_COMMAND(ID_CALI_DISPARITY, OnCaliDisparity)
//}}AFX_MSG_MAP
END_MESSAGE_MAP()
/////////////////////////////////////////////////////////////////////////////
// CCaliDoc construction/destruction
CCaliDoc::CCaliDoc()
{
processing=-1;
mapsafterpro=NULL;
}
CCaliDoc::~CCaliDoc()
{
}
BOOL CCaliDoc::OnNewDocument()
{
if (!CDocument::OnNewDocument())
return FALSE;
// TODO: add reinitialization code here
// (SDI documents will reuse this document)
return TRUE;
}
/////////////////////////////////////////////////////////////////////////////
// CCaliDoc serialization
void CCaliDoc::Serialize(CArchive& ar)
{
if (ar.IsStoring())
{
// TODO: add storing code here
}
else
{
// TODO: add loading code here
}
}
/////////////////////////////////////////////////////////////////////////////
// CCaliDoc diagnostics
#ifdef _DEBUG
void CCaliDoc::AssertValid() const
{
CDocument::AssertValid();
}
void CCaliDoc::Dump(CDumpContext& dc) const
{
CDocument::Dump(dc);
}
#endif //_DEBUG
/////////////////////////////////////////////////////////////////////////////
// CCaliDoc commands
void CCaliDoc::OnCaliCornerdete()
{
BeginWaitCursor();
numofcorner1=CornerDetection(m_dib1,0,corner1);
numofcorner2=CornerDetection(m_dib2,1,corner2);
processing=1;
UpdateAllViews(NULL);
EndWaitCursor();
}
void CCaliDoc::OnCaliInicali()
{
BeginWaitCursor();
InitialCalibration(m_dib1, m_dib2,corner1,corner2, numofcorner1, numofcorner2, seedq);
numofseeds=seedq.size();
seeds=new MatchPoint[numofseeds];
int i=0;
while(!seedq.empty()){
seeds[i]=seedq.top();
seedq.pop();
i++;
}
for(i=0;ibiWidth*image.m_lpBMIH->biHeight];
dy=new int[image.m_lpBMIH->biWidth*image.m_lpBMIH->biHeight];
m=(size-1)/2;
for (i=0;ibiHeight-1;i++)
{
for (j=1;jbiWidth-1;j++)
{
dx[i*(image.m_lpBMIH->biWidth)+j]=(-1)*image.GetPixel(j-1,i-1).rgbRed+image.GetPixel(j+1,i-1).rgbRed+
(-1)*image.GetPixel(j-1,i).rgbRed+image.GetPixel(j+1,i).rgbRed+
(-1)*image.GetPixel(j-1,i+1).rgbRed+image.GetPixel(j+1,i+1).rgbRed;//dx
dy[i*(image.m_lpBMIH->biWidth)+j]=(-1)*image.GetPixel(j-1,i-1).rgbRed+(-1)*image.GetPixel(j,i-1).rgbRed+
(-1)*image.GetPixel(j+1,i-1).rgbRed+image.GetPixel(j-1,i+1).rgbRed+
image.GetPixel(j,i+1).rgbRed+image.GetPixel(j+1,i+1).rgbRed;//dy
}
}
//smooth guassion
long double Ix,Iy,Ixy,det_c,trace_c;
int temp;
int num=0;
double *r;
r=new double[image.m_lpBMIH->biWidth*image.m_lpBMIH->biHeight];
for (i=2;i<(image.m_lpBMIH->biHeight)-1;i++)
{
for (j=2;j<(image.m_lpBMIH->biWidth)-1;j++)
{
for (Ix=0,Iy=0,Ixy=0,di=0;dibiWidth)+(j-m+dj)]*dx[(i-m+di)*(image.m_lpBMIH->biWidth)+(j-m+dj)];
Iy+=mask[di][dj]*dy[(i-m+di)*(image.m_lpBMIH->biWidth)+(j-m+dj)]*dy[(i-m+di)*(image.m_lpBMIH->biWidth)+(j-m+dj)];
Ixy+=mask[di][dj]*dx[(i-m+di)*(image.m_lpBMIH->biWidth)+(j-m+dj)]*dy[(i-m+di)*(image.m_lpBMIH->biWidth)+(j-m+dj)];
}
}
det_c=Ix*Iy-Ixy*Ixy;
trace_c=Ix+Iy;
if (det_c==0)
det_c=1e-300;
if (trace_c==0)
trace_c=1e-150;
r[i*(image.m_lpBMIH->biWidth)+j]=trace_c/det_c;
}
}
for(i=6; ibiHeight-6; i++)
{
for(j=6; jbiWidth-6; j++)
{
if(r[i*(image.m_lpBMIH->biWidth)+j]>R)
continue;
for(temp=1, di=-3; di<=3; di++)
{
for(dj=-3; dj<=3; dj++)
{
if(!(di==0 && dj==0) && r[i*(image.m_lpBMIH->biWidth)+j]>=r[(i+di)*(image.m_lpBMIH->biWidth)+(j+dj)])
{
temp=0;
di=4;
break;
}
}
}
if(temp==1 && num0)
{
corner=new CCorner[num];
memcpy(corner, cor, sizeof(CCorner)*num);
}
return(num);
}
void CCaliDoc::OnCaliRgbtogray()
{
RgbtoGray(m_dib1);
RgbtoGray(m_dib2);
UpdateAllViews(NULL);
}
void CCaliDoc::RgbtoGray(CDib &image)
{
int i,j;
for(i=0;ibiHeight;i++){
for(j=0;jbiWidth;j++){
BYTE Y;
Y=(BYTE)(0.299*image.GetPixel(j,i).rgbRed+0.587*image.GetPixel(j,i).rgbGreen+0.114*image.GetPixel(j,i).rgbBlue);
RGBQUAD cColor;
cColor.rgbRed=Y;
cColor.rgbBlue=Y;
cColor.rgbGreen=Y;
image.SetPixel(j,i,cColor);
}
}
}
void CCaliDoc::OnReadLeft()
{
CFileDialog dilg(TRUE, NULL, "*.bmp", //OPENFILENAME
OFN_HIDEREADONLY|OFN_OVERWRITEPROMPT,
"Bmp Files (*.bmp)|All Files (*.*)|*.*||");
if(dilg.DoModal() != IDOK)
return;
CString lpszPathName = dilg.GetPathName();
CFile cf;
CFileException e;
if (!cf.Open(lpszPathName,CFile::modeRead, &e))
{
::AfxMessageBox("Cannot open the file!");
}
// 更改光标
BeginWaitCursor();
// 读取图象
if(!m_dib1.Read(&cf)){
// 恢复光标形状
EndWaitCursor();
// 返回
return;
}
cf.Close();
processing=0;
UpdateAllViews(NULL);
}
void CCaliDoc::OnReadRight()
{
CFileDialog dilg(TRUE, NULL, "*.bmp", //OPENFILENAME
OFN_HIDEREADONLY|OFN_OVERWRITEPROMPT,
"Bmp Files (*.bmp)|All Files (*.*)|*.*||");
if(dilg.DoModal() != IDOK)
return;
CString lpszPathName = dilg.GetPathName();
CFile cf;
CFileException e;
if (!cf.Open(lpszPathName,CFile::modeRead, &e))
{
::AfxMessageBox("Cannot open the file!");
}
// 更改光标
BeginWaitCursor();
// 读取图象
if(!m_dib2.Read(&cf)){
// 恢复光标形状
EndWaitCursor();
// 返回
return;
}
cf.Close();
CFile cf2;
CFileException e2;
if (!cf2.Open(lpszPathName,CFile::modeRead, &e2))
{
::AfxMessageBox("Cannot open the file!");
}
if(!m_dib2Copy.Read(&cf2)){
// 恢复光标形状
EndWaitCursor();
// 返回
return;
}
cf2.Close();
processing=0;
UpdateAllViews(NULL);
}
void CCaliDoc::InitialCalibration(CDib &left, CDib &right, CCorner *&corner1,CCorner *&corner2, const int leftnum, const int rightnum, priorqueue &seed)
{
double seedthreshold=0.8;
if(leftnum<3||rightnum<3)
{
::AfxMessageBox("lack of corners !!");
return;
}
int i,matchleftx,matchlefty,matchrightx,matchrighty;
double matchscore;
MatchPoint aseed;
int *cornerleftx=new int[leftnum];
int *cornerlefty=new int[leftnum];
int *cornerrightx=new int[rightnum];
int *cornerrighty=new int[rightnum];
for(i=0;imatchscore)
{
matchscore=temp;
matchrightx=cornerrightx[i];
matchrighty=cornerrighty[i];
}
}
}
double CCaliDoc::zncc(const int w, CDib &left, int leftx, int lefty, CDib &right, int rightx, int righty)
{
double result=0,squareleft=0,squareright=0,leftright=0,meanleft,meanright,sumleft=0,sumright=0;
int i,j;
int leftw=left.m_lpBMIH->biWidth;
int lefth=left.m_lpBMIH->biHeight;
int rightw=right.m_lpBMIH->biWidth;
int righth=right.m_lpBMIH->biHeight;
if(leftx<(w-1)/2||rightx<(w-1)/2||leftx>(leftw-1-(w-1)/2)||rightx>(rightw-1-(w-1)/2)||lefty<(w-1)/2||righty<(w-1)/2||lefty>(lefth-1-(w-1)/2)||righty>(righth-1-(w-1)/2))
{
//cerr<<"the points is too close to the edge of the image (smaller than the window width)"<biHeight*left.m_lpBMIH->biWidth];
rightmatched=new int[right.m_lpBMIH->biHeight*right.m_lpBMIH->biWidth];//用于标记(u,u')是否已经被匹配，若匹配，则在左图u的位置赋1，右图u'的位置赋1
for(i=0;ibiHeight;i++)
{
for(j=0;jbiWidth;j++)
{
leftmatched[i*left.m_lpBMIH->biHeight+j]=0;
}
}
for(i=0;ibiHeight;i++)
{
for(j=0;jbiWidth;j++)
{
rightmatched[i*right.m_lpBMIH->biHeight+j]=0;
}
}
MatchPoint apoint,candidatepoint,newpoint;
priorqueue Localset;
while(!seed.empty())
{/*
//找出zncc-best匹配对
MatchPoint *seedt;
int seedsize=seed.size();
seedt=new MatchPoint[seedsize];
for(i=0;iznccscore){
znccscore=seedt[i].matchscore;
largestscorei=i;
}
}
if(largestscorei!=seedsize-1)
{
MatchPoint mt=seedt[seed.size()-1];
seedt[seedsize-1]=seedt[largestscorei];
seedt[largestscorei]=mt;
}
for(i=0;it)
{
for(l=-(neighborwindow-1)/2;l<(neighborwindow+1)/2;l++)
{
for(m=-(neighborwindow-1)/2;m<(neighborwindow+1)/2;m++)//对右图象素(apoint.rightx+l,apoint.righty+m)
{
if(!((l-i)>epslong||(l-i)<-epslong||(m-j)>epslong||(m-j)<-epslong))//在N(x,x')内增长
{
if(s(right,apoint.rightx+l,apoint.righty+m)>t)
{
score=zncc(propagationwindow,left,apoint.leftx+i,apoint.lefty+j,right,apoint.rightx+l,apoint.righty+m);
if(score>z)
{
candidatepoint.leftx=apoint.leftx+i;
candidatepoint.lefty=apoint.lefty+j;
candidatepoint.rightx=apoint.rightx+l;
candidatepoint.righty=apoint.righty+m;
candidatepoint.matchscore=score;
Localset.push(candidatepoint);
}
}
}
}
}
}
}
}
while(!Localset.empty())
{
newpoint.leftx=Localset.top().leftx;
newpoint.lefty=Localset.top().lefty;
newpoint.rightx=Localset.top().rightx;
newpoint.righty=Localset.top().righty;
newpoint.matchscore=Localset.top().matchscore;
Localset.pop();
if(leftmatched[newpoint.leftx*left.m_lpBMIH->biHeight+newpoint.lefty]!=1&&rightmatched[newpoint.rightx*right.m_lpBMIH->biHeight+newpoint.righty]!=1)//此点未被匹配过，可以加入Map
{
ResultMap.push_front(newpoint);
seed.push(newpoint);
leftmatched[newpoint.leftx*left.m_lpBMIH->biHeight+newpoint.lefty]=1;
rightmatched[newpoint.rightx*right.m_lpBMIH->biHeight+newpoint.righty]=1;
}
}
}
//delete[] seedt;
}
delete[] leftmatched;
delete[] rightmatched;
}
BOOL CCaliDoc::fitsize(const int w, CDib &left, CDib &right, int leftx, int lefty, int rightx, int righty)
{
return !(leftx<(w-1)/2||rightx<(w-1)/2||leftx>(left.m_lpBMIH->biWidth-1-(w-1)/2)||rightx>(right.m_lpBMIH->biWidth-1-(w-1)/2)||lefty<(w-1)/2||righty<(w-1)/2||lefty>(left.m_lpBMIH->biHeight-1-(w-1)/2)||righty>(right.m_lpBMIH->biHeight-1-(w-1)/2));
}
double CCaliDoc::s(CDib &image, int x, int y)
{
if(y==image.m_lpBMIH->biHeight){
int stop=0;
}
double result=0;
if(x<0&&x>=image.m_lpBMIH->biWidth&&y<0&&y>=image.m_lpBMIH->biHeight)
return result;
if(x>0&&xbiWidth&&y>=0&&ybiHeight)
{
if(fabs(image.GetPixel(x-1,y).rgbRed-image.GetPixel(x,y).rgbRed)>result)
{
result=fabs(image.GetPixel(x-1,y).rgbRed-image.GetPixel(x,y).rgbRed)/255;
}
}
if(x>=0&&xbiWidth-1&&y>=0&&ybiHeight)
{
if(fabs(image.GetPixel(x+1,y).rgbRed-image.GetPixel(x,y).rgbRed)>result)
{
result=fabs(image.GetPixel(x+1,y).rgbRed-image.GetPixel(x,y).rgbRed)/255;
}
}
if(y>0&&ybiHeight&&x>=0&&xbiWidth)
{
if(fabs(image.GetPixel(x,y-1).rgbRed-image.GetPixel(x,y).rgbRed)>result)
{
result=fabs(image.GetPixel(x,y-1).rgbRed-image.GetPixel(x,y).rgbRed)/255;
}
}
if(y>=0&&ybiHeight-1&&x>=0&&xbiWidth)
{
if(fabs(image.GetPixel(x,y+1).rgbRed-image.GetPixel(x,y).rgbRed)>result)
{
result=fabs(image.GetPixel(x,y+1).rgbRed-image.GetPixel(x,y).rgbRed)/255;
}
}
return result;
}
void CCaliDoc::OnCaliDisparity()
{
int i;
if(!mapsafterpro)
{
AfxMessageBox("no corresponding points to output!!!");
return;
}
int disp,max=-2000,min=2000;
for(i=0;imax)
max=disp;
if(dispmin)
{
for(i=0;i