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spsstereo_main.cpp
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spsstereo_main.cpp
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/*
Copyright (C) 2014 Koichiro Yamaguchi
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <iostream>
#include <fstream>
#include <string>
#include <vector>
#include <png++/png.hpp>
#include "SPSStereo.h"
#include "defParameter.h"
void makeSegmentBoundaryImage(const png::image<png::rgb_pixel>& inputImage,
const png::image<png::gray_pixel_16>& segmentImage,
std::vector< std::vector<int> >& boundaryLabels,
png::image<png::rgb_pixel>& segmentBoundaryImage);
void writeDisparityPlaneFile(const std::vector< std::vector<double> >& disparityPlaneParameters, const std::string outputDisparityPlaneFilename);
void writeBoundaryLabelFile(const std::vector< std::vector<int> >& boundaryLabels, const std::string outputBoundaryLabelFilename);
int main(int argc, char* argv[]) {
if (argc < 3) {
std::cerr << "usage: sgmstereo left right" << std::endl;
exit(1);
}
std::string leftImageFilename = argv[1];
std::string rightImageFilename = argv[2];
png::image<png::rgb_pixel> leftImage(leftImageFilename);
png::image<png::rgb_pixel> rightImage(rightImageFilename);
SPSStereo sps;
sps.setIterationTotal(outerIterationTotal, innerIterationTotal);
sps.setWeightParameter(lambda_pos, lambda_depth, lambda_bou, lambda_smo);
sps.setInlierThreshold(lambda_d);
sps.setPenaltyParameter(lambda_hinge, lambda_occ, lambda_pen);
png::image<png::gray_pixel_16> segmentImage;
png::image<png::gray_pixel_16> disparityImage;
std::vector< std::vector<double> > disparityPlaneParameters;
std::vector< std::vector<int> > boundaryLabels;
sps.compute(superpixelTotal, leftImage, rightImage, segmentImage, disparityImage, disparityPlaneParameters, boundaryLabels);
//png::image<png::rgb_pixel> segmentBoundaryImage;
//makeSegmentBoundaryImage(leftImage, segmentImage, boundaryLabels, segmentBoundaryImage);
std::string outputDisparityImageFilename = "disparity.png";
//std::string outputSegmentImageFilename = outputBaseFilename + "_segment.png";
//std::string outputBoundaryImageFilename = outputBaseFilename + "_boundary.png";
//std::string outputDisparityPlaneFilename = outputBaseFilename + "_plane.txt";
//std::string outputBoundaryLabelFilename = outputBaseFilename + "_label.txt";
disparityImage.write(outputDisparityImageFilename);
//segmentImage.write(outputSegmentImageFilename);
//segmentBoundaryImage.write(outputBoundaryImageFilename);
//writeDisparityPlaneFile(disparityPlaneParameters, outputDisparityPlaneFilename);
//writeBoundaryLabelFile(boundaryLabels, outputBoundaryLabelFilename);
return 0;
}
void makeSegmentBoundaryImage(const png::image<png::rgb_pixel>& inputImage,
const png::image<png::gray_pixel_16>& segmentImage,
std::vector< std::vector<int> >& boundaryLabels,
png::image<png::rgb_pixel>& segmentBoundaryImage)
{
int width = static_cast<int>(inputImage.get_width());
int height = static_cast<int>(inputImage.get_height());
int boundaryTotal = static_cast<int>(boundaryLabels.size());
segmentBoundaryImage.resize(width, height);
for (int y = 0; y < height; ++y) {
for (int x = 0; x < width; ++x) {
segmentBoundaryImage.set_pixel(x, y, inputImage.get_pixel(x, y));
}
}
int boundaryWidth = 2;
for (int y = 0; y < height - 1; ++y) {
for (int x = 0; x < width - 1; ++x) {
int pixelLabelIndex = segmentImage.get_pixel(x, y);
if (segmentImage.get_pixel(x + 1, y) != pixelLabelIndex) {
for (int w = 0; w < boundaryWidth - 1; ++w) {
if (x - w >= 0) segmentBoundaryImage.set_pixel(x - w, y, png::rgb_pixel(128, 128, 128));
}
for (int w = 1; w < boundaryWidth; ++w) {
if (x + w < width) segmentBoundaryImage.set_pixel(x + w, y, png::rgb_pixel(128, 128, 128));
}
}
if (segmentImage.get_pixel(x, y + 1) != pixelLabelIndex) {
for (int w = 0; w < boundaryWidth - 1; ++w) {
if (y - w >= 0) segmentBoundaryImage.set_pixel(x, y - w, png::rgb_pixel(128, 128, 128));
}
for (int w = 1; w < boundaryWidth; ++w) {
if (y + w < height) segmentBoundaryImage.set_pixel(x, y + w, png::rgb_pixel(128, 128, 128));
}
}
}
}
boundaryWidth = 7;
for (int y = 0; y < height - 1; ++y) {
for (int x = 0; x < width - 1; ++x) {
int pixelLabelIndex = segmentImage.get_pixel(x, y);
if (segmentImage.get_pixel(x + 1, y) != pixelLabelIndex) {
png::rgb_pixel negativeSideColor, positiveSideColor;
int pixelBoundaryIndex = -1;
for (int boundaryIndex = 0; boundaryIndex < boundaryTotal; ++boundaryIndex) {
if ((boundaryLabels[boundaryIndex][0] == pixelLabelIndex && boundaryLabels[boundaryIndex][1] == segmentImage.get_pixel(x + 1, y))
|| (boundaryLabels[boundaryIndex][0] == segmentImage.get_pixel(x + 1, y) && boundaryLabels[boundaryIndex][1] == pixelLabelIndex))
{
pixelBoundaryIndex = boundaryIndex;
break;
}
}
if (boundaryLabels[pixelBoundaryIndex][2] == 3) continue;
else if (boundaryLabels[pixelBoundaryIndex][2] == 2) {
negativeSideColor.red = 0; negativeSideColor.green = 225; negativeSideColor.blue = 0;
positiveSideColor.red = 0; positiveSideColor.green = 225; positiveSideColor.blue = 0;
} else if (pixelLabelIndex == boundaryLabels[pixelBoundaryIndex][boundaryLabels[pixelBoundaryIndex][2]]) {
negativeSideColor.red = 225; negativeSideColor.green = 0; negativeSideColor.blue = 0;
positiveSideColor.red = 0; positiveSideColor.green = 0; positiveSideColor.blue = 225;
} else {
negativeSideColor.red = 0; negativeSideColor.green = 0; negativeSideColor.blue = 225;
positiveSideColor.red = 225; positiveSideColor.green = 0; positiveSideColor.blue = 0;
}
for (int w = 0; w < boundaryWidth - 1; ++w) {
if (x - w >= 0) segmentBoundaryImage.set_pixel(x - w, y, negativeSideColor);
}
for (int w = 1; w < boundaryWidth; ++w) {
if (x + w < width) segmentBoundaryImage.set_pixel(x + w, y, positiveSideColor);
}
}
if (segmentImage.get_pixel(x, y + 1) != pixelLabelIndex) {
png::rgb_pixel negativeSideColor, positiveSideColor;
int pixelBoundaryIndex = -1;
for (int boundaryIndex = 0; boundaryIndex < boundaryTotal; ++boundaryIndex) {
if ((boundaryLabels[boundaryIndex][0] == pixelLabelIndex && boundaryLabels[boundaryIndex][1] == segmentImage.get_pixel(x, y + 1))
|| (boundaryLabels[boundaryIndex][0] == segmentImage.get_pixel(x, y + 1) && boundaryLabels[boundaryIndex][1] == pixelLabelIndex))
{
pixelBoundaryIndex = boundaryIndex;
break;
}
}
if (boundaryLabels[pixelBoundaryIndex][2] == 3) continue;
else if (boundaryLabels[pixelBoundaryIndex][2] == 2) {
negativeSideColor.red = 0; negativeSideColor.green = 225; negativeSideColor.blue = 0;
positiveSideColor.red = 0; positiveSideColor.green = 225; positiveSideColor.blue = 0;
} else if (pixelLabelIndex == boundaryLabels[pixelBoundaryIndex][boundaryLabels[pixelBoundaryIndex][2]]) {
negativeSideColor.red = 225; negativeSideColor.green = 0; negativeSideColor.blue = 0;
positiveSideColor.red = 0; positiveSideColor.green = 0; positiveSideColor.blue = 225;
} else {
negativeSideColor.red = 0; negativeSideColor.green = 0; negativeSideColor.blue = 225;
positiveSideColor.red = 225; positiveSideColor.green = 0; positiveSideColor.blue = 0;
}
for (int w = 0; w < boundaryWidth - 1; ++w) {
if (y - w >= 0) segmentBoundaryImage.set_pixel(x, y - w, negativeSideColor);
}
for (int w = 1; w < boundaryWidth; ++w) {
if (y+ w < height) segmentBoundaryImage.set_pixel(x, y + w, positiveSideColor);
}
}
}
}
}
void writeDisparityPlaneFile(const std::vector< std::vector<double> >& disparityPlaneParameters, const std::string outputDisparityPlaneFilename) {
std::ofstream outputFileStream(outputDisparityPlaneFilename.c_str(), std::ios_base::out);
if (outputFileStream.fail()) {
std::cerr << "error: can't open file (" << outputDisparityPlaneFilename << ")" << std::endl;
exit(0);
}
int segmentTotal = static_cast<int>(disparityPlaneParameters.size());
for (int segmentIndex = 0; segmentIndex < segmentTotal; ++segmentIndex) {
outputFileStream << disparityPlaneParameters[segmentIndex][0] << " ";
outputFileStream << disparityPlaneParameters[segmentIndex][1] << " ";
outputFileStream << disparityPlaneParameters[segmentIndex][2] << std::endl;
}
outputFileStream.close();
}
void writeBoundaryLabelFile(const std::vector< std::vector<int> >& boundaryLabels, const std::string outputBoundaryLabelFilename) {
std::ofstream outputFileStream(outputBoundaryLabelFilename.c_str(), std::ios_base::out);
if (outputFileStream.fail()) {
std::cerr << "error: can't open output file (" << outputBoundaryLabelFilename << ")" << std::endl;
exit(1);
}
int boundaryTotal = static_cast<int>(boundaryLabels.size());
for (int boundaryIndex = 0; boundaryIndex < boundaryTotal; ++boundaryIndex) {
outputFileStream << boundaryLabels[boundaryIndex][0] << " ";
outputFileStream << boundaryLabels[boundaryIndex][1] << " ";
outputFileStream << boundaryLabels[boundaryIndex][2] << std::endl;
}
outputFileStream.close();
}