opencv wlsfilter depth refinement demo

Posted 2021-11-09 adong7639

 

参考

https://docs.opencv.org/3.2.0/d3/d14/tutorial_ximgproc_disparity_filtering.html

 

// This file is part of OpenCV project.
// It is subject to the license terms in the LICENSE file found in the top-level directory
// of this distribution and at http://opencv.org/license.html.
#include "test_precomp.hpp"
#include "opencv2/ximgproc/disparity_filter.hpp"
#include <string>
//CV_TEST_MAIN("")
using namespace cv;
using namespace std;
using namespace ximgproc;

int main()
{
    //Mat colorimg = imread("C:\\\\Users\\\\Administrator\\\\Desktop\\\\green_tree\\\\4_arcsoft.bmp");
    //Mat initdepthimg = imread("C:\\\\Users\\\\Administrator\\\\Desktop\\\\green_tree\\\\4tsgo.bmp");
    //Mat wlsdepthimg = initdepthimg.clone();
    string left_im = "C:\\\\Users\\\\Administrator\\\\Desktop\\\\green_tree\\\\left.bmp";
    string right_im = "C:\\\\Users\\\\Administrator\\\\Desktop\\\\green_tree\\\\right.bmp";
    Mat left = imread(left_im, IMREAD_COLOR);
    if (left.empty())
    {
        cout << "Cannot read image file: " << left_im;
        return -1;
    }
    Mat right = imread(right_im, IMREAD_COLOR);
    if (right.empty())
    {
        cout << "Cannot read image file: " << right_im;
        return -1;
    }

    int max_disp = 16;
    max_disp /= 2;
    if (max_disp % 16 != 0)
        max_disp += 16 - (max_disp % 16);
    Mat left_for_matcher, right_for_matcher;
    resize(left, left_for_matcher, Size(), 1.0, 1.0);
    resize(right, right_for_matcher, Size(), 1.0, 1.0);

    int wsize = 5;
    Ptr<StereoBM> left_matcher = StereoBM::create(max_disp, wsize);

    Ptr<DisparityWLSFilter> wls_filter;
    wls_filter = createDisparityWLSFilter(left_matcher);

    Ptr<StereoMatcher> right_matcher = createRightMatcher(left_matcher);
    cvtColor(left_for_matcher, left_for_matcher, COLOR_BGR2GRAY);
    cvtColor(right_for_matcher, right_for_matcher, COLOR_BGR2GRAY);
    double matching_time = (double)getTickCount();
    Mat left_disp, right_disp, filtered_disp;
    left_matcher->compute(left_for_matcher, right_for_matcher, left_disp);
    right_matcher->compute(right_for_matcher, left_for_matcher, right_disp);
    matching_time = ((double)getTickCount() - matching_time) / getTickFrequency();


    double lambda = 8000.0;
    double sigma = 0.5;
    wls_filter->setLambda(lambda);
    wls_filter->setSigmaColor(sigma);
    double filtering_time = (double)getTickCount();
    wls_filter->filter(left_disp, left, filtered_disp, right_disp);
    filtering_time = ((double)getTickCount() - filtering_time) / getTickFrequency();

    Mat raw_disp_vis;
    double vis_mult = 10.0;
    getDisparityVis(left_disp, raw_disp_vis, vis_mult);
    namedWindow("raw disparity", WINDOW_AUTOSIZE);
    imshow("raw disparity", raw_disp_vis);
    Mat filtered_disp_vis;
    getDisparityVis(filtered_disp, filtered_disp_vis, vis_mult);
    namedWindow("filtered disparity", WINDOW_AUTOSIZE);
    imshow("filtered disparity", filtered_disp_vis);
    waitKey();


    return 0;
}

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