1 /*M/////////////////////////////////////////////////////////////////////////////////////// 2 // 3 // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. 4 // 5 // By downloading, copying, installing or using the software you agree to this license. 6 // If you do not agree to this license, do not download, install, 7 // copy or use the software. 8 // 9 // 10 // Intel License Agreement 11 // For Open Source Computer Vision Library 12 // 13 // Copyright (C) 2000, Intel Corporation, all rights reserved. 14 // Third party copyrights are property of their respective owners. 15 // 16 // Redistribution and use in source and binary forms, with or without modification, 17 // are permitted provided that the following conditions are met: 18 // 19 // * Redistribution's of source code must retain the above copyright notice, 20 // this list of conditions and the following disclaimer. 21 // 22 // * Redistribution's in binary form must reproduce the above copyright notice, 23 // this list of conditions and the following disclaimer in the documentation 24 // and/or other materials provided with the distribution. 25 // 26 // * The name of Intel Corporation may not be used to endorse or promote products 27 // derived from this software without specific prior written permission. 28 // 29 // This software is provided by the copyright holders and contributors "as is" and 30 // any express or implied warranties, including, but not limited to, the implied 31 // warranties of merchantability and fitness for a particular purpose are disclaimed. 32 // In no event shall the Intel Corporation or contributors be liable for any direct, 33 // indirect, incidental, special, exemplary, or consequential damages 34 // (including, but not limited to, procurement of substitute goods or services; 35 // loss of use, data, or profits; or business interruption) however caused 36 // and on any theory of liability, whether in contract, strict liability, 37 // or tort (including negligence or otherwise) arising in any way out of 38 // the use of this software, even if advised of the possibility of such damage. 39 // 40 //M*/ 41 42 #include "_cvaux.h" 43 44 #if 0 45 46 //#include "windows.h" 47 48 //#define ALPHA_EXPANSION 49 50 #ifndef ALPHA_EXPANSION 51 #define ALPHA_BETA_EXCHANGE 52 #endif 53 54 #define MAX_LABEL 20 55 56 #define CV_MODULE(xxx) \ 57 ( (xxx) < 0 ? -(xxx) : (xxx) ) 58 59 #define CV_MAX3(xxx1,xxx2,xxx3) \ 60 ( (xxx1) > (xxx2) && (xxx1) > (xxx3) ? (xxx1) : \ 61 (xxx2) > (xxx3) ? (xxx2) : (xxx3) ) 62 63 #define CV_MIN2(xxx1,xxx2) \ 64 ( (xxx1) < (xxx2) ? (xxx1) : (xxx2) ) 65 66 #define getSizeForGraph(xxxType) \ 67 ( sizeof(xxxType) < 8 ? 8 : sizeof(xxxType) + 4 - sizeof(xxxType) % 4 ) 68 69 #define INT_INFINITY 1000000000 70 #define MAX_DIFFERENCE 10 71 72 73 // struct Vertex is used for storing vertices of graph 74 // coord - coordinate corresponding pixel on the real image line 75 struct Vertex 76 { 77 CvGraphVtx vtx; 78 int coord; 79 }; 80 81 // struct Edge is used for storing edges of graph 82 // weight - weight of the edge ( maximum flow via the edge ) 83 // flow - current flow via the edge 84 // srcVtx - coordinate of source vertex on the real image line 85 // destVtx - coordinate of destination vertex on the real image line 86 struct Edge 87 { 88 CV_GRAPH_EDGE_FIELDS() 89 int weight; 90 int flow; 91 int srcVtx; 92 int destVtx; 93 }; 94 95 // function vFunc is energy function which determines the difference 96 // between two labels ( alpha and beta ) 97 // alpha - label number one 98 // beta - label number two 99 inline int vFunc( int alpha, int beta ) 100 { 101 if( alpha == beta ) 102 return 0; 103 else 104 return /*1*//*5*/10; 105 } 106 107 // function dFunc is energy function which determines energy of interaction 108 // between pixel ( having coordinate xCoord ) and label 109 // leftLine - line of left image 110 // rightLine - line of right image 111 // xCoord - coordinate of pixel on the left image 112 // label - label corresponding to the pixel 113 // width - width of the image line in pixels 114 inline int dFunc( unsigned char* leftLine, 115 unsigned char* rightLine, 116 int xCoord, 117 int label, 118 int width) 119 { 120 assert( xCoord >= 0 && xCoord < width ); 121 int r, g, b; 122 int yCoord = xCoord + label; 123 124 if( yCoord >= width ) 125 yCoord = width; 126 if( yCoord < 0 ) 127 yCoord = 0; 128 129 r = leftLine[ 3 * xCoord ] - rightLine[ 3 * yCoord ]; 130 g = leftLine[ 3 * xCoord + 1 ] - rightLine[ 3 * yCoord + 1 ]; 131 b = leftLine[ 3 * xCoord + 2 ] - rightLine[ 3 * yCoord + 2 ]; 132 133 r = CV_MODULE( r ); 134 g = CV_MODULE( g ); 135 b = CV_MODULE( b ); 136 137 return CV_MAX3( r, g, b ); 138 } 139 140 // function allocTempMem allocates all temporary memory needed for work 141 // of some function 142 // memPtr - pointer to pointer to the large block of memory 143 // verticesPtr - pointer to pointer to block of memory for 144 // temporary storing vertices 145 // width - width of line in pixels 146 void allocTempMem( int** memPtr, 147 int** verticesPtr, 148 int width ) 149 { 150 int* tempPtr = ( int* ) malloc( ( width + 2 ) * 7 * sizeof( int ) ); 151 *verticesPtr = tempPtr; 152 *memPtr = *verticesPtr + width + 2; 153 } 154 155 // function freeTempMem frees all allocated by allocTempMem function memory 156 // memPtr - pointer to pointer to the large block of memory 157 // verticesPtr - pointer to pointer to block of memory for 158 // temporary storing vertices 159 void freeTempMem( int** memPtr, 160 int** verticesPtr ) 161 { 162 free( ( void* )( *verticesPtr ) ); 163 *verticesPtr = NULL; 164 *memPtr = NULL; 165 } 166 167 // function makeGraph creates initial graph to find maximum flow in it 168 // graphPtr - pointer to pointer to CvGraph structure to be filled 169 // leftLine - pointer to the left image line 170 // rightLine - pointer to the right image line 171 // alpha - label number one for doing exchange 172 // beta - label number two for doing exchange 173 // corr - pointer to array of correspondences ( each element 174 // of array includes disparity of pixel on right image 175 // for pixel each on left image ). This pointer direct 176 // to correspondence ofr one line only 177 // width - width of image lines in pixels 178 // storage - pointer to CvMemStorage structure which contains 179 // memory storage 180 void makeGraph( CvGraph** graphPtr, 181 unsigned char* leftLine, 182 unsigned char* rightLine, 183 int alpha, 184 int beta, 185 int* corr, 186 int width, 187 CvMemStorage* storage ) 188 { 189 int i; 190 191 if( *graphPtr ) { 192 cvClearGraph( *graphPtr ); 193 } 194 /*else {*/ 195 *graphPtr = cvCreateGraph( CV_SEQ_KIND_GRAPH | CV_GRAPH_FLAG_ORIENTED, 196 sizeof( CvGraph ), 197 getSizeForGraph( Vertex ), 198 getSizeForGraph( Edge ), 199 storage ); 200 /*}*/ 201 202 CvGraph* graph = *graphPtr; 203 204 #ifdef ALPHA_BETA_EXCHANGE 205 206 CvGraphVtx* newVtxPtr; 207 for( i = 0; i < width; i ++ ) 208 { 209 if( corr[i] == alpha || corr[i] == beta ) { 210 cvGraphAddVtx( graph, NULL, &newVtxPtr ); 211 ( ( Vertex* )newVtxPtr ) -> coord = i; 212 } 213 } /* for( i = 0; i < width; i ++ ) */ 214 cvGraphAddVtx( graph, NULL, &newVtxPtr ); 215 if( newVtxPtr ) 216 ( ( Vertex* )newVtxPtr ) -> coord = -2; /* adding alpha vertex */ 217 cvGraphAddVtx( graph, NULL, &newVtxPtr ); 218 if( newVtxPtr ) 219 ( ( Vertex* )newVtxPtr ) -> coord = -1; /* adding beta vertex */ 220 221 int alphaVtx = graph -> total - 2; 222 int betaVtx = graph -> total - 1; 223 CvGraphEdge* newEdgePtr; 224 CvGraphVtx* vtxPtr; 225 if( graph -> total > 2 ) 226 { 227 for( i = 0; i < alphaVtx; i ++ ) 228 { 229 vtxPtr = cvGetGraphVtx( graph, i ); 230 231 /* adding edge oriented from alpha vertex to current vertex */ 232 cvGraphAddEdge( graph, alphaVtx, i, NULL, &newEdgePtr ); 233 ( ( Edge* )newEdgePtr ) -> weight = dFunc( leftLine, 234 rightLine, 235 ( ( Vertex* )vtxPtr ) -> coord, 236 alpha, 237 width ); 238 ( ( Edge* )newEdgePtr ) -> flow = 0; 239 if( i != 0 ) { 240 CvGraphVtx* tempVtxPtr = cvGetGraphVtx( graph, i - 1 ); 241 /* if vertices are neighbours */ 242 if( ( ( Vertex* )tempVtxPtr ) -> coord + 1 == 243 ( ( Vertex* )vtxPtr ) -> coord ) 244 { 245 ( ( Edge* )newEdgePtr ) -> weight += 246 vFunc( corr[ ( ( Vertex* )tempVtxPtr ) -> coord ], 247 alpha ); 248 /* adding neighbour edge oriented from current vertex 249 to the previous one */ 250 CvGraphEdge* tempEdgePtr; 251 cvGraphAddEdge( graph, i, i - 1, NULL, &tempEdgePtr ); 252 ( ( Edge* )tempEdgePtr ) -> weight = vFunc( alpha, beta ); 253 ( ( Edge* )tempEdgePtr ) -> flow = 0; 254 ( ( Edge* )tempEdgePtr ) -> srcVtx = 255 ( ( Vertex* )vtxPtr ) -> coord; 256 ( ( Edge* )tempEdgePtr ) -> destVtx = 257 ( ( Vertex* )tempVtxPtr ) -> coord; 258 } 259 } /* if( i != 0 ) */ 260 if( i != alphaVtx - 1 ) { 261 CvGraphVtx* tempVtxPtr = cvGetGraphVtx( graph, i + 1 ); 262 /* if vertices are neighbours */ 263 if( ( ( Vertex* )tempVtxPtr ) -> coord - 1 == 264 ( ( Vertex* )vtxPtr ) -> coord ) 265 { 266 ( ( Edge* )newEdgePtr ) -> weight += 267 vFunc( corr[ ( ( Vertex* )tempVtxPtr ) -> coord ], 268 alpha ); 269 /* adding neighbour edge oriented from current vertex 270 to the next one */ 271 CvGraphEdge* tempEdgePtr; 272 cvGraphAddEdge( graph, i, i + 1, NULL, &tempEdgePtr ); 273 ( ( Edge* )tempEdgePtr ) -> weight = vFunc( alpha, beta ); 274 ( ( Edge* )tempEdgePtr ) -> flow = 0; 275 ( ( Edge* )tempEdgePtr ) -> srcVtx = 276 ( ( Vertex* )vtxPtr ) -> coord; 277 ( ( Edge* )tempEdgePtr ) -> destVtx = 278 ( ( Vertex* )tempVtxPtr ) -> coord; 279 } 280 } /* if( i != alphaVtx - 1 ) */ 281 ( ( Edge* )newEdgePtr ) -> flow = 0; 282 ( ( Edge* )newEdgePtr ) -> srcVtx = -1; /* source vertex is alpha 283 vertex */ 284 ( ( Edge* )newEdgePtr ) -> destVtx = ( ( Vertex* )vtxPtr ) -> coord; 285 286 /* adding edge oriented from current vertex to beta vertex */ 287 cvGraphAddEdge( graph, i, betaVtx, NULL, &newEdgePtr ); 288 ( ( Edge* )newEdgePtr ) -> weight = dFunc( leftLine, 289 rightLine, 290 ( ( Vertex* )vtxPtr ) -> coord, 291 beta, 292 width ); 293 ( ( Edge* )newEdgePtr ) -> flow = 0; 294 if( i != 0 ) { 295 CvGraphVtx* tempVtxPtr = cvGetGraphVtx( graph, i - 1 ); 296 /* if vertices are neighbours */ 297 if( ( ( Vertex* )tempVtxPtr ) -> coord + 1 == 298 ( ( Vertex* )vtxPtr ) -> coord ) 299 { 300 ( ( Edge* )newEdgePtr ) -> weight += 301 vFunc( corr[ ( ( Vertex* )tempVtxPtr ) -> coord ], 302 beta ); 303 } 304 } /* if( i != 0 ) */ 305 if( i != alphaVtx - 1 ) { 306 CvGraphVtx* tempVtxPtr = cvGetGraphVtx( graph, i + 1 ); 307 /* if vertices are neighbours */ 308 if( ( ( Vertex* )tempVtxPtr ) -> coord - 1 == 309 ( ( Vertex* )vtxPtr ) -> coord ) 310 { 311 ( ( Edge* )newEdgePtr ) -> weight += 312 vFunc( corr[ ( ( Vertex* )tempVtxPtr ) -> coord ], 313 beta ); 314 } 315 } /* if( i != alphaVtx - 1 ) */ 316 ( ( Edge* )newEdgePtr ) -> flow = 0; 317 ( ( Edge* )newEdgePtr ) -> srcVtx = 318 ( ( Vertex* )vtxPtr ) -> coord; 319 ( ( Edge* )newEdgePtr ) -> destVtx = -2; /* destination vertex is 320 beta vertex */ 321 322 } /* for( i = 0; i < graph -> total - 2; i ++ ) */ 323 324 } /* if( graph -> total > 2 ) */ 325 326 #endif /* #ifdef ALPHA_BETA_EXCHANGE */ 327 328 #ifdef ALPHA_EXPANSION 329 #endif /* #ifdef ALPHA_EXPANSION */ 330 331 } /* makeGraph */ 332 333 // function makeHelpGraph creates help graph using initial graph 334 // graph - pointer to initial graph ( represented by CvGraph 335 // structure ) 336 // hlpGraphPtr - pointer to pointer to new help graph 337 // storage - pointer to CvStorage structure 338 // mem - pointer to memory allocated by allocTempMem function 339 // vertices - pointer to memory allocated by allocTempMem function 340 // verticesCountPtr- pointer to value containing number of vertices 341 // in vertices array 342 // width - width of image line in pixels 343 int makeHelpGraph( CvGraph* graph, 344 CvGraph** hlpGraphPtr, 345 CvMemStorage* storage, 346 int* mem, 347 int* vertices, 348 int* verticesCountPtr, 349 int width ) 350 { 351 int u, v; 352 int* order = mem; 353 int* lengthArr = order + width + 2; 354 int s = graph -> total - 2; /* source vertex */ 355 int t = graph -> total - 1; /* terminate vertex */ 356 int orderFirst; 357 int orderCount; 358 int &verticesCount = *verticesCountPtr; 359 CvGraph* hlpGraph; 360 361 if( *hlpGraphPtr ) { 362 cvClearGraph( *hlpGraphPtr ); 363 } 364 else { 365 *hlpGraphPtr = cvCreateGraph( CV_SEQ_KIND_GRAPH | 366 CV_GRAPH_FLAG_ORIENTED, 367 sizeof( CvGraph ), 368 getSizeForGraph( Vertex ), 369 getSizeForGraph( Edge ), 370 storage ); 371 } 372 373 hlpGraph = *hlpGraphPtr; 374 375 /* initialization */ 376 for( u = 0; u < graph -> total; u ++ ) 377 { 378 lengthArr[ u ] = INT_INFINITY; 379 cvGraphAddVtx( hlpGraph, NULL, NULL ); 380 } /* for( u = 0; u < graph -> total - 1; u ++ ) */ 381 382 orderFirst = 0; 383 orderCount = 0; 384 verticesCount = 0; 385 lengthArr[ s ] = 0; 386 387 /* add vertex s to order */ 388 order[ orderCount ] = s; 389 orderCount ++; 390 391 while( orderCount != orderFirst ) 392 { 393 /* getting u from order */ 394 u = order[ orderFirst ]; 395 orderFirst ++; 396 397 /* adding u to vertex array */ 398 vertices[ verticesCount ] = u; 399 verticesCount ++; 400 401 int ofs; 402 CvGraphVtx* graphVtx = cvGetGraphVtx( graph, u ); 403 404 /* processing all vertices outgoing from vertex u */ 405 CvGraphEdge* graphEdge = graphVtx -> first; 406 while( graphEdge ) 407 { 408 int tempVtxIdx = cvGraphVtxIdx( graph, graphEdge -> vtx[1] ); 409 ofs = tempVtxIdx == u; 410 if( !ofs ) 411 { 412 v = tempVtxIdx; 413 414 CvGraphEdge* tempGraphEdge = cvFindGraphEdge( graph, u, v ); 415 if( ( lengthArr[ u ] < lengthArr[ v ] ) 416 && ( lengthArr[ v ] <= lengthArr[ t ] ) 417 && ( ( ( Edge* )tempGraphEdge ) -> flow < 418 ( ( Edge* )tempGraphEdge ) -> weight ) ) 419 { 420 if( lengthArr[ v ] == INT_INFINITY ) 421 { 422 /* adding vertex v to order */ 423 order[ orderCount ] = v; 424 orderCount ++; 425 426 lengthArr[ v ] = lengthArr[ u ] + 1; 427 CvGraphEdge* tempGraphEdge2; 428 429 cvGraphAddEdge( hlpGraph, u, v, NULL, &tempGraphEdge2 ); 430 ( ( Edge* )tempGraphEdge2 ) -> flow = 0; 431 432 ( ( Edge* )tempGraphEdge2 ) -> weight = 433 ( ( Edge* )tempGraphEdge ) -> weight - 434 ( ( Edge* )tempGraphEdge ) -> flow; 435 436 } /* if( length[ v ] == INT_INFINITY ) */ 437 438 } /* if( ( lengthArr[ u ] < lengthArr[ v ] ) ... */ 439 440 } /* if( !ofs ) */ 441 442 graphEdge = graphEdge -> next[ ofs ]; 443 444 } /* while( graphEdge ) */ 445 446 /* processing all vertices incoming to vertex u */ 447 graphEdge = graphVtx -> first; 448 while( graphEdge ) 449 { 450 int tempVtxIdx = cvGraphVtxIdx( graph, graphEdge -> vtx[1] ); 451 ofs = tempVtxIdx == u; 452 if( ofs ) 453 { 454 tempVtxIdx = cvGraphVtxIdx( graph, graphEdge -> vtx[0] ); 455 v = tempVtxIdx; 456 457 CvGraphEdge* tempGraphEdge = cvFindGraphEdge( graph, v, u ); 458 if( ( lengthArr[ u ] < lengthArr[ v ] ) 459 && ( lengthArr[ v ] <= lengthArr[ t ] ) 460 && ( ( ( Edge* )tempGraphEdge ) -> flow > 0 ) ) 461 { 462 if( lengthArr[ v ] == INT_INFINITY ) 463 { 464 /* adding vertex v to order */ 465 order[ orderCount ] = v; 466 orderCount ++; 467 468 lengthArr[ v ] = lengthArr[ u ] + 1; 469 CvGraphEdge* tempGraphEdge3 = cvFindGraphEdge( hlpGraph, u, v ); 470 471 if( tempGraphEdge3 == NULL || 472 ( ( Edge* )tempGraphEdge3 ) -> weight == 0 ) 473 { 474 CvGraphEdge* tempGraphEdge2; 475 cvGraphAddEdge( hlpGraph, u, v, NULL, 476 &tempGraphEdge2 ); 477 ( ( Edge* )tempGraphEdge2 ) -> flow = 0; 478 ( ( Edge* )tempGraphEdge2 ) -> weight = 0; 479 } /* if( tempGraphEdge3 == NULL || ... */ 480 481 ( ( Edge* )tempGraphEdge3 ) -> weight += 482 ( ( Edge* )tempGraphEdge ) -> flow; 483 484 } /* if( length[ v ] == INT_INFINITY ) */ 485 486 } /* if( ( lengthArr[ u ] < lengthArr[ v ] ) ... */ 487 488 } /* if( ofs ) */ 489 490 graphEdge = graphEdge -> next[ ofs ]; 491 492 } /* while( graphEdge ) */ 493 494 } /* while( orderCount != orderFirst ) */ 495 496 int i; 497 for( i = 0; i < hlpGraph -> total - 2; i ++ ) 498 { 499 CvGraphVtx* hlpGraphVtxTemp = cvGetGraphVtx( hlpGraph, i ); 500 if( hlpGraphVtxTemp ) { 501 if( !hlpGraphVtxTemp -> first ) { 502 cvGraphRemoveVtxByPtr( hlpGraph, hlpGraphVtxTemp ); 503 } 504 } 505 } /* for( i = 0; i < hlpGraph -> total - 2; i ++ ) */ 506 507 return lengthArr[ t ]; 508 509 } /* makeHelpGraph */ 510 511 // function makePseudoMaxFlow increases flow in graph by using hlpGraph 512 // graph - pointer to initial graph 513 // hlpGraph - pointer to help graph 514 // vertices - pointer to vertices array 515 // verticesCount - number of vertices in vertices array 516 // mem - pointer to memory allocated by allocTempMem function 517 // width - width of image line in pixels 518 void makePseudoMaxFlow( CvGraph* graph, 519 CvGraph* hlpGraph, 520 int* vertices, 521 int verticesCount, 522 int* mem, 523 int width ) 524 { 525 int stekCount; 526 int orderFirst; 527 int orderCount; 528 int i; 529 int v, u; 530 int* stek = mem; 531 int* order = stek + width + 2; 532 int* incomFlow = order + width + 2; 533 int* outgoFlow = incomFlow + width + 2; 534 int* flow = outgoFlow + width + 2; 535 int* cargo = flow+ width + 2; 536 int s = graph -> total - 2; /* source vertex */ 537 int t = graph -> total - 1; /* terminate vertex */ 538 int realVerticesCount = verticesCount; 539 540 stekCount = 0; 541 542 for( i = 0; i < verticesCount; i ++ ) 543 { 544 v = vertices[ i ]; 545 546 incomFlow[ v ] = outgoFlow[ v ] = 0; 547 548 if( v == s ) { 549 incomFlow[ v ] = INT_INFINITY; 550 } /* if( v == s ) */ 551 else { 552 CvGraphVtx* hlpGraphVtx = cvGetGraphVtx( hlpGraph, v ); 553 CvGraphEdge* hlpGraphEdge = hlpGraphVtx -> first; 554 int ofs; 555 556 while( hlpGraphEdge ) 557 { 558 int vtxIdx = cvGraphVtxIdx( hlpGraph, 559 hlpGraphEdge -> vtx[1] ); 560 ofs = vtxIdx == v; 561 562 if( ofs ) 563 { 564 incomFlow[ v ] += ( ( Edge* )hlpGraphEdge ) -> weight; 565 } /* if( ofs ) */ 566 567 hlpGraphEdge = hlpGraphEdge -> next[ ofs ]; 568 } /* while( hlpGraphEdge ) */ 569 570 } /* if( v == s ) else */ 571 572 if( v == t ) { 573 outgoFlow[ v ] = INT_INFINITY; 574 } /* if( v == t ) */ 575 else { 576 CvGraphVtx* hlpGraphVtx = cvGetGraphVtx( hlpGraph, v ); 577 CvGraphEdge* hlpGraphEdge = hlpGraphVtx -> first; 578 int ofs; 579 580 while( hlpGraphEdge ) 581 { 582 int vtxIdx = cvGraphVtxIdx( hlpGraph, 583 hlpGraphEdge -> vtx[1] ); 584 ofs = vtxIdx == v; 585 586 if( !ofs ) 587 { 588 outgoFlow[ v ] += ( ( Edge* )hlpGraphEdge ) -> weight; 589 } /* if( ofs ) */ 590 591 hlpGraphEdge = hlpGraphEdge -> next[ ofs ]; 592 } /* while( hlpGraphEdge ) */ 593 594 } /* if( v == t ) else */ 595 596 flow[ v ] = CV_MIN2( incomFlow[ v ], outgoFlow[ v ] ); 597 598 if( !flow[ v ] ) { 599 stek[ stekCount ] = v; 600 stekCount ++; 601 } /* if( !flow[ v ] ) */ 602 603 } /* for( i = 0; i < verticesCount; i ++ ) */ 604 605 for( i = 0; i < verticesCount; i ++ ) 606 { 607 v = vertices[ i ]; 608 cargo[ v ] = 0; 609 } /* for( i = 0; i < verticesCount; i ++ ) */ 610 611 while( realVerticesCount > 2 ) 612 { 613 /* deleting all vertices included in stek */ 614 while( stekCount ) 615 { 616 v = stek[ stekCount - 1 ]; 617 stekCount --; 618 619 /* deleting edges incoming to v and outgoing from v */ 620 int ofs; 621 CvGraphVtx* hlpGraphVtx = cvGetGraphVtx( hlpGraph, v ); 622 CvGraphEdge* hlpGraphEdge; 623 if( hlpGraphVtx ) { 624 hlpGraphEdge = hlpGraphVtx -> first; 625 } 626 else { 627 hlpGraphEdge = NULL; 628 } 629 while( hlpGraphEdge ) 630 { 631 CvGraphVtx* hlpGraphVtx2 = hlpGraphEdge -> vtx[ 1 ]; 632 int hlpGraphVtxIdx2 = cvGraphVtxIdx( hlpGraph, 633 hlpGraphVtx2 ); 634 ofs = hlpGraphVtxIdx2 == v; 635 636 if( ofs ) 637 { 638 /* hlpGraphEdge is incoming edge */ 639 CvGraphVtx* hlpGraphVtx3 = hlpGraphEdge -> vtx[0]; 640 u = cvGraphVtxIdx( hlpGraph, 641 hlpGraphVtx3 ); 642 outgoFlow[ u ] -= ( ( Edge* )hlpGraphEdge ) -> weight 643 - ( ( Edge* )hlpGraphEdge ) -> flow; 644 cvGraphRemoveEdgeByPtr( hlpGraph, 645 hlpGraphVtx3, 646 hlpGraphVtx2 ); 647 if( flow[ u ] != 0 ) { 648 flow[ u ] = CV_MIN2( incomFlow[u], outgoFlow[u] ); 649 if( flow[ u ] == 0 ) { 650 stek[ stekCount ] = u; 651 stekCount ++; 652 } 653 } 654 } /* if( ofs ) */ 655 else 656 { 657 /* hlpGraphEdge is outgoing edge */ 658 CvGraphVtx* hlpGraphVtx3 = hlpGraphEdge -> vtx[1]; 659 int u = cvGraphVtxIdx( hlpGraph, 660 hlpGraphVtx3 ); 661 incomFlow[ u ] -= ( ( Edge* )hlpGraphEdge ) -> weight 662 - ( ( Edge* )hlpGraphEdge ) -> flow; 663 cvGraphRemoveEdgeByPtr( hlpGraph, 664 hlpGraphVtx2, 665 hlpGraphVtx3 ); 666 if( flow[ u ] != 0 ) { 667 flow[ u ] = CV_MIN2( incomFlow[u], outgoFlow[u] ); 668 if( flow[ u ] == 0 ) { 669 stek[ stekCount ] = u; 670 stekCount ++; 671 } 672 } 673 } /* if( ofs ) else */ 674 675 hlpGraphEdge = hlpGraphEdge -> next[ ofs ]; 676 677 } /* while( hlpGraphEdge ) */ 678 679 /* deleting vertex v */ 680 cvGraphRemoveVtx( hlpGraph, v ); 681 realVerticesCount --; 682 683 } /* while( stekCount ) */ 684 685 if( realVerticesCount > 2 ) /* the flow is not max still */ 686 { 687 int p = INT_INFINITY; 688 int r = -1; 689 CvGraphVtx* graphVtx; 690 691 if( realVerticesCount == 3 ) { 692 r = r; 693 } 694 for( i = 0; i < hlpGraph -> total - 2; i ++ ) 695 { 696 graphVtx = cvGetGraphVtx( hlpGraph, i ); 697 if( graphVtx ) { 698 v = cvGraphVtxIdx( hlpGraph, graphVtx ); 699 if( flow[ v ] < p ) { 700 r = v; 701 p = flow[ v ]; 702 } 703 } 704 705 } /* for( i = 0; i < hlpGraph -> total - 2; i ++ ) */ 706 707 /* building of size p flow from r to t */ 708 orderCount = orderFirst = 0; 709 order[ orderCount ] = r; 710 orderCount ++; 711 712 v = order[ orderFirst ]; 713 orderFirst ++; 714 715 cargo[ r ] = p; 716 do /* while( v != t ) */ 717 { 718 incomFlow[ v ] -= cargo[ v ]; 719 outgoFlow[ v ] -= cargo[ v ]; 720 flow[ v ] -= cargo[ v ]; 721 722 if( flow[ v ] == 0 ) { 723 stek[ stekCount ] = v; 724 stekCount ++; 725 } 726 727 if( v == t ) { 728 cargo[ v ] = p; 729 } 730 else 731 { 732 int ofs; 733 CvGraphVtx* hlpGraphVtx2; 734 CvGraphVtx* hlpGraphVtx = cvGetGraphVtx( hlpGraph, v ); 735 CvGraphEdge* hlpGraphEdge = hlpGraphVtx -> first; 736 CvGraphEdge* hlpGraphEdge2 = NULL; 737 738 while( hlpGraphEdge && cargo[ v ] > 0 ) 739 { 740 hlpGraphVtx2 = hlpGraphEdge -> vtx[ 1 ]; 741 u = cvGraphVtxIdx( hlpGraph, hlpGraphVtx2 ); 742 ofs = u == v; 743 744 if( !ofs ) 745 { 746 if( cargo[ u ] == 0 ) { 747 order[ orderCount ] = u; 748 orderCount ++; 749 } 750 int delta = ( ( Edge* )hlpGraphEdge ) -> weight 751 - ( ( Edge* )hlpGraphEdge ) -> flow; 752 delta = CV_MIN2( cargo[ v ], delta ); 753 ( ( Edge* )hlpGraphEdge ) -> flow += delta; 754 cargo[ v ] -= delta; 755 cargo[ u ] += delta; 756 if( ( ( Edge* )hlpGraphEdge ) -> weight == 757 ( ( Edge* )hlpGraphEdge ) -> flow ) 758 { 759 /* deleting hlpGraphEdge */ 760 hlpGraphEdge2 = hlpGraphEdge -> next[ ofs ]; 761 CvGraphEdge* graphEdge = 762 cvFindGraphEdge( graph, v, u ); 763 ( ( Edge* )graphEdge ) -> flow += 764 ( ( Edge* )hlpGraphEdge ) -> flow; 765 cvGraphRemoveEdgeByPtr( hlpGraph, 766 hlpGraphEdge -> vtx[0], 767 hlpGraphEdge -> vtx[1] ); 768 } 769 } /* if( !ofs ) */ 770 771 if( hlpGraphEdge2 ) { 772 hlpGraphEdge = hlpGraphEdge2; 773 hlpGraphEdge2 = NULL; 774 } 775 else { 776 hlpGraphEdge = hlpGraphEdge -> next[ ofs ]; 777 } 778 } /* while( hlpGraphEdge && cargo[ v ] > 0 ) */ 779 780 } /* if( v == t ) else */ 781 782 v = order[ orderFirst ]; 783 orderFirst ++; 784 785 } while( v != t ); /* do */ 786 787 /* building of size p flow from s to r */ 788 orderCount = orderFirst = 0; 789 order[ orderCount ] = r; 790 orderCount ++; 791 792 v = order[ orderFirst ]; 793 orderFirst ++; 794 795 cargo[ r ] = p; 796 do /* while( v != s ) */ 797 { 798 if( v != r ) 799 { 800 incomFlow[ v ] -= cargo[ v ]; 801 outgoFlow[ v ] -= cargo[ v ]; 802 flow[ v ] -= cargo[ v ]; 803 if( flow[ v ] == 0 ) { 804 stek[ stekCount ] = v; 805 stekCount ++; 806 } 807 } /* if( v != r ) */ 808 809 if( v == s ) { 810 cargo[ v ] = 0; 811 } /* if( v == s ) */ 812 else 813 { 814 int ofs; 815 816 CvGraphVtx* hlpGraphVtx = cvGetGraphVtx( hlpGraph, v ); 817 CvGraphEdge* hlpGraphEdge = hlpGraphVtx -> first; 818 CvGraphEdge* hlpGraphEdge2 = NULL; 819 while( hlpGraphEdge && cargo[ v ] > 0 ) 820 { 821 u = cvGraphVtxIdx( hlpGraph, 822 hlpGraphEdge -> vtx[ 1 ] ); 823 ofs = u == v; 824 825 if( ofs ) 826 { 827 u = cvGraphVtxIdx( hlpGraph, 828 hlpGraphEdge -> vtx[ 0 ] ); 829 830 if( cargo[ u ] == 0 ) { 831 order[ orderCount ] = u; 832 orderCount ++; 833 } 834 835 int delta = ( ( Edge* )hlpGraphEdge ) -> weight 836 - ( ( Edge* )hlpGraphEdge ) -> flow; 837 838 delta = CV_MIN2( cargo[ v ], delta ); 839 840 (( ( Edge* )hlpGraphEdge ) -> flow) += delta; 841 842 cargo[ v ] -= delta; 843 cargo[ u ] += delta; 844 845 if( ( ( Edge* )hlpGraphEdge ) -> weight == 846 ( ( Edge* )hlpGraphEdge ) -> flow ) 847 { 848 hlpGraphEdge2 = hlpGraphEdge -> next[ ofs ]; 849 CvGraphEdge* graphEdge = 850 cvFindGraphEdge( graph, u, v ); 851 ( ( Edge* )graphEdge ) -> flow += 852 ( ( Edge* )hlpGraphEdge ) -> flow; 853 cvGraphRemoveEdgeByPtr( hlpGraph, 854 hlpGraphEdge -> vtx[0], 855 hlpGraphEdge -> vtx[1] ); 856 } 857 } /* if( ofs ) */ 858 859 if( hlpGraphEdge2 ) { 860 hlpGraphEdge = hlpGraphEdge2; 861 hlpGraphEdge2 = NULL; 862 } 863 else { 864 hlpGraphEdge = hlpGraphEdge -> next[ ofs ]; 865 } 866 } /* while( hlpGraphEdge && cargo[ v ] > 0 ) */ 867 868 } /* if( v == s ) else */ 869 870 v = order[ orderFirst ]; //added 871 orderFirst ++; //added 872 873 } while( v != s ); /* do */ 874 875 } /* if( hlpGraph -> total > 2 ) */ 876 877 } /* while( hlpGraph -> total > 2 ) */ 878 879 } /* makePseudoMaxFlow */ 880 881 882 // function oneStep produces one alpha-beta exchange for one line of images 883 // leftLine - pointer to the left image line 884 // rightLine - pointer to the right image line 885 // alpha - label number one 886 // beta - label number two 887 // corr - pointer to correspondence array for this line 888 // width - width of image line in pixels 889 // mem - pointer to memory allocated by allocTempMem function 890 // vertices - pointer to vertices array allocated by allocTempMem 891 // function 892 // storage - pointer to CvMemStorage structure 893 bool oneStep( unsigned char* leftLine, 894 unsigned char* rightLine, 895 int alpha, 896 int beta, 897 int* corr, 898 int width, 899 int* mem, 900 int* vertices, 901 CvMemStorage* storage ) 902 { 903 CvGraph* graph = NULL; 904 CvGraph* hlpGraph = NULL; 905 CvMemStoragePos storagePos; 906 int i; 907 bool change = false; 908 cvSaveMemStoragePos( storage, &storagePos ); 909 910 int verticesCount; 911 912 makeGraph( &graph, leftLine, rightLine, alpha, beta, corr, width, storage ); 913 914 int s = graph -> total - 2; /* source vertex - alpha vertex */ 915 //int t = graph -> total - 1; /* terminate vertex - beta vertex */ 916 917 int length = makeHelpGraph( graph, 918 &hlpGraph, 919 storage, 920 mem, 921 vertices, 922 &verticesCount, 923 width ); 924 while( length != INT_INFINITY ) 925 { 926 change = true; 927 makePseudoMaxFlow( graph, 928 hlpGraph, 929 vertices, 930 verticesCount, 931 mem, 932 width ); 933 cvClearGraph( hlpGraph ); 934 length = makeHelpGraph( graph, 935 &hlpGraph, 936 storage, 937 mem, 938 vertices, 939 &verticesCount, 940 width ); 941 } /* while( length != INT_INFINITY ) */ 942 943 int coord; 944 CvGraphVtx* graphVtx; 945 for( i = 0; i < s; i ++ ) 946 { 947 CvGraphEdge* graphEdge = cvFindGraphEdge( graph, s, i ); 948 949 if( ( ( Edge* )graphEdge ) -> weight == 950 ( ( Edge* )graphEdge ) -> flow ) 951 { /* this vertex must have alpha label */ 952 graphVtx = cvGetGraphVtx( graph, i ); 953 coord = ( ( Vertex* )graphVtx )-> coord; 954 if( corr[ coord ] != alpha ) { 955 corr[ coord ] = alpha; //added 956 change = true; 957 } 958 else { 959 corr[ coord ] = alpha; 960 } 961 } /* if( ( ( Edge* )graphEdge ) -> weight == ... */ 962 else 963 { /* this vertex must have beta label */ 964 graphVtx = cvGetGraphVtx( graph, i ); 965 coord = ( ( Vertex* )graphVtx )-> coord; 966 if( corr[ coord ] != beta ) { 967 corr[ coord ] = beta; //added 968 change = true; 969 } 970 else { 971 corr[ coord ] = beta; 972 } 973 } /* if( ( ( Edge* )graphEdge ) -> weight == ... else */ 974 975 } /* for( i = 0; i < s; i ++ ) */ 976 977 cvClearGraph( hlpGraph ); 978 cvClearGraph( graph ); 979 980 cvRestoreMemStoragePos( storage, &storagePos ); 981 982 return change; 983 984 } /* oneStep */ 985 986 // function initCorr fills correspondence array with initial values 987 // corr - pointer to correspondence array for this line 988 // width - width of image line in pixels 989 // maxPixelDifference - maximum value of difference between the same 990 // point painted on two images 991 void initCorr( int* corr, int width, int maxPixelDifference ) 992 { 993 int i; 994 int pixelDifferenceRange = maxPixelDifference * 2 + 1; 995 996 for( i = 0; i < width; i ++ ) 997 { 998 corr[ i ] = i % pixelDifferenceRange - maxPixelDifference; 999 } 1000 } /* initCorr */ 1001 1002 // function oneLineCorr fully computes one line of images 1003 // leftLine - pointer to the left image line 1004 // rightLine - pointer to the right image line 1005 // corr - pointer to the correspondence array for one 1006 // line 1007 // mem - pointer to memory allocated by allocTempMem 1008 // function 1009 // vertices - pointer to memory allocated by allocTempMem 1010 // function 1011 // width - width of image line in pixels 1012 // maxPixelDifference - maximum value of pixel differences in pixels 1013 // storage - pointer to CvMemStorage struct which 1014 // contains memory storage 1015 void oneLineCorr( unsigned char* leftLine, 1016 unsigned char* rightLine, 1017 int* corr, 1018 int* mem, 1019 int* vertices, 1020 int width, 1021 int maxPixelDifference, 1022 CvMemStorage* storage ) 1023 { 1024 int result = 1; 1025 int count = 0; 1026 int i, j; 1027 1028 initCorr( corr, width, maxPixelDifference ); 1029 while( result ) 1030 { 1031 result = 0; 1032 1033 for( i = - maxPixelDifference; i < maxPixelDifference; i ++ ) 1034 for( j = i + 1; j <= maxPixelDifference; j ++ ) 1035 { 1036 result += (int)oneStep( leftLine, 1037 rightLine, 1038 i, 1039 j, 1040 corr, 1041 width, 1042 mem, 1043 vertices, 1044 storage ); 1045 } /* for( j = i + 1; j < width; j ++ ) */ 1046 1047 count ++; 1048 if( count > /*0*//*1*/2 ) { 1049 break; 1050 } 1051 1052 } /* while( result ) */ 1053 1054 } /* oneLineCorr */ 1055 1056 // function allLinesCorr computes all lines on the images 1057 // leftImage - pointer to the left image 1058 // leftLineStep - size of line on the left image in bytes 1059 // rightImage - pointer to the right image 1060 // rightLineStep - size of line on the right image in bytes 1061 // width - width of line in pixels 1062 // height - height of image in pixels 1063 // corr - pointer to correspondence array for all lines 1064 // maxPixelDifference - maximum value of difference between the same 1065 // point painted on two images 1066 // storage - pointer to CvMemStorage which contains memory 1067 // storage 1068 void allLinesCorr( unsigned char* leftImage, 1069 int leftLineStep, 1070 unsigned char* rightImage, 1071 int rightLineStep, 1072 int width, 1073 int height, 1074 int* corr, 1075 int maxPixelDifference, 1076 CvMemStorage* storage ) 1077 { 1078 int i; 1079 unsigned char* leftLine = leftImage; 1080 unsigned char* rightLine = rightImage; 1081 int* mem; 1082 int* vertices; 1083 1084 allocTempMem( &mem, 1085 &vertices, 1086 width ); 1087 1088 for( i = 0; i < height; i ++ ) 1089 { 1090 oneLineCorr( leftLine, 1091 rightLine, 1092 corr + i * width, 1093 mem, 1094 vertices, 1095 width, 1096 maxPixelDifference, 1097 storage ); 1098 leftLine += leftLineStep; 1099 rightLine += rightLineStep; 1100 } /* for( i = 0; i < height; i ++ ) */ 1101 1102 freeTempMem( &mem, 1103 &vertices ); 1104 1105 } /* allLinesCorr */ 1106 1107 // This function produces morphing of two images into one image, which includes morphed 1108 // image or depth map 1109 // _leftImage - pointer to left image 1110 // _leftLineStep - size of line on left image in bytes 1111 // _rightImage - pointer to right image 1112 // _rightLineStep - size of line on right image in bytes 1113 // _resultImage - pointer to result morphed image 1114 // _resultLineStep - size of line on result image in bytes 1115 // _corrArray - pointer to array with correspondences 1116 // _numCorrArray - pointer to array with numbers correspondeces on each line 1117 // width - width of images 1118 // height - height of images 1119 // alpha - position of virtual camera ( 0 corresponds to left image, 1 - to right one ) 1120 // imageNeed - defines your wishes. if you want to see normal morphed image you have to set 1121 // this parameter to morphNormalImage ( this is default value ), else if you want 1122 // to see depth map you have to set this parameter to morphDepthMap and set the 1123 // next parameter ( maxPixelDifference ) to real value 1124 // maxPixelDifference - maximum value of pixel difference on two images 1125 void CCvGraphCutMorpher::Morph( unsigned char* _leftImage, 1126 int _leftLineStep, 1127 unsigned char* _rightImage, 1128 int _rightLineStep, 1129 unsigned char* _resultImage, 1130 int _resultLineStep, 1131 int* _corrArray, 1132 int width, 1133 int height, 1134 float alpha, 1135 morphImageType imageNeed, 1136 int maxDifference 1137 ) 1138 { 1139 unsigned char* leftArray = _leftImage; 1140 unsigned char* middleArray = _resultImage; 1141 unsigned char* rightArray = _rightImage; 1142 int leftLineSize = _leftLineStep; 1143 int middleLineSize = _resultLineStep; 1144 int rightLineSize = _rightLineStep; 1145 1146 int lineNumber; 1147 unsigned char* leftTemp; 1148 unsigned char* middleTemp; 1149 unsigned char* rightTemp; 1150 int leftPixel; 1151 int prevLeftPixel; 1152 int middlePixel; 1153 int prevMiddlePixel; 1154 int rightPixel; 1155 int prevRightPixel; 1156 int leftPixel3; 1157 int middlePixel3; 1158 int rightPixel3; 1159 int i; 1160 int j; 1161 int tempIndex; 1162 int* result; 1163 int number; 1164 float alpha1 = 1.0f - alpha; 1165 1166 for( lineNumber = 0; lineNumber < height; lineNumber ++ ) 1167 { 1168 leftTemp = leftArray + leftLineSize * lineNumber; 1169 middleTemp = middleArray + middleLineSize * lineNumber; 1170 rightTemp = rightArray + rightLineSize * lineNumber; 1171 memset( ( void* )middleTemp, 0, middleLineSize ); 1172 1173 result = _corrArray + width * lineNumber; 1174 number = width; 1175 1176 prevLeftPixel = 0; 1177 prevRightPixel = prevLeftPixel + result[ 0 ]; 1178 if( prevRightPixel >= width ) { 1179 prevRightPixel = width - 1; 1180 } 1181 else if ( prevRightPixel < 0 ) { 1182 prevRightPixel = 0; 1183 } 1184 prevMiddlePixel = 1185 (int)( prevLeftPixel * alpha1 + prevRightPixel * alpha ); 1186 for( i = 0; i < number - 1; i ++ ) 1187 { 1188 leftPixel = i; 1189 rightPixel = i + result[ i ]; 1190 if( rightPixel >= width ) { 1191 rightPixel = width - 1; 1192 } 1193 else if( rightPixel < 0 ) { 1194 rightPixel = 0; 1195 } 1196 middlePixel = 1197 (int)( leftPixel * alpha1 + rightPixel * alpha ); 1198 leftPixel3 = leftPixel * 3; 1199 middlePixel3 = middlePixel * 3; 1200 rightPixel3 = rightPixel * 3; 1201 1202 if( imageNeed == morphDepthMap ) { 1203 int t = leftPixel - rightPixel + maxDifference; 1204 t = t < 0 ? -t : t; 1205 t = t * 255 / maxDifference / 2; 1206 middleTemp[ middlePixel3 ] = ( unsigned char )t; 1207 middleTemp[ middlePixel3 + 1 ] = ( unsigned char )t; 1208 middleTemp[ middlePixel3 + 2 ] = ( unsigned char )t; 1209 } // if( imageNeed == morphDepthMap ) 1210 else 1211 { 1212 middleTemp[ middlePixel3 ] = 1213 (unsigned char)( leftTemp[ leftPixel3 ] * alpha1 1214 + rightTemp[ rightPixel3 ] * alpha ); 1215 middleTemp[ middlePixel3 + 1 ] = 1216 (unsigned char)( leftTemp[ leftPixel3 + 1 ] * alpha1 1217 + rightTemp[ rightPixel3 + 1 ] * alpha ); 1218 middleTemp[ middlePixel3 + 2 ] = 1219 (unsigned char)( leftTemp[ leftPixel3 + 2 ] * alpha1 1220 + rightTemp[ rightPixel3 + 2 ] * alpha ); 1221 1222 if( middlePixel - prevMiddlePixel > 1 ) // occlusion 1223 { 1224 if( leftPixel - prevLeftPixel > 1 ) 1225 { 1226 int LenSrc = leftPixel - prevLeftPixel - 2; 1227 int LenDest = middlePixel - prevMiddlePixel - 1; 1228 for( j = prevMiddlePixel + 1; j < middlePixel; j ++ ) 1229 { 1230 tempIndex = prevLeftPixel + 1 + LenSrc * 1231 ( j - prevMiddlePixel - 1 ) / LenDest; 1232 middleTemp[ j * 3 ] = 1233 leftTemp[ tempIndex * 3 ]; 1234 middleTemp[ j * 3 + 1 ] = 1235 leftTemp[ tempIndex * 3 + 1 ]; 1236 middleTemp[ j * 3 + 2 ] = 1237 leftTemp[ tempIndex * 3 + 2 ]; 1238 } 1239 } // if( leftPixel - prevLeftPixel > 1 ) 1240 else 1241 { 1242 int LenSrc = rightPixel - prevRightPixel - 2; 1243 int LenDest = middlePixel - prevMiddlePixel - 1; 1244 for( j = prevMiddlePixel + 1; j < middlePixel; j ++ ) 1245 { 1246 tempIndex = prevRightPixel + 1 + LenSrc * 1247 ( j - prevMiddlePixel - 1 ) / LenDest; 1248 middleTemp[ j * 3 ] = 1249 rightTemp[ tempIndex * 3 ]; 1250 middleTemp[ j * 3 + 1 ] = 1251 rightTemp[ tempIndex * 3 + 1 ]; 1252 middleTemp[ j * 3 + 2 ] = 1253 rightTemp[ tempIndex * 3 + 2 ]; 1254 } 1255 } // if( leftPixel - prevLeftPixel > 1 ) else 1256 1257 } // if( middlePixel - prevMiddlePixel > 1 ) 1258 1259 } // if( imageNeed == morphDepthMap ) else 1260 1261 if( middlePixel > prevMiddlePixel ) { 1262 if( leftPixel > prevLeftPixel ) 1263 prevLeftPixel = leftPixel; 1264 if( rightPixel > prevRightPixel ) 1265 prevRightPixel = rightPixel; 1266 prevMiddlePixel = middlePixel; 1267 } 1268 } // for( i = number - 1; i >= 0; i -- ) 1269 1270 } // for( lineNumber = 0; lineNumber < LeftImage -> m_Raster -> GetHeight() ) 1271 1272 } // Morph 1273 1274 bool CCvGraphCutMorpher::OnCalculateStereo() 1275 { 1276 CvSize imageSizeLeft = GetImageSize( m_left_img ), 1277 imageSizeRight = GetImageSize( m_right_img ); 1278 1279 if( ( imageSizeLeft.width != imageSizeRight.width ) 1280 || ( imageSizeLeft.height != imageSizeRight.height ) ) 1281 { 1282 return false; 1283 } 1284 1285 if( m_corr ) { 1286 free( m_corr ); 1287 m_corr = NULL; 1288 } 1289 m_corr = ( int* ) malloc( m_left_img -> width 1290 * m_left_img -> height 1291 * sizeof( int ) ); 1292 1293 if( !m_storage ) { 1294 m_storage = cvCreateMemStorage( 0 ); 1295 m_isStorageAllocated = true; 1296 } 1297 // Find correspondence for full image and store it to corr array 1298 allLinesCorr( ( unsigned char* )m_left_img -> imageData, 1299 m_left_img -> widthStep, 1300 ( unsigned char* )m_right_img -> imageData, 1301 m_right_img -> widthStep, 1302 m_left_img -> width, 1303 m_left_img -> height, 1304 m_corr, 1305 m_maxPixelDifference, 1306 m_storage ); 1307 1308 m_isStereoReady = true; 1309 1310 return true; 1311 } 1312 1313 bool CCvGraphCutMorpher::OnCalculateVirtualImage() 1314 { 1315 // Output image to ResultImage window 1316 Morph( ( unsigned char* )m_left_img -> imageData, 1317 m_left_img ->widthStep, 1318 ( unsigned char* )m_right_img -> imageData, 1319 m_right_img -> widthStep, 1320 ( unsigned char* )m_virtual_img -> imageData, 1321 m_virtual_img -> widthStep, 1322 m_corr, 1323 m_left_img -> width, 1324 m_left_img -> height, 1325 m_pan ); 1326 1327 m_isVirtualImageReady = true; 1328 1329 return true; 1330 } 1331 1332 bool CCvGraphCutMorpher::OnCalculateDisparity() 1333 { 1334 Morph( ( unsigned char* )m_left_img -> imageData, 1335 m_left_img ->widthStep, 1336 ( unsigned char* )m_right_img -> imageData, 1337 m_right_img -> widthStep, 1338 ( unsigned char* )m_disparity_img -> imageData, 1339 m_disparity_img -> widthStep, 1340 m_corr, 1341 m_left_img -> width, 1342 m_left_img -> height, 1343 m_pan, 1344 morphDepthMap, 1345 m_maxPixelDifference ); 1346 1347 return true; 1348 } 1349 1350 bool CCvGraphCutMorpher::OnCalculateDisparityImage() 1351 { 1352 Morph( ( unsigned char* )m_left_img -> imageData, 1353 m_left_img ->widthStep, 1354 ( unsigned char* )m_right_img -> imageData, 1355 m_right_img -> widthStep, 1356 ( unsigned char* )m_disparity_img -> imageData, 1357 m_disparity_img -> widthStep, 1358 m_corr, 1359 m_left_img -> width, 1360 m_left_img -> height, 1361 m_pan, 1362 morphDepthMap, 1363 m_maxPixelDifference ); 1364 1365 return true; 1366 } 1367 1368 CCvGraphCutMorpher::CCvGraphCutMorpher() 1369 { 1370 m_maxPixelDifference = MAX_DIFFERENCE; 1371 m_corr = 0; 1372 m_isStereoReady = false; 1373 m_isVirtualImageReady = false; 1374 m_isDisparityReady = false; 1375 m_storage = NULL; 1376 m_isStorageAllocated = false; 1377 } 1378 1379 #endif 1380 1381 /* End of file */ 1382
