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Merge pull request #2819 from LaurentBerger:pyb_qd

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* solved issue 2813

* review
This commit is contained in:
LaurentBerger
2021-01-22 09:09:36 +01:00
committed by GitHub
parent ae14c7cee5
commit d733a80100
7 changed files with 104 additions and 44 deletions
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2
modules/stereo/CMakeLists.txt
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@@ -1,2 +1,2 @@
set(the_description "Stereo Correspondence")
ocv_define_module(stereo opencv_imgproc opencv_features2d opencv_core opencv_tracking)
ocv_define_module(stereo opencv_imgproc opencv_features2d opencv_core opencv_tracking WRAP python)

66
modules/stereo/include/opencv2/stereo/quasi_dense_stereo.hpp
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@@ -24,42 +24,44 @@ namespace stereo
// A basic match structure
struct CV_EXPORTS Match
struct CV_EXPORTS_W_SIMPLE MatchQuasiDense
{
cv::Point2i p0;
cv::Point2i p1;
float corr;
CV_PROP_RW cv::Point2i p0;
CV_PROP_RW cv::Point2i p1;
CV_PROP_RW float corr;
bool operator < (const Match & rhs) const//fixme may be used uninitialized in this function
CV_WRAP MatchQuasiDense() { corr = 0; }
CV_WRAP_AS(apply) bool operator < (const MatchQuasiDense & rhs) const//fixme may be used uninitialized in this function
{
return this->corr < rhs.corr;
}
};
struct CV_EXPORTS PropagationParameters
struct CV_EXPORTS_W_SIMPLE PropagationParameters
{
int corrWinSizeX; // similarity window
int corrWinSizeY;
CV_PROP_RW int corrWinSizeX; // similarity window
CV_PROP_RW int corrWinSizeY;
int borderX; // border to ignore
int borderY;
CV_PROP_RW int borderX; // border to ignore
CV_PROP_RW int borderY;
//matching
float correlationThreshold; // correlation threshold
float textrureThreshold; // texture threshold
CV_PROP_RW float correlationThreshold; // correlation threshold
CV_PROP_RW float textrureThreshold; // texture threshold
int neighborhoodSize; // neighborhood size
int disparityGradient; // disparity gradient threshold
CV_PROP_RW int neighborhoodSize; // neighborhood size
CV_PROP_RW int disparityGradient; // disparity gradient threshold
// Parameters for LK flow algorithm
int lkTemplateSize;
int lkPyrLvl;
int lkTermParam1;
float lkTermParam2;
CV_PROP_RW int lkTemplateSize;
CV_PROP_RW int lkPyrLvl;
CV_PROP_RW int lkTermParam1;
CV_PROP_RW float lkTermParam2;
// Parameters for GFT algorithm.
float gftQualityThres;
int gftMinSeperationDist;
int gftMaxNumFeatures;
CV_PROP_RW float gftQualityThres;
CV_PROP_RW int gftMinSeperationDist;
CV_PROP_RW int gftMaxNumFeatures;
};
@@ -90,14 +92,14 @@ struct CV_EXPORTS PropagationParameters
*
*/
class CV_EXPORTS QuasiDenseStereo
class CV_EXPORTS_W QuasiDenseStereo
{
public:
/**
* @brief destructor
* Method to free all the memory allocated by matrices and vectors in this class.
*/
virtual ~QuasiDenseStereo() = 0;
CV_WRAP virtual ~QuasiDenseStereo() = 0;
/**
@@ -113,7 +115,7 @@ public:
* in case of video processing.
* @sa loadParameters
*/
virtual int loadParameters(cv::String filepath) = 0;
CV_WRAP virtual int loadParameters(cv::String filepath) = 0;
/**
@@ -124,7 +126,7 @@ public:
* @note This method can be used to generate a template file for tuning the class.
* @sa loadParameters
*/
virtual int saveParameters(cv::String filepath) = 0;
CV_WRAP virtual int saveParameters(cv::String filepath) = 0;
/**
@@ -133,7 +135,7 @@ public:
* @note The method clears the sMatches vector.
* @note The returned Match elements inside the sMatches vector, do not use corr member.
*/
virtual void getSparseMatches(std::vector<stereo::Match> &sMatches) = 0;
CV_WRAP virtual void getSparseMatches(CV_OUT std::vector<MatchQuasiDense> &sMatches) = 0;
/**
@@ -142,7 +144,7 @@ public:
* @note The method clears the denseMatches vector.
* @note The returned Match elements inside the sMatches vector, do not use corr member.
*/
virtual void getDenseMatches(std::vector<stereo::Match> &denseMatches) = 0;
CV_WRAP virtual void getDenseMatches(CV_OUT std::vector<MatchQuasiDense> &denseMatches) = 0;
@@ -158,7 +160,7 @@ public:
* @sa sparseMatching
* @sa quasiDenseMatching
*/
virtual void process(const cv::Mat &imgLeft ,const cv::Mat &imgRight) = 0;
CV_WRAP virtual void process(const cv::Mat &imgLeft ,const cv::Mat &imgRight) = 0;
/**
@@ -169,7 +171,7 @@ public:
* @retval cv::Point(0, 0) (NO_MATCH) if no match is found in the right image for the specified pixel location in the left image.
* @note This method should be always called after process, otherwise the matches will not be correct.
*/
virtual cv::Point2f getMatch(const int x, const int y) = 0;
CV_WRAP virtual cv::Point2f getMatch(const int x, const int y) = 0;
/**
@@ -180,13 +182,13 @@ public:
* @sa computeDisparity
* @sa quantizeDisparity
*/
virtual cv::Mat getDisparity(uint8_t disparityLvls=50) = 0;
CV_WRAP virtual cv::Mat getDisparity(uint8_t disparityLvls=50) = 0;
static cv::Ptr<QuasiDenseStereo> create(cv::Size monoImgSize, cv::String paramFilepath = cv::String());
CV_WRAP static cv::Ptr<QuasiDenseStereo> create(cv::Size monoImgSize, cv::String paramFilepath = cv::String());
PropagationParameters Param;
CV_PROP_RW PropagationParameters Param;
};
} //namespace cv

17
modules/stereo/misc/python/pyopencv_stereo.hpp Normal file
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@@ -0,0 +1,17 @@
#ifdef HAVE_OPENCV_STEREO
typedef std::vector<stereo::MatchQuasiDense> vector_MatchQuasiDense;
template<> struct pyopencvVecConverter<stereo::MatchQuasiDense>
{
static bool to(PyObject* obj, std::vector<stereo::MatchQuasiDense>& value, const ArgInfo& info)
{
return pyopencv_to_generic_vec(obj, value, info);
}
static PyObject* from(const std::vector<stereo::MatchQuasiDense>& value)
{
return pyopencv_from_generic_vec(value);
}
};
#endif

20
modules/stereo/misc/python/test/test_stereo.py Normal file
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@@ -0,0 +1,20 @@
#!/usr/bin/env python
import cv2 as cv
from tests_common import NewOpenCVTests
class quasi_dense_stereo_test(NewOpenCVTests):
def test_simple(self):
stereo = cv.stereo.QuasiDenseStereo_create((100, 100))
self.assertIsNotNone(stereo)
dense_matches = cv.stereo_MatchQuasiDense()
self.assertIsNotNone(dense_matches)
parameters = cv.stereo_PropagationParameters()
self.assertIsNotNone(parameters)
if __name__ == '__main__':
NewOpenCVTests.bootstrap()

2
modules/stereo/samples/dense_disparity.cpp
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@@ -46,7 +46,7 @@ int main()
//! [export]
vector<stereo::Match> matches;
vector<stereo::MatchQuasiDense> matches;
stereo->getDenseMatches(matches);
std::ofstream dense("./dense.txt", std::ios::out);
for (uint i=0; i< matches.size(); i++)

21
modules/stereo/samples/sample_quasi_dense.py Normal file
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@@ -0,0 +1,21 @@
import numpy as np
import cv2 as cv
left_img = cv.imread(cv.samples.findFile("aloeL.jpg"), cv.IMREAD_COLOR)
right_img = cv.imread(cv.samples.findFile("aloeR.jpg"), cv.IMREAD_COLOR)
frame_size = leftImg.shape[0:2];
stereo = cv.stereo.QuasiDenseStereo_create(frame_size[::-1])
stereo.process(left_img, right_img)
disp = stereo.getDisparity(80)
cv.imshow("disparity", disp)
cv.waitKey()
dense_matches = stereo.getDenseMatches()
try:
with open("dense.txt", "wt") as f:
# if you want all matches use for idx in len(dense_matches): It can be a big file
for idx in range(0, min(10, len(dense_matches))):
nb = f.write(str(dense_matches[idx].p0) + "\t" + str(dense_matches[idx].p1) + "\t" + str(dense_matches[idx].corr) + "\n")
except:
print("Cannot open file")

20
modules/stereo/src/quasi_dense_stereo.cpp
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@@ -13,7 +13,7 @@ namespace stereo {
#define NO_MATCH cv::Point(0,0)
typedef std::priority_queue<Match, std::vector<Match>, std::less<Match> > t_matchPriorityQueue;
typedef std::priority_queue<MatchQuasiDense, std::vector<MatchQuasiDense>, std::less<MatchQuasiDense> > t_matchPriorityQueue;
class QuasiDenseStereoImpl : public QuasiDenseStereo
@@ -165,7 +165,7 @@ public:
t_matchPriorityQueue Local;
// Get the best seed at the moment
Match m = seeds.top();
MatchQuasiDense m = seeds.top();
seeds.pop();
// Ignore the border
@@ -209,7 +209,7 @@ public:
// push back if this is valid match
if( corr > Param.correlationThreshold )
{
Match nm;
MatchQuasiDense nm;
nm.p0 = p0;
nm.p1 = p1;
nm.corr = corr;
@@ -223,7 +223,7 @@ public:
// Get seeds from the local
while( !Local.empty() )
{
Match lm = Local.top();
MatchQuasiDense lm = Local.top();
Local.pop();
// Check if its unique in both ref and dst.
if(refMap.at<cv::Point2i>(lm.p0.y, lm.p0.x) != NO_MATCH)
@@ -410,7 +410,7 @@ public:
for(uint i=0; i < featuresLeft.size(); i++)
{
// Calculate correlation and store match in Seeds.
Match m;
MatchQuasiDense m;
m.p0 = cv::Point2i(featuresLeft[i]);
m.p1 = cv::Point2i(featuresRight[i]);
m.corr = 0;
@@ -442,7 +442,7 @@ public:
* @retval true If the feature is in the border of the image.
* @retval false If the feature is not in the border of image.
*/
bool CheckBorder(Match m, int bx, int by, int w, int h)
bool CheckBorder(MatchQuasiDense m, int bx, int by, int w, int h)
{
if(m.p0.x<bx || m.p0.x>w-bx || m.p0.y<by || m.p0.y>h-by ||
m.p1.x<bx || m.p1.x>w-bx || m.p1.y<by || m.p1.y>h-by)
@@ -492,9 +492,9 @@ public:
//-------------------------------------------------------------------------
void getSparseMatches(std::vector<stereo::Match> &sMatches) override
void getSparseMatches(std::vector<stereo::MatchQuasiDense> &sMatches) override
{
Match tmpMatch;
MatchQuasiDense tmpMatch;
sMatches.clear();
sMatches.reserve(leftFeatures.size());
for (uint i=0; i<leftFeatures.size(); i++)
@@ -594,9 +594,9 @@ public:
return -1;
}
void getDenseMatches(std::vector<stereo::Match> &denseMatches) override
void getDenseMatches(std::vector<stereo::MatchQuasiDense> &denseMatches) override
{
Match tmpMatch;
MatchQuasiDense tmpMatch;
denseMatches.clear();
denseMatches.reserve(dMatchesLen);
for (int row=0; row<height; row++)