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Commit 6d4f2678 authored by Jonathan Guinet's avatar Jonathan Guinet
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ENH: some options have been added in StereoFramework application JIRA: #OTB-375.

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Applications/DisparityMap/otbStereoFramework.cxx
+ 93
− 38
View file @ 6d4f2678
......@@ -131,6 +131,9 @@ public:
FloatImageType,
FloatImageType> MedianFilterType;
typedef otb::VarianceImageFilter<FloatImageType,FloatImageType> VarianceFilterType;
typedef otb::DisparityMapToDEMFilter
<FloatImageType,
FloatImageType,
......@@ -307,8 +310,12 @@ private:
AddParameter(ParameterType_OutputImage,"out","Output image");
SetParameterDescription("out","Output elevation image");
/*AddParameter(ParameterType_OutputImage,"out2","Output image");
SetParameterDescription("out2","Output elevation image"); */
AddParameter(ParameterType_Int,"step","Step of the deformation grid (in nb. of pixels)");
SetParameterDescription("step","Stereo-rectification deformation grid only varies slowly. Therefore, it is recommanded to use a coarser grid (higher step value) in case of large images");
SetDefaultParameterInt("step",16);
MandatoryOff("step");
AddParameter(ParameterType_Float,"above","Maximum altitude offset");
SetParameterDescription("above","Maximum altitude above the selected elevation source (in m)");
......@@ -322,6 +329,13 @@ private:
SetDefaultParameterFloat("below",-20.0);
DisableParameter("below");
AddParameter(ParameterType_Int,"radius","Radius of blocks for matching filter");
SetParameterDescription("radius","The radius (in pixels) of blocks in Block-Matching");
SetDefaultParameterInt("radius",4);
SetMinimumParameterIntValue("radius",1);
MandatoryOff("radius");
AddParameter(ParameterType_Group,"mask","Masks");
AddParameter(ParameterType_InputImage, "mask.left","Input left mask");
......@@ -334,6 +348,14 @@ private:
MandatoryOff("mask.right");
DisableParameter("mask.right");
AddParameter(ParameterType_Float,"mask.variancet","Discard pixels with low local variance");
SetParameterDescription("mask.variancet","This parameter allows to discard pixels whose local variance is too small (the size of the neighborhood is given by the radius parameter)");
MandatoryOff("mask.variancet");
SetDefaultParameterFloat("mask.variancet",100.);
DisableParameter("mask.variancet");
//TODO JGT new framework disparity map handling
// is it useful to store disp in epipolar geometry ?
/* AddParameter(ParameterType_OutputFilename,"disp","Disparity map output");
......@@ -374,8 +396,7 @@ private:
//create pipeline for each stereo couple
std::vector<std::vector<int> > couples=this->CreateCouplesList(GetParameterString("co"));
std::vector<std::vector<int> > couples = this->CreateCouplesList(GetParameterString("co"));
unsigned int stereoCouples = couples.size();
m_ExtractorList.resize(inList->Size());
......@@ -400,13 +421,12 @@ private:
m_Multi3DMapToDEMFilter->SetNumberOf3DMaps(stereoCouples);
//
for (unsigned int i = 0; i < stereoCouples; i++)
{
std::vector<int> couple= couples[i];
if(couple.size()>2)
std::vector<int> couple = couples[i];
if (couple.size() > 2)
{
otbAppLogWARNING(<<" current couple contain more than 2 value. only first and second values will be associated to create next couple.");
}
......@@ -418,7 +438,7 @@ private:
DeformationFieldSourceType::Pointer epipolarGridSource = DeformationFieldSourceType::New();
epipolarGridSource->SetLeftImage(inleft);
epipolarGridSource->SetRightImage(inright);
epipolarGridSource->SetGridStep(16);
epipolarGridSource->SetGridStep(this->GetParameterInt("step"));
epipolarGridSource->SetScale(1.0);
if (otb::Wrapper::ElevationParametersHandler::IsDEMUsed(this, "elev")
......@@ -532,8 +552,11 @@ private:
FloatImageType::Pointer rightmask;
BandMathFilterType::Pointer lBandMathFilter = BandMathFilterType::New();
BandMathFilterType::Pointer rBandMathFilter = BandMathFilterType::New();
unsigned int inputIdLeft = 0;
unsigned int inputIdRight = 0;
lBandMathFilter->SetNthInput(0, leftResampleFilter->GetOutput(), "inleft");
lBandMathFilter->SetNthInput(inputIdLeft, leftResampleFilter->GetOutput(), "inleft");
++inputIdLeft;
std::ostringstream leftFormula;
leftFormula << "if((inleft > 0)";
......@@ -551,16 +574,33 @@ private:
leftMaskResampleFilter->SetOutputOrigin(epiOrigin);
leftMaskResampleFilter->SetEdgePaddingValue(defaultValue);
lBandMathFilter->SetNthInput(1, leftMaskResampleFilter->GetOutput(), "maskleft");
lBandMathFilter->SetNthInput(inputIdLeft, leftMaskResampleFilter->GetOutput(), "maskleft");
++inputIdLeft;
leftFormula << " and (maskleft > 0)";
}
// Handle variance threshold if present
if (IsParameterEnabled("mask.variancet"))
{
// Left side
VarianceFilterType::Pointer leftVarianceFilter = VarianceFilterType::New();
leftVarianceFilter->SetInput(leftResampleFilter->GetOutput());
VarianceFilterType::InputSizeType vradius;
vradius.Fill(this->GetParameterInt("radius"));
leftVarianceFilter->SetRadius(vradius);
lBandMathFilter->SetNthInput(inputIdLeft, leftVarianceFilter->GetOutput(), "variance");
++inputIdLeft;
leftFormula << " and variance > " << GetParameterFloat("mask.variancet");
m_Filters.push_back(leftVarianceFilter.GetPointer());
}
leftFormula << ",255,0)";
lBandMathFilter->SetExpression(leftFormula.str());
m_Filters.push_back(leftMaskResampleFilter.GetPointer());
rBandMathFilter->SetNthInput(0, rightResampleFilter->GetOutput(), "inright");
rBandMathFilter->SetNthInput(inputIdRight, rightResampleFilter->GetOutput(), "inright");
++inputIdRight;
std::ostringstream rightFormula;
rightFormula << "if((inright > 0)";
ResampleFilterType::Pointer rightMaskResampleFilter = ResampleFilterType::New();
......@@ -577,11 +617,26 @@ private:
rightMaskResampleFilter->SetOutputOrigin(epiOrigin);
rightMaskResampleFilter->SetEdgePaddingValue(defaultValue);
rBandMathFilter->SetNthInput(1, rightMaskResampleFilter->GetOutput(), "maskright");
rightFormula << " and (maskright > 0)";
rBandMathFilter->SetNthInput(inputIdRight, rightMaskResampleFilter->GetOutput(), "maskright");
++inputIdRight;
rightFormula<< " and (maskright > 0)";
}
if (IsParameterEnabled("mask.variancet"))
{
// right side
VarianceFilterType::Pointer rightVarianceFilter = VarianceFilterType::New();
rightVarianceFilter->SetInput(rightResampleFilter->GetOutput());
VarianceFilterType::InputSizeType vradius;
vradius.Fill(this->GetParameterInt("radius"));
rightVarianceFilter->SetRadius(vradius);
rBandMathFilter->SetNthInput(inputIdRight, rightVarianceFilter->GetOutput(), "variance");
++inputIdRight;
rightFormula << " and variance > " << GetParameterFloat("mask.variancet");
m_Filters.push_back(rightVarianceFilter.GetPointer());
}
rightFormula << ",255,0)";
rightFormula << ",255,0)";
rBandMathFilter->SetExpression(rightFormula.str());
m_Filters.push_back(rightMaskResampleFilter.GetPointer());
......@@ -593,7 +648,7 @@ private:
blockMatcherFilter->SetRightInput(rightResampleFilter->GetOutput());
blockMatcherFilter->SetLeftMaskInput(lBandMathFilter->GetOutput());
blockMatcherFilter->SetRightMaskInput(rBandMathFilter->GetOutput());
blockMatcherFilter->SetRadius(4);
blockMatcherFilter->SetRadius(this->GetParameterInt("radius"));
blockMatcherFilter->MinimizeOff();
m_Filters.push_back(blockMatcherFilter.GetPointer());
......@@ -659,30 +714,30 @@ private:
// Compute min/max elevation on DEM
if (otb::Wrapper::ElevationParametersHandler::IsDEMUsed(this, "elev"))
{
DEMToImageGeneratorType::Pointer demToImageFilter = DEMToImageGeneratorType::New();
demToImageFilter->SetOutputParametersFromImage((m_MultiDisparityTo3DFilterList[i]->GetOutput()));
MinMaxFilterType::Pointer minMaxFilter = MinMaxFilterType::New();
minMaxFilter->SetInput(demToImageFilter->GetOutput());
minMaxFilter->GetStreamer()->SetAutomaticTiledStreaming(this->GetParameterInt("ram"));
DEMToImageGeneratorType::Pointer demToImageFilter = DEMToImageGeneratorType::New();
demToImageFilter->SetOutputParametersFromImage((m_MultiDisparityTo3DFilterList[i]->GetOutput()));
MinMaxFilterType::Pointer minMaxFilter = MinMaxFilterType::New();
minMaxFilter->SetInput(demToImageFilter->GetOutput());
minMaxFilter->GetStreamer()->SetAutomaticTiledStreaming(this->GetParameterInt("ram"));
AddProcess(minMaxFilter->GetStreamer(), "Estimating min/max elevation...");
minMaxFilter->Update();
AddProcess(minMaxFilter->GetStreamer(), "Estimating min/max elevation...");
minMaxFilter->Update();
minElev = minMaxFilter->GetMinimum();
maxElev = minMaxFilter->GetMaximum();
}
minElev = minMaxFilter->GetMinimum();
maxElev = minMaxFilter->GetMaximum();
}
else
{
minElev =otb::Wrapper::ElevationParametersHandler::GetDefaultElevation(this, "elev");
maxElev =otb::Wrapper::ElevationParametersHandler::GetDefaultElevation(this, "elev");
{
minElev = otb::Wrapper::ElevationParametersHandler::GetDefaultElevation(this, "elev");
maxElev = otb::Wrapper::ElevationParametersHandler::GetDefaultElevation(this, "elev");
otbAppLogINFO(<<"Default elevation set for Min/Max elevation : "<<minElev);
}
}
otbAppLogINFO(<<"Minimum elevation found : "<<minElev);
otbAppLogINFO(<<"Maximum elevation found : "<<maxElev);
//check under and over for each couple
if(i==0)
if (i == 0)
{
m_Multi3DMapToDEMFilter->SetElevationMin(minElev + underElev);
m_Multi3DMapToDEMFilter->SetNoDataValue(minElev);
......@@ -690,14 +745,14 @@ private:
}
else
{
if(minElev<(m_Multi3DMapToDEMFilter->GetElevationMin()-underElev))
{
m_Multi3DMapToDEMFilter->SetElevationMin(minElev + underElev);
m_Multi3DMapToDEMFilter->SetNoDataValue(minElev);
}
if(maxElev<(m_Multi3DMapToDEMFilter->GetElevationMax()-overElev))
if (minElev < (m_Multi3DMapToDEMFilter->GetElevationMin() - underElev))
{
m_Multi3DMapToDEMFilter->SetElevationMin(minElev + underElev);
m_Multi3DMapToDEMFilter->SetNoDataValue(minElev);
}
if (maxElev < (m_Multi3DMapToDEMFilter->GetElevationMax() - overElev))
{
m_Multi3DMapToDEMFilter->SetElevationMax(maxElev + overElev);
m_Multi3DMapToDEMFilter->SetElevationMax(maxElev + overElev);
}
}
......
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