From 79044714f629f682740130d899c3ad8ccb69adbb Mon Sep 17 00:00:00 2001
From: Guillaume Pasero <guillaume.pasero@c-s.fr>
Date: Fri, 23 Mar 2012 10:46:46 +0100
Subject: [PATCH] ADD: new filter to interpolate disparities (WIP)
---
.../otbSubPixelDisparityImageFilter.h | 223 +++
.../otbSubPixelDisparityImageFilter.txx | 1307 +++++++++++++++++
2 files changed, 1530 insertions(+)
create mode 100644 Code/DisparityMap/otbSubPixelDisparityImageFilter.h
create mode 100644 Code/DisparityMap/otbSubPixelDisparityImageFilter.txx
diff --git a/Code/DisparityMap/otbSubPixelDisparityImageFilter.h b/Code/DisparityMap/otbSubPixelDisparityImageFilter.h
new file mode 100644
index 0000000000..794895103e
--- /dev/null
+++ b/Code/DisparityMap/otbSubPixelDisparityImageFilter.h
@@ -0,0 +1,223 @@
+/*=========================================================================
+
+ Program: ORFEO Toolbox
+ Language: C++
+ Date: $Date$
+ Version: $Revision$
+
+
+ Copyright (c) Centre National d'Etudes Spatiales. All rights reserved.
+ See OTBCopyright.txt for details.
+
+
+ This software is distributed WITHOUT ANY WARRANTY; without even
+ the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
+ PURPOSE. See the above copyright notices for more information.
+
+=========================================================================*/
+#ifndef __otbSubPixelDisparityImageFilter_h
+#define __otbSubPixelDisparityImageFilter_h
+
+#include "otbPixelWiseBlockMatchingImageFilter.h"
+
+namespace otb
+{
+
+/** \class SubPixelDisparityImageFilter
+ * \brief Perform sub-pixel disparity estimation from input integer disparities and the image pair that was used
+ *
+ *
+ *
+ * \sa PixelWiseBlockMatchingImageFilter
+ * \sa FineRegistrationImageFilter
+ * \sa StereorectificationDeformationFieldSource
+ *
+ * \ingroup Streamed
+ * \ingroup Threaded
+ *
+ */
+template <class TInputImage, class TOutputMetricImage, class TDisparityImage = TOutputMetricImage, class TMaskImage = otb::Image<unsigned char>,
+ class TBlockMatchingFunctor = Functor::SSDBlockMatching<TInputImage,TOutputMetricImage> >
+class ITK_EXPORT SubPixelDisparityImageFilter :
+ public itk::ImageToImageFilter<TInputImage,TDisparityImage>
+{
+public:
+ /** Standard class typedef */
+ typedef SubPixelDisparityImageFilter Self;
+ typedef itk::ImageToImageFilter<TInputImage,
+ TDisparityImage> Superclass;
+ typedef itk::SmartPointer<Self> Pointer;
+ typedef itk::SmartPointer<const Self> ConstPointer;
+
+ /** Method for creation through the object factory. */
+ itkNewMacro(Self);
+
+ /** Run-time type information (and related methods). */
+ itkTypeMacro(SubPixelDisparityImageFilter, ImageToImageFilter);
+
+ /** Usefull typedefs */
+ typedef TInputImage InputImageType;
+ typedef TOutputMetricImage OutputMetricImageType;
+ typedef TDisparityImage OutputDisparityImageType;
+ typedef TMaskImage InputMaskImageType;
+ typedef TBlockMatchingFunctor BlockMatchingFunctorType;
+
+ typedef typename InputImageType::SizeType SizeType;
+ typedef typename InputImageType::IndexType IndexType;
+ typedef typename InputImageType::RegionType RegionType;
+
+ typedef typename TOutputMetricImage::ValueType MetricValueType;
+
+ typedef itk::ConstNeighborhoodIterator<TInputImage> ConstNeighborhoodIteratorType;
+
+ itkStaticConstMacro(PARABOLIC,int,0);
+ itkStaticConstMacro(TRIANGULAR,int,1);
+ itkStaticConstMacro(DICHOTOMY,int,2);
+
+ /** Set left input */
+ void SetLeftInput( const TInputImage * image);
+
+ /** Set right input */
+ void SetRightInput( const TInputImage * image);
+
+ /** Set initial horizontal disparity field */
+ void SetHorizontalDisparityInput( const TDisparityImage * hfield);
+
+ /** Set initial vertical disparity field */
+ void SetVerticalDisparityInput( const TDisparityImage * vfield);
+
+ /** Get the initial disparity fields */
+ const TDisparityImage * GetHorizontalDisparityInput() const;
+ const TDisparityImage * GetVerticalDisparityInput() const;
+
+ /** Set mask input (optional) */
+ void SetLeftMaskInput(const TMaskImage * image);
+
+ /** Set right mask input (optional) */
+ void SetRightMaskInput(const TMaskImage * image);
+
+ /** Get the inputs */
+ const TInputImage * GetLeftInput() const;
+ const TInputImage * GetRightInput() const;
+ const TMaskImage * GetLeftMaskInput() const;
+ const TMaskImage * GetRightMaskInput() const;
+
+ /** Get the metric output */
+ const TOutputMetricImage * GetMetricOutput() const;
+ TOutputMetricImage * GetMetricOutput();
+
+ /** Get the disparity output */
+ const TDisparityImage * GetHorizontalDisparityOutput() const;
+ TDisparityImage * GetHorizontalDisparityOutput();
+
+ /** Get the disparity output */
+ const TDisparityImage * GetVerticalDisparityOutput() const;
+ TDisparityImage * GetVerticalDisparityOutput();
+
+ /** Set unsigned int radius */
+ void SetRadius(unsigned int radius)
+ {
+ m_Radius.Fill(radius);
+ }
+
+ /** Set/Get the radius of the area on which metric is evaluated */
+ itkSetMacro(Radius, SizeType);
+ itkGetConstReferenceMacro(Radius, SizeType);
+
+ /*** Set/Get the minimum disparity to explore */
+ itkSetMacro(MinimumHorizontalDisparity,int);
+ itkGetConstReferenceMacro(MinimumHorizontalDisparity,int);
+
+ /*** Set/Get the maximum disparity to explore */
+ itkSetMacro(MaximumHorizontalDisparity,int);
+ itkGetConstReferenceMacro(MaximumHorizontalDisparity,int);
+
+ /*** Set/Get the minimum disparity to explore */
+ itkSetMacro(MinimumVerticalDisparity,int);
+ itkGetConstReferenceMacro(MinimumVerticalDisparity,int);
+
+ /*** Set/Get the maximum disparity to explore */
+ itkSetMacro(MaximumVerticalDisparity,int);
+ itkGetConstReferenceMacro(MaximumVerticalDisparity,int);
+
+ itkSetMacro(Minimize, bool);
+ itkGetConstReferenceMacro(Minimize,bool);
+ itkBooleanMacro(Minimize);
+
+ /** Get the functor for parameters setting */
+ BlockMatchingFunctorType & GetFunctor()
+ {
+ return m_Functor;
+ }
+
+ /** Get the functor (const version) */
+ const BlockMatchingFunctorType & GetFunctor() const
+ {
+ return m_Functor;
+ }
+
+ /** Set/Get the refinement method (PARABOLIC, TRIANGULAR or DICHOTOMY) */
+ itkSetMacro(RefineMethod,int);
+ itkGetMacro(RefineMethod,int);
+
+protected:
+ /** Constructor */
+ SubPixelDisparityImageFilter();
+
+ /** Destructor */
+ virtual ~SubPixelDisparityImageFilter();
+
+ /** Generate input requrested region */
+ virtual void GenerateInputRequestedRegion();
+
+ /** Before threaded generate data */
+ virtual void BeforeThreadedGenerateData();
+
+ /** Threaded generate data */
+ virtual void ThreadedGenerateData(const RegionType & outputRegionForThread, int threadId);
+
+private:
+ PixelWiseBlockMatchingImageFilter(const Self&); //purposely not implemented
+ void operator=(const Self&); //purposely not implemented
+
+ /** parabolic refinement method */
+ void ParabolicRefinement(const RegionType& outputRegionForThread, int threadId);
+
+ /** triangular refinement method */
+ void TriangularRefinement(const RegionType& outputRegionForThread, int threadId);
+
+ /** dichotomy refinement method */
+ void DichotomyRefinement(const RegionType& outputRegionForThread, int threadId);
+
+ /** The radius of the blocks */
+ SizeType m_Radius;
+
+ /** The min disparity to explore */
+ int m_MinimumHorizontalDisparity;
+
+ /** The max disparity to explore */
+ int m_MaximumHorizontalDisparity;
+
+ /** The min disparity to explore */
+ int m_MinimumVerticalDisparity;
+
+ /** The max disparity to explore */
+ int m_MaximumVerticalDisparity;
+
+ /** Should we minimize or maximize ? */
+ bool m_Minimize;
+
+ /** Block-matching functor */
+ BlockMatchingFunctorType m_Functor;
+
+ /** Refinement method (PARABOLIC, TRIANGULAR or DICHOTOMY)*/
+ int m_RefineMethod;
+};
+} // end namespace otb
+
+#ifndef OTB_MANUAL_INSTANTIATION
+#include "otbSubPixelDisparityImageFilter.txx"
+#endif
+
+#endif
+
diff --git a/Code/DisparityMap/otbSubPixelDisparityImageFilter.txx b/Code/DisparityMap/otbSubPixelDisparityImageFilter.txx
new file mode 100644
index 0000000000..dba433d2d0
--- /dev/null
+++ b/Code/DisparityMap/otbSubPixelDisparityImageFilter.txx
@@ -0,0 +1,1307 @@
+/*=========================================================================
+
+ Program: ORFEO Toolbox
+ Language: C++
+ Date: $Date$
+ Version: $Revision$
+
+
+ Copyright (c) Centre National d'Etudes Spatiales. All rights reserved.
+ See OTBCopyright.txt for details.
+
+
+ This software is distributed WITHOUT ANY WARRANTY; without even
+ the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
+ PURPOSE. See the above copyright notices for more information.
+
+=========================================================================*/
+#ifndef __otbSubPixelDisparityImageFilter_txx
+#define __otbSubPixelDisparityImageFilter_txx
+
+namespace otb
+{
+template <class TInputImage, class TOutputMetricImage,
+class TDisparityImage, class TMaskImage, class TBlockMatchingFunctor>
+SubPixelDisparityImageFilter<TInputImage,TOutputMetricImage,
+TDisparityImage,TMaskImage,TBlockMatchingFunctor>
+::SubPixelDisparityImageFilter()
+{
+// Set the number of inputs
+ this->SetNumberOfInputs(6);
+ this->SetNumberOfRequiredInputs(2);
+
+ // Set the outputs
+ this->SetNumberOfOutputs(3);
+ this->SetNthOutput(0,TOutputMetricImage::New());
+ this->SetNthOutput(1,TDisparityImage::New());
+ this->SetNthOutput(2,TDisparityImage::New());
+
+ // Default parameters
+ m_Radius.Fill(2);
+
+ // Minimize by default
+ m_Minimize = true;
+
+ // Default disparity range
+ m_MinimumHorizontalDisparity = -10;
+ m_MaximumHorizontalDisparity = 10;
+ m_MinimumVerticalDisparity = 0;
+ m_MaximumVerticalDisparity = 0;
+
+ m_RefineMethod = 0;
+}
+
+template <class TInputImage, class TOutputMetricImage,
+class TDisparityImage, class TMaskImage, class TBlockMatchingFunctor>
+SubPixelDisparityImageFilter<TInputImage,TOutputMetricImage,
+TDisparityImage,TMaskImage,TBlockMatchingFunctor>
+::~SubPixelDisparityImageFilter()
+{}
+
+template <class TInputImage, class TOutputMetricImage,
+class TDisparityImage, class TMaskImage, class TBlockMatchingFunctor>
+void
+SubPixelDisparityImageFilter<TInputImage,TOutputMetricImage,
+TDisparityImage,TMaskImage,TBlockMatchingFunctor>
+::SetLeftInput(const TInputImage * image)
+{
+ // Process object is not const-correct so the const casting is required.
+ this->SetNthInput(0, const_cast<TInputImage *>( image ));
+}
+
+template <class TInputImage, class TOutputMetricImage,
+class TDisparityImage, class TMaskImage, class TBlockMatchingFunctor>
+void
+SubPixelDisparityImageFilter<TInputImage,TOutputMetricImage,
+TDisparityImage,TMaskImage,TBlockMatchingFunctor>
+::SetRightInput(const TInputImage * image)
+{
+ // Process object is not const-correct so the const casting is required.
+ this->SetNthInput(1, const_cast<TInputImage *>( image ));
+}
+
+template <class TInputImage, class TOutputMetricImage,
+class TDisparityImage, class TMaskImage, class TBlockMatchingFunctor>
+void
+SubPixelDisparityImageFilter<TInputImage,TOutputMetricImage,
+TDisparityImage,TMaskImage,TBlockMatchingFunctor>
+::SetHorizontalDisparityInput( const TDisparityImage * hfield)
+{
+ // Process object is not const-correct so the const casting is required.
+ this->SetNthInput(2, const_cast<TDisparityImage *>( hfield ));
+}
+
+template <class TInputImage, class TOutputMetricImage,
+class TDisparityImage, class TMaskImage, class TBlockMatchingFunctor>
+void
+SubPixelDisparityImageFilter<TInputImage,TOutputMetricImage,
+TDisparityImage,TMaskImage,TBlockMatchingFunctor>
+::SetVerticalDisparityInput( const TDisparityImage * vfield)
+{
+ // Process object is not const-correct so the const casting is required.
+ this->SetNthInput(3, const_cast<TDisparityImage *>( vfield ));
+}
+
+template <class TInputImage, class TOutputMetricImage,
+class TDisparityImage, class TMaskImage, class TBlockMatchingFunctor>
+void
+SubPixelDisparityImageFilter<TInputImage,TOutputMetricImage,
+TDisparityImage,TMaskImage,TBlockMatchingFunctor>
+::SetLeftMaskInput(const TMaskImage * image)
+{
+ // Process object is not const-correct so the const casting is required.
+ this->SetNthInput(4, const_cast<TMaskImage *>( image ));
+}
+
+template <class TInputImage, class TOutputMetricImage,
+class TDisparityImage, class TMaskImage, class TBlockMatchingFunctor>
+void
+SubPixelDisparityImageFilter<TInputImage,TOutputMetricImage,
+TDisparityImage,TMaskImage,TBlockMatchingFunctor>
+::SetRightMaskInput(const TMaskImage * image)
+{
+ // Process object is not const-correct so the const casting is required.
+ this->SetNthInput(5, const_cast<TMaskImage *>( image ));
+}
+
+template <class TInputImage, class TOutputMetricImage,
+class TDisparityImage, class TMaskImage, class TBlockMatchingFunctor>
+const TInputImage *
+SubPixelDisparityImageFilter<TInputImage,TOutputMetricImage,
+TDisparityImage,TMaskImage,TBlockMatchingFunctor>
+::GetLeftInput() const
+{
+ if (this->GetNumberOfInputs()<1)
+ {
+ return 0;
+ }
+ return static_cast<const TInputImage *>(this->itk::ProcessObject::GetInput(0));
+}
+
+template <class TInputImage, class TOutputMetricImage,
+class TDisparityImage, class TMaskImage, class TBlockMatchingFunctor>
+const TInputImage *
+SubPixelDisparityImageFilter<TInputImage,TOutputMetricImage,
+TDisparityImage,TMaskImage,TBlockMatchingFunctor>
+::GetRightInput() const
+{
+ if(this->GetNumberOfInputs()<2)
+ {
+ return 0;
+ }
+ return static_cast<const TInputImage *>(this->itk::ProcessObject::GetInput(1));
+}
+
+template <class TInputImage, class TOutputMetricImage,
+class TDisparityImage, class TMaskImage, class TBlockMatchingFunctor>
+const TDisparityImage *
+SubPixelDisparityImageFilter<TInputImage,TOutputMetricImage,
+TDisparityImage,TMaskImage,TBlockMatchingFunctor>
+::GetHorizontalDisparityInput() const
+{
+ if(this->GetNumberOfInputs()<3)
+ {
+ return 0;
+ }
+ return static_cast<const TDisparityImage *>(this->itk::ProcessObject::GetInput(2));
+}
+
+template <class TInputImage, class TOutputMetricImage,
+class TDisparityImage, class TMaskImage, class TBlockMatchingFunctor>
+const TDisparityImage *
+SubPixelDisparityImageFilter<TInputImage,TOutputMetricImage,
+TDisparityImage,TMaskImage,TBlockMatchingFunctor>
+::GetVerticalDisparityInput() const
+{
+ if(this->GetNumberOfInputs()<4)
+ {
+ return 0;
+ }
+ return static_cast<const TDisparityImage *>(this->itk::ProcessObject::GetInput(3));
+}
+
+template <class TInputImage, class TOutputMetricImage,
+class TDisparityImage, class TMaskImage, class TBlockMatchingFunctor>
+const TMaskImage *
+SubPixelDisparityImageFilter<TInputImage,TOutputMetricImage,
+TDisparityImage,TMaskImage,TBlockMatchingFunctor>
+::GetLeftMaskInput() const
+{
+ if(this->GetNumberOfInputs()<5)
+ {
+ return 0;
+ }
+ return static_cast<const TMaskImage *>(this->itk::ProcessObject::GetInput(4));
+}
+
+template <class TInputImage, class TOutputMetricImage,
+class TDisparityImage, class TMaskImage, class TBlockMatchingFunctor>
+const TMaskImage *
+SubPixelDisparityImageFilter<TInputImage,TOutputMetricImage,
+TDisparityImage,TMaskImage,TBlockMatchingFunctor>
+::GetRightMaskInput() const
+{
+ if(this->GetNumberOfInputs()<6)
+ {
+ return 0;
+ }
+ return static_cast<const TMaskImage *>(this->itk::ProcessObject::GetInput(5));
+}
+
+template <class TInputImage, class TOutputMetricImage,
+class TDisparityImage, class TMaskImage, class TBlockMatchingFunctor>
+const TOutputMetricImage *
+SubPixelDisparityImageFilter<TInputImage,TOutputMetricImage,
+TDisparityImage,TMaskImage,TBlockMatchingFunctor>
+::GetMetricOutput() const
+{
+ if (this->GetNumberOfOutputs()<1)
+ {
+ return 0;
+ }
+ return static_cast<const TOutputMetricImage *>(this->itk::ProcessObject::GetOutput(0));
+}
+
+template <class TInputImage, class TOutputMetricImage,
+class TDisparityImage, class TMaskImage, class TBlockMatchingFunctor>
+TOutputMetricImage *
+SubPixelDisparityImageFilter<TInputImage,TOutputMetricImage,
+TDisparityImage,TMaskImage,TBlockMatchingFunctor>
+::GetMetricOutput()
+{
+ if (this->GetNumberOfOutputs()<1)
+ {
+ return 0;
+ }
+ return static_cast<TOutputMetricImage *>(this->itk::ProcessObject::GetOutput(0));
+}
+
+template <class TInputImage, class TOutputMetricImage,
+class TDisparityImage, class TMaskImage, class TBlockMatchingFunctor>
+const TDisparityImage *
+SubPixelDisparityImageFilter<TInputImage,TOutputMetricImage,
+TDisparityImage,TMaskImage,TBlockMatchingFunctor>
+::GetHorizontalDisparityOutput() const
+{
+ if (this->GetNumberOfOutputs()<2)
+ {
+ return 0;
+ }
+ return static_cast<const TDisparityImage *>(this->itk::ProcessObject::GetOutput(1));
+}
+
+template <class TInputImage, class TOutputMetricImage,
+class TDisparityImage, class TMaskImage, class TBlockMatchingFunctor>
+TDisparityImage *
+SubPixelDisparityImageFilter<TInputImage,TOutputMetricImage,
+TDisparityImage,TMaskImage,TBlockMatchingFunctor>
+::GetHorizontalDisparityOutput()
+{
+if (this->GetNumberOfOutputs()<2)
+ {
+ return 0;
+ }
+ return static_cast<TDisparityImage *>(this->itk::ProcessObject::GetOutput(1));
+}
+
+template <class TInputImage, class TOutputMetricImage,
+class TDisparityImage, class TMaskImage, class TBlockMatchingFunctor>
+const TDisparityImage *
+SubPixelDisparityImageFilter<TInputImage,TOutputMetricImage,
+TDisparityImage,TMaskImage,TBlockMatchingFunctor>
+::GetVerticalDisparityOutput() const
+{
+ if (this->GetNumberOfOutputs()<3)
+ {
+ return 0;
+ }
+ return static_cast<const TDisparityImage *>(this->itk::ProcessObject::GetOutput(2));
+}
+
+template <class TInputImage, class TOutputMetricImage,
+class TDisparityImage, class TMaskImage, class TBlockMatchingFunctor>
+TDisparityImage *
+SubPixelDisparityImageFilter<TInputImage,TOutputMetricImage,
+TDisparityImage,TMaskImage,TBlockMatchingFunctor>
+::GetVerticalDisparityOutput()
+{
+if (this->GetNumberOfOutputs()<3)
+ {
+ return 0;
+ }
+ return static_cast<TDisparityImage *>(this->itk::ProcessObject::GetOutput(2));
+}
+
+template <class TInputImage, class TOutputMetricImage,
+class TDisparityImage, class TMaskImage, class TBlockMatchingFunctor>
+void
+SubPixelDisparityImageFilter<TInputImage,TOutputMetricImage,
+TDisparityImage,TMaskImage,TBlockMatchingFunctor>
+::GenerateInputRequestedRegion()
+{
+ // Call superclass implementation
+ Superclass::GenerateInputRequestedRegion();
+
+ // Retrieve input pointers
+ TInputImage * inLeftPtr = const_cast<TInputImage *>(this->GetLeftInput());
+ TInputImage * inRightPtr = const_cast<TInputImage *>(this->GetRightInput());
+ TMaskImage * inLeftMaskPtr = const_cast<TMaskImage * >(this->GetLeftMaskInput());
+ TMaskImage * inRightMaskPtr = const_cast<TMaskImage * >(this->GetRightMaskInput());
+ TDisparityImage * inHDispPtr = const_cast<TDisparityImage * >(this->GetHorizontalDisparityInput());
+ TDisparityImage * inVDispPtr = const_cast<TDisparityImage * >(this->GetVerticalDisparityInput());
+
+ TOutputMetricImage * outMetricPtr = this->GetMetricOutput();
+ TDisparityImage * outHDispPtr = this->GetHorizontalDisparityOutput();
+ TDisparityImage * outVDispPtr = this->GetVerticalDisparityOutput();
+
+ // Check pointers before using them
+ if(!inLeftPtr || !inRightPtr || !outMetricPtr || !outHDispPtr || !outVDispPtr)
+ {
+ return;
+ }
+
+ // Now, we impose that both inputs have the same size
+ if(inLeftPtr->GetLargestPossibleRegion()
+ != inRightPtr->GetLargestPossibleRegion())
+ {
+ itkExceptionMacro(<<"Left and right images do not have the same size ! Left largest region: "<<inLeftPtr->GetLargestPossibleRegion()<<", right largest region: "<<inRightPtr->GetLargestPossibleRegion());
+ }
+
+ // We also check that left mask image has same size if present
+ if(inLeftMaskPtr && inLeftPtr->GetLargestPossibleRegion() != inLeftMaskPtr->GetLargestPossibleRegion())
+ {
+ itkExceptionMacro(<<"Left and mask images do not have the same size ! Left largest region: "<<inLeftPtr->GetLargestPossibleRegion()<<", mask largest region: "<<inLeftMaskPtr->GetLargestPossibleRegion());
+ }
+
+ // We also check that right mask image has same size if present
+ if(inRightMaskPtr && inRightPtr->GetLargestPossibleRegion() != inRightMaskPtr->GetLargestPossibleRegion())
+ {
+ itkExceptionMacro(<<"Right and mask images do not have the same size ! Right largest region: "<<inRightPtr->GetLargestPossibleRegion()<<", mask largest region: "<<inRightMaskPtr->GetLargestPossibleRegion());
+ }
+
+ // We check that the input initial disparity maps have the same size if present
+ if (inHDispPtr && inLeftPtr->GetLargestPossibleRegion() != inHDispPtr->GetLargestPossibleRegion())
+ {
+ itkExceptionMacro(<<"Left image and initial horizontal disparity map do not have the same size ! Left largest region: "<<inLeftPtr->GetLargestPossibleRegion()<<", horizontal disparity largest region: "<<inHDispPtr->GetLargestPossibleRegion());
+ }
+ if (inVDispPtr && inLeftPtr->GetLargestPossibleRegion() != inVDispPtr->GetLargestPossibleRegion())
+ {
+ itkExceptionMacro(<<"Left image and initial vertical disparity map do not have the same size ! Left largest region: "<<inLeftPtr->GetLargestPossibleRegion()<<", vertical disparity largest region: "<<inVDispPtr->GetLargestPossibleRegion());
+ }
+
+ // Retrieve requested region (TODO: check if we need to handle
+ // region for outHDispPtr)
+ RegionType outputRequestedRegion = outMetricPtr->GetRequestedRegion();
+
+ // Pad by the appropriate radius
+ RegionType inputLeftRegion = outputRequestedRegion;
+ inputLeftRegion.PadByRadius(m_Radius);
+
+ // Now, we must find the corresponding region in moving image
+ IndexType rightRequestedRegionIndex = inputLeftRegion.GetIndex();
+ rightRequestedRegionIndex[0]+=m_MinimumHorizontalDisparity;
+ rightRequestedRegionIndex[1]+=m_MinimumVerticalDisparity;
+
+ SizeType rightRequestedRegionSize = inputLeftRegion.GetSize();
+ rightRequestedRegionSize[0]+= m_MaximumHorizontalDisparity - m_MinimumHorizontalDisparity;
+ rightRequestedRegionSize[1]+= m_MaximumVerticalDisparity - m_MinimumVerticalDisparity;
+
+ RegionType inputRightRegion;
+ inputRightRegion.SetIndex(rightRequestedRegionIndex);
+ inputRightRegion.SetSize(rightRequestedRegionSize);
+
+ // crop the left region at the left's largest possible region
+ if ( inputLeftRegion.Crop(inLeftPtr->GetLargestPossibleRegion()))
+ {
+ inLeftPtr->SetRequestedRegion( inputLeftRegion );
+ }
+ else
+ {
+ // Couldn't crop the region (requested region is outside the largest
+ // possible region). Throw an exception.
+ // store what we tried to request (prior to trying to crop)
+ inLeftPtr->SetRequestedRegion( inputLeftRegion );
+
+ // build an exception
+ itk::InvalidRequestedRegionError e(__FILE__, __LINE__);
+ std::ostringstream msg;
+ msg << this->GetNameOfClass()
+ << "::GenerateInputRequestedRegion()";
+ e.SetLocation(msg.str().c_str());
+ e.SetDescription("Requested region is (at least partially) outside the largest possible region of left image.");
+ e.SetDataObject(inLeftPtr);
+ throw e;
+ }
+
+
+ // crop the right region at the right's largest possible region
+ if ( inputRightRegion.Crop(inRightPtr->GetLargestPossibleRegion()))
+ {
+ inRightPtr->SetRequestedRegion( inputRightRegion );
+ }
+ else
+ {
+ // Couldn't crop the region (requested region is outside the largest
+ // possible region). Throw an exception.
+ // store what we tried to request (prior to trying to crop)
+ inRightPtr->SetRequestedRegion( inputRightRegion );
+
+ // build an exception
+ itk::InvalidRequestedRegionError e(__FILE__, __LINE__);
+ std::ostringstream msg;
+ msg << this->GetNameOfClass()
+ << "::GenerateInputRequestedRegion()";
+ e.SetLocation(msg.str().c_str());
+ e.SetDescription("Requested region is (at least partially) outside the largest possible region of right image.");
+ e.SetDataObject(inRightPtr);
+ throw e;
+ }
+
+ if(inLeftMaskPtr)
+ {
+ // no need to crop the mask region : left mask and left image have same largest possible region
+ inLeftMaskPtr->SetRequestedRegion( inputLeftRegion );
+ }
+
+ if(inRightMaskPtr)
+ {
+ // no need to crop the mask region : right mask and right image have same largest possible region
+ inRightMaskPtr->SetRequestedRegion( inputRightRegion );
+ }
+
+ if (inHDispPtr)
+ {
+ inHDispPtr->SetRequestedRegion( inputLeftRegion );
+ }
+
+ if (inVDispPtr)
+ {
+ inVDispPtr->SetRequestedRegion( inputLeftRegion );
+ }
+
+}
+
+template <class TInputImage, class TOutputMetricImage,
+class TDisparityImage, class TMaskImage, class TBlockMatchingFunctor>
+void
+SubPixelDisparityImageFilter<TInputImage,TOutputMetricImage,
+TDisparityImage,TMaskImage,TBlockMatchingFunctor>
+::BeforeThreadedGenerateData()
+{
+ TOutputMetricImage * outMetricPtr = this->GetMetricOutput();
+ TDisparityImage * outHDispPtr = this->GetHorizontalDisparityOutput();
+ TDisparityImage * outVDispPtr = this->GetVerticalDisparityOutput();
+
+ // Fill buffers with default values
+ outMetricPtr->FillBuffer(0.);
+ outHDispPtr->FillBuffer(m_MinimumHorizontalDisparity);
+ outVDispPtr->FillBuffer(m_MinimumVerticalDisparity);
+}
+
+template <class TInputImage, class TOutputMetricImage,
+class TDisparityImage, class TMaskImage, class TBlockMatchingFunctor>
+void
+SubPixelDisparityImageFilter<TInputImage,TOutputMetricImage,
+TDisparityImage,TMaskImage,TBlockMatchingFunctor>
+::ThreadedGenerateData(const RegionType& outputRegionForThread, int threadId)
+{
+ // choose the refinement method to use
+ switch(m_RefineMethod)
+ {
+ // 0 = Parabolic fit
+ case 0 : ParabolicRefinement(outputRegionForThread, threadId);
+ break;
+
+ // 1 = triangular fit
+ case 1 : TriangularRefinement(outputRegionForThread, threadId);
+ break;
+
+ // 2 = dichotomy search
+ case 2 : DichotomyRefinement(outputRegionForThread, threadId);
+ break;
+ default : break;
+ }
+}
+
+template <class TInputImage, class TOutputMetricImage,
+class TDisparityImage, class TMaskImage, class TBlockMatchingFunctor>
+void
+SubPixelDisparityImageFilter<TInputImage,TOutputMetricImage,
+TDisparityImage,TMaskImage,TBlockMatchingFunctor>
+::ParabolicRefinement(const RegionType& outputRegionForThread, int threadId)
+{
+ // Retrieve pointers
+ const TInputImage * inLeftPtr = this->GetLeftInput();
+ const TInputImage * inRightPtr = this->GetRightInput();
+ const TMaskImage * inLeftMaskPtr = this->GetLeftMaskInput();
+ const TMaskImage * inRightMaskPtr = this->GetRightMaskInput();
+ const TDisparityImage * inHDispPtr = this->GetHorizontalDisparityInput();
+ const TDisparityImage * inVDispPtr = this->GetVerticalDisparityInput();
+ TOutputMetricImage * outMetricPtr = this->GetMetricOutput();
+ TDisparityImage * outHDispPtr = this->GetHorizontalDisparityOutput();
+ TDisparityImage * outVDispPtr = this->GetVerticalDisparityOutput();
+
+ // Set-up progress reporting (this is not exact, since we do not
+ // account for pixels that won't be refined)
+ itk::ProgressReporter progress(this, threadId, outputRegionForThread.GetNumberOfPixels(),100);
+
+ itk::ConstNeighborhoodIterator<TInputImage> leftIt(m_Radius,inLeftPtr,outputRegionForThread);
+ itk::ImageRegionIterator<TDisparityImage> outHDispIt(outHDispPtr,outputRegionForThread);
+ itk::ImageRegionIterator<TDisparityImage> outVDispIt(outVDispPtr,outputRegionForThread);
+ itk::ImageRegionIterator<TOutputMetricImage> outMetricIt(outMetricPtr,outputRegionForThread);
+ itk::ImageRegionIterator<TDisparityImage> inHDispIt;
+ itk::ImageRegionIterator<TDisparityImage> inVDispIt;
+ itk::ImageRegionConstIterator<TMaskImage> inLeftMaskIt;
+ itk::ImageRegionConstIterator<TMaskImage> inRightMaskIt;
+
+ bool useHorizontalDisparity = false;
+ bool useVerticalDisparity = false;
+
+ if (inHDispPtr)
+ {
+ useHorizontalDisparity = true;
+ inHDispIt = itk::ImageRegionConstIterator<TDisparityImage>(inHDispPtr,outputRegionForThread);
+ inHDispIt.GoToBegin();
+ }
+ if (inVDispPtr)
+ {
+ useVerticalDisparity = true;
+ inVDispIt = itk::ImageRegionConstIterator<TDisparityImage>(inVDispPtr,outputRegionForThread);
+ inVDispIt.GoToBegin();
+ }
+
+ if(inLeftMaskPtr)
+ {
+ inLeftMaskIt = itk::ImageRegionConstIterator<TMaskImage>(inLeftMaskPtr,inputLeftRegion);
+ inLeftMaskIt.GoToBegin();
+ }
+ if(inRightMaskPtr)
+ {
+ inRightMaskIt = itk::ImageRegionConstIterator<TMaskImage>(inRightMaskPtr,inputRightRegion);
+ inRightMaskIt.GoToBegin();
+ }
+
+ itk::ConstantBoundaryCondition<TInputImage> nbc1;
+ leftIt.OverrideBoundaryCondition(&nbc1);
+
+ leftIt.GoToBegin();
+ outHDispIt.GoToBegin();
+ outVDispIt.GoToBegin();
+ outMetricIt.GoToBegin();
+
+ /* Specific variables */
+ IndexType curLeftPos;
+ IndexType curRightPos;
+ RegionType rightBufferedRegion = inRightPtr->GetBufferedRegion();
+ float hDisp_f;
+ float vDisp_f;
+ int hDisp_i;
+ int vDisp_i;
+
+ // compute metric around current right position
+ bool horizontalInterpolation = false;
+ bool verticalInterpolation = false;
+
+ // metrics for neighbors positions : first index is x, second is y
+ double neighborsMetric[3][3] = {{0,0,0},{0,0,0},{0,0,0}};
+ //int firstNeighbor = 0;
+ //int stepNeighbor = 4;
+
+ while (!leftIt.IsAtEnd()
+ || !outHDispIt.IsAtEnd()
+ || !outVDispIt.IsAtEnd()
+ || !outMetricIt.IsAtEnd())
+ {
+ horizontalInterpolation = false;
+ verticalInterpolation = false;
+
+ /* compute estimated right position */
+ curLeftPos = leftIt.GetIndex();
+
+ if (useHorizontalDisparity)
+ {
+ hDisp_f = static_cast<float>(hDispIt.Get());
+ hDisp_i = static_cast<int>(vcl_floor(hDisp_f + 0.5));
+ curRightPos[0] = curLeftPos[0] + hDisp_i;
+ }
+ else
+ {
+ hDisp_i = 0;
+ curRightPos[0] = curLeftPos[0];
+ }
+
+
+ if (useVerticalDisparity)
+ {
+ vDisp_f = static_cast<float>(vDispIt.Get());
+ vDisp_i = static_cast<int>(vcl_floor(vDisp_f + 0.5));
+ curRightPos[1] = curLeftPos[1] + vDisp_i;
+ }
+ else
+ {
+ vDisp_i = 0;
+ curRightPos[1] = curLeftPos[1];
+ }
+
+ // check if the current right position is inside the right image
+ if (rightBufferedRegion.IsInside(curRightPos))
+ {
+ RegionType smallRightRegion;
+ smallRightRegion.SetIndex(0,curRightPos[0]-1);
+ smallRightRegion.SetIndex(1,curRightPos[1]-1);
+ smallRightRegion.SetSize(0,3);
+ smallRightRegion.SetSize(1,3);
+
+ itk::ConstNeighborhoodIterator<TInputImage> rightIt(m_Radius,inRightPtr,smallRightRegion);
+
+ // compute metric at centre position
+ rightIt.SetLocation(curRightPos);
+ neighborsMetric[1][1] = m_Functor(leftIt,rightIt);
+
+ if (m_MinimumVerticalDisparity < vDisp_i && vDisp_i < m_MaximumVerticalDisparity)
+ {
+ IndexType upIndex(curRightPos);
+ upIndex[1]+= (-1);
+ IndexType downIndex(curRightPos);
+ downIndex[1]+= 1;
+ if ( rightBufferedRegion.IsInside(upIndex) && rightBufferedRegion.IsInside(downIndex) )
+ {
+ rightIt.SetLocation(upIndex);
+ neighborsMetric[1][0] = m_Functor(leftIt,rightIt);
+
+ rightIt.SetLocation(downIndex);
+ neighborsMetric[1][2] = m_Functor(leftIt,rightIt);
+
+ // check that current position is an extrema
+ if (m_Minimize)
+ {
+ if (neighborsMetric[1][1] < neighborsMetric[1][0] && neighborsMetric[1][1] < neighborsMetric[1][2])
+ {
+ verticalInterpolation = true;
+ }
+ }
+ else
+ {
+ if (neighborsMetric[1][1] > neighborsMetric[1][0] && neighborsMetric[1][1] > neighborsMetric[1][2])
+ {
+ verticalInterpolation = true;
+ }
+ }
+ }
+ }
+
+ if (m_MinimumHorizontalDisparity < hDisp_i && hDisp_i < m_MaximumHorizontalDisparity)
+ {
+ IndexType leftIndex(curRightPos);
+ leftIndex[0]+= (-1);
+ IndexType rightIndex(curRightPos);
+ rightIndex[0]+= 1;
+ if ( rightBufferedRegion.IsInside(leftIndex) && rightBufferedRegion.IsInside(rightIndex) )
+ {
+ rightIt.SetLocation(rightIndex);
+ neighborsMetric[2][1] = m_Functor(leftIt,rightIt);
+
+ rightIt.SetLocation(leftIndex);
+ neighborsMetric[0][1] = m_Functor(leftIt,rightIt);
+
+ // check that current position is an extrema
+ if (m_Minimize)
+ {
+ if (neighborsMetric[1][1] < neighborsMetric[0][1] && neighborsMetric[1][1] < neighborsMetric[2][1])
+ {
+ horizontalInterpolation = true;
+ }
+ }
+ else
+ {
+ if (neighborsMetric[1][1] > neighborsMetric[0][1] && neighborsMetric[1][1] > neighborsMetric[2][1])
+ {
+ horizontalInterpolation = true;
+ }
+ }
+ }
+ }
+
+ // if both vertical and horizontal interpolation, compute metrics on corners
+ if (verticalInterpolation && horizontalInterpolation)
+ {
+ IndexType uprightIndex(curRightPos);
+ uprightIndex[0]+= 1;
+ uprightIndex[1]+= (-1);
+ rightIt.SetLocation(uprightIndex);
+ neighborsMetric[2][0] = m_Functor(leftIt,rightIt);
+
+ IndexType downrightIndex(curRightPos);
+ downrightIndex[0]+= 1;
+ downrightIndex[1]+= 1;
+ rightIt.SetLocation(downrightIndex);
+ neighborsMetric[2][2] = m_Functor(leftIt,rightIt);
+
+ IndexType downleftIndex(curRightPos);
+ downleftIndex[0]+= (-1);
+ downleftIndex[1]+= 1;
+ rightIt.SetLocation(downleftIndex);
+ neighborsMetric[0][2] = m_Functor(leftIt,rightIt);
+
+ IndexType upleftIndex(curRightPos);
+ upleftIndex[0]+= (-1);
+ upleftIndex[1]+= (-1);
+ rightIt.SetLocation(upleftIndex);
+ neighborsMetric[0][0] = m_Functor(leftIt,rightIt);
+
+ //check that it is an extrema
+ if (m_Minimize)
+ {
+ if (neighborsMetric[1][1] > neighborsMetric[2][0] ||
+ neighborsMetric[1][1] > neighborsMetric[2][2] ||
+ neighborsMetric[1][1] > neighborsMetric[0][2] ||
+ neighborsMetric[1][1] > neighborsMetric[0][0])
+ {
+ verticalInterpolation = false;
+ horizontalInterpolation = false;
+ }
+ }
+ else
+ {
+ if (neighborsMetric[1][1] < neighborsMetric[2][0] ||
+ neighborsMetric[1][1] < neighborsMetric[2][2] ||
+ neighborsMetric[1][1] < neighborsMetric[0][2] ||
+ neighborsMetric[1][1] < neighborsMetric[0][0])
+ {
+ verticalInterpolation = false;
+ horizontalInterpolation = false;
+ }
+ }
+ }
+ }
+
+ // Interpolate position : parabola fit
+ if (verticalInterpolation && !horizontalInterpolation)
+ {
+ //vertical only
+ double deltaV = 0.5 - (1.0 /
+ (1.0 + (neighborsMetric[1][0]-neighborsMetric[1][1]) / (neighborsMetric[1][2]-neighborsMetric[1][1])));
+ if (deltaV > (-0.5) && deltaV < 0.5)
+ {
+ outVDispIt.Set( static_cast<double>(vDisp_i) + deltaV);
+ }
+ else
+ {
+ verticalInterpolation = false;
+ }
+ }
+ else if (!verticalInterpolation && horizontalInterpolation)
+ {
+ // horizontal only
+ double deltaH = 0.5 - (1.0 /
+ (1.0 + (neighborsMetric[0][1]-neighborsMetric[1][1]) / (neighborsMetric[2][1]-neighborsMetric[1][1])));
+ if (deltaH > (-0.5) && deltaH < 0.5)
+ {
+ outHDispIt.Set( static_cast<double>(hDisp_i) + deltaH);
+ }
+ else
+ {
+ horizontalInterpolation = false;
+ }
+ }
+ else if (verticalInterpolation && horizontalInterpolation)
+ {
+ //both horizontal and vertical
+ double dx = 0.5 * (neighborsMetric[2][1] - neighborsMetric[0][1]);
+ double dy = 0.5 * (neighborsMetric[1][2] - neighborsMetric[1][0]);
+ double dxx = neighborsMetric[2][1] + neighborsMetric[0][1] - 2.0 * neighborsMetric[1][1];
+ double dyy = neighborsMetric[1][2] + neighborsMetric[1][0] - 2.0 * neighborsMetric[1][1];
+ double dxy = 0.25*(neighborsMetric[2][2] + neighborsMetric[0][0] - neighborsMetric[0][2] - neighborsMetric[2][0]);
+ double det = dxx*dyy - dxy*dxy;
+ if (vcl_abs(det) < (1e-10))
+ {
+ verticalInterpolation = false;
+ horizontalInterpolation = false;
+ }
+ else
+ {
+ double deltaH = (-dx * dyy + dy * dxy )/det;
+ double deltaV = ( dx * dxy - dy * dxx )/det;
+ if (deltaH > (-1.0) && deltaH < 1.0 && deltaV > (-1.0) && deltaV < 1.0)
+ {
+ outHDispIt.Set( static_cast<double>(hDisp_i) + deltaH);
+ outVDispIt.Set( static_cast<double>(vDisp_i) + deltaV);
+ }
+ else
+ {
+ verticalInterpolation = false;
+ horizontalInterpolation = false;
+ }
+ }
+ }
+
+
+ if (!verticalInterpolation)
+ {
+ // No vertical interpolation done : simply copy the integer vertical disparity
+ outVDispIt.Set( static_cast<double>(vDisp_i));
+ }
+
+ if (!horizontalInterpolation)
+ {
+ // No horizontal interpolation done : simply copy the integer horizontal disparity
+ outHDispIt.Set( static_cast<double>(hDisp_i));
+ }
+
+
+ progress.CompletedPixel();
+
+ ++leftIt;
+ ++outHDispIt;
+ ++outVDispIt;
+ ++outMetricIt;
+
+ if (useHorizontalDisparity)
+ {
+ ++inHDispIt;
+ }
+ if (useVerticalDisparity)
+ {
+ ++inVDispIt;
+ }
+
+ if(inLeftMaskPtr)
+ {
+ ++inLeftMaskIt;
+ }
+
+ if(inRightMaskPtr)
+ {
+ ++inRightMaskIt;
+ }
+ }
+}
+
+template <class TInputImage, class TOutputMetricImage,
+class TDisparityImage, class TMaskImage, class TBlockMatchingFunctor>
+void
+SubPixelDisparityImageFilter<TInputImage,TOutputMetricImage,
+TDisparityImage,TMaskImage,TBlockMatchingFunctor>
+::TriangularRefinement(const RegionType& outputRegionForThread, int threadId)
+{
+}
+
+template <class TInputImage, class TOutputMetricImage,
+class TDisparityImage, class TMaskImage, class TBlockMatchingFunctor>
+void
+SubPixelDisparityImageFilter<TInputImage,TOutputMetricImage,
+TDisparityImage,TMaskImage,TBlockMatchingFunctor>
+::DichotomyRefinement(const RegionType& outputRegionForThread, int threadId)
+{
+// Retrieve pointers
+ const TInputImage * inLeftPtr = this->GetLeftInput();
+ const TInputImage * inRightPtr = this->GetRightInput();
+ const TMaskImage * inLeftMaskPtr = this->GetLeftMaskInput();
+ const TMaskImage * inRightMaskPtr = this->GetRightMaskInput();
+ const TDisparityImage * inHDispPtr = this->GetHorizontalDisparityInput();
+ const TDisparityImage * inVDispPtr = this->GetVerticalDisparityInput();
+ TOutputMetricImage * outMetricPtr = this->GetMetricOutput();
+ TDisparityImage * outHDispPtr = this->GetHorizontalDisparityOutput();
+ TDisparityImage * outVDispPtr = this->GetVerticalDisparityOutput();
+
+ // Set-up progress reporting (this is not exact, since we do not
+ // account for pixels that won't be refined)
+ itk::ProgressReporter progress(this, threadId, outputRegionForThread.GetNumberOfPixels(),100);
+
+ itk::ConstNeighborhoodIterator<TInputImage> leftIt(m_Radius,inLeftPtr,outputRegionForThread);
+ itk::ImageRegionIterator<TDisparityImage> outHDispIt(outHDispPtr,outputRegionForThread);
+ itk::ImageRegionIterator<TDisparityImage> outVDispIt(outVDispPtr,outputRegionForThread);
+ itk::ImageRegionIterator<TOutputMetricImage> outMetricIt(outMetricPtr,outputRegionForThread);
+ itk::ImageRegionIterator<TDisparityImage> inHDispIt;
+ itk::ImageRegionIterator<TDisparityImage> inVDispIt;
+ itk::ImageRegionConstIterator<TMaskImage> inLeftMaskIt;
+ itk::ImageRegionConstIterator<TMaskImage> inRightMaskIt;
+
+ bool useHorizontalDisparity = false;
+ bool useVerticalDisparity = false;
+
+ if (inHDispPtr)
+ {
+ useHorizontalDisparity = true;
+ inHDispIt = itk::ImageRegionConstIterator<TDisparityImage>(inHDispPtr,outputRegionForThread);
+ inHDispIt.GoToBegin();
+ }
+ if (inVDispPtr)
+ {
+ useVerticalDisparity = true;
+ inVDispIt = itk::ImageRegionConstIterator<TDisparityImage>(inVDispPtr,outputRegionForThread);
+ inVDispIt.GoToBegin();
+ }
+
+ if(inLeftMaskPtr)
+ {
+ inLeftMaskIt = itk::ImageRegionConstIterator<TMaskImage>(inLeftMaskPtr,inputLeftRegion);
+ inLeftMaskIt.GoToBegin();
+ }
+ if(inRightMaskPtr)
+ {
+ inRightMaskIt = itk::ImageRegionConstIterator<TMaskImage>(inRightMaskPtr,inputRightRegion);
+ inRightMaskIt.GoToBegin();
+ }
+
+ itk::ConstantBoundaryCondition<TInputImage> nbc1;
+ leftIt.OverrideBoundaryCondition(&nbc1);
+
+ leftIt.GoToBegin();
+ outHDispIt.GoToBegin();
+ outVDispIt.GoToBegin();
+ outMetricIt.GoToBegin();
+
+ /* Specific variables */
+ IndexType curLeftPos;
+ IndexType curRightPos;
+ RegionType rightBufferedRegion = inRightPtr->GetBufferedRegion();
+ float hDisp_f;
+ float vDisp_f;
+ int hDisp_i;
+ int vDisp_i;
+
+ // compute metric around current right position
+ bool horizontalInterpolation = false;
+ bool verticalInterpolation = false;
+
+ // metrics for neighbors positions : first index is x, second is y
+ double neighborsMetric[3][3] = {{0,0,0},{0,0,0},{0,0,0}};
+ //int firstNeighbor = 0;
+ //int stepNeighbor = 4;
+
+ while (!leftIt.IsAtEnd()
+ || !outHDispIt.IsAtEnd()
+ || !outVDispIt.IsAtEnd()
+ || !outMetricIt.IsAtEnd())
+ {
+ horizontalInterpolation = false;
+ verticalInterpolation = false;
+
+ /* compute estimated right position */
+ curLeftPos = leftIt.GetIndex();
+
+ if (useHorizontalDisparity)
+ {
+ hDisp_f = static_cast<float>(hDispIt.Get());
+ hDisp_i = static_cast<int>(vcl_floor(hDisp_f + 0.5));
+ curRightPos[0] = curLeftPos[0] + hDisp_i;
+ }
+ else
+ {
+ hDisp_i = 0;
+ curRightPos[0] = curLeftPos[0];
+ }
+
+
+ if (useVerticalDisparity)
+ {
+ vDisp_f = static_cast<float>(vDispIt.Get());
+ vDisp_i = static_cast<int>(vcl_floor(vDisp_f + 0.5));
+ curRightPos[1] = curLeftPos[1] + vDisp_i;
+ }
+ else
+ {
+ vDisp_i = 0;
+ curRightPos[1] = curLeftPos[1];
+ }
+
+ // check if the current right position is inside the right image
+ if (rightBufferedRegion.IsInside(curRightPos))
+ {
+ RegionType smallRightRegion;
+ smallRightRegion.SetIndex(0,curRightPos[0]-1);
+ smallRightRegion.SetIndex(1,curRightPos[1]-1);
+ smallRightRegion.SetSize(0,3);
+ smallRightRegion.SetSize(1,3);
+
+ itk::ConstNeighborhoodIterator<TInputImage> rightIt(m_Radius,inRightPtr,smallRightRegion);
+
+ // compute metric at centre position
+ rightIt.SetLocation(curRightPos);
+ neighborsMetric[1][1] = m_Functor(leftIt,rightIt);
+
+ if (m_MinimumVerticalDisparity < vDisp_i && vDisp_i < m_MaximumVerticalDisparity)
+ {
+ IndexType upIndex(curRightPos);
+ upIndex[1]+= (-1);
+ IndexType downIndex(curRightPos);
+ downIndex[1]+= 1;
+ if ( rightBufferedRegion.IsInside(upIndex) && rightBufferedRegion.IsInside(downIndex) )
+ {
+ rightIt.SetLocation(upIndex);
+ neighborsMetric[1][0] = m_Functor(leftIt,rightIt);
+
+ rightIt.SetLocation(downIndex);
+ neighborsMetric[1][2] = m_Functor(leftIt,rightIt);
+
+ // check that current position is an extrema
+ if (m_Minimize)
+ {
+ if (neighborsMetric[1][1] < neighborsMetric[1][0] && neighborsMetric[1][1] < neighborsMetric[1][2])
+ {
+ verticalInterpolation = true;
+ }
+ }
+ else
+ {
+ if (neighborsMetric[1][1] > neighborsMetric[1][0] && neighborsMetric[1][1] > neighborsMetric[1][2])
+ {
+ verticalInterpolation = true;
+ }
+ }
+ }
+ }
+
+ if (m_MinimumHorizontalDisparity < hDisp_i && hDisp_i < m_MaximumHorizontalDisparity)
+ {
+ IndexType leftIndex(curRightPos);
+ leftIndex[0]+= (-1);
+ IndexType rightIndex(curRightPos);
+ rightIndex[0]+= 1;
+ if ( rightBufferedRegion.IsInside(leftIndex) && rightBufferedRegion.IsInside(rightIndex) )
+ {
+ rightIt.SetLocation(rightIndex);
+ neighborsMetric[2][1] = m_Functor(leftIt,rightIt);
+
+ rightIt.SetLocation(leftIndex);
+ neighborsMetric[0][1] = m_Functor(leftIt,rightIt);
+
+ // check that current position is an extrema
+ if (m_Minimize)
+ {
+ if (neighborsMetric[1][1] < neighborsMetric[0][1] && neighborsMetric[1][1] < neighborsMetric[2][1])
+ {
+ horizontalInterpolation = true;
+ }
+ }
+ else
+ {
+ if (neighborsMetric[1][1] > neighborsMetric[0][1] && neighborsMetric[1][1] > neighborsMetric[2][1])
+ {
+ horizontalInterpolation = true;
+ }
+ }
+ }
+ }
+
+ // if both vertical and horizontal interpolation, compute metrics on corners
+ if (verticalInterpolation && horizontalInterpolation)
+ {
+ IndexType uprightIndex(curRightPos);
+ uprightIndex[0]+= 1;
+ uprightIndex[1]+= (-1);
+ rightIt.SetLocation(uprightIndex);
+ neighborsMetric[2][0] = m_Functor(leftIt,rightIt);
+
+ IndexType downrightIndex(curRightPos);
+ downrightIndex[0]+= 1;
+ downrightIndex[1]+= 1;
+ rightIt.SetLocation(downrightIndex);
+ neighborsMetric[2][2] = m_Functor(leftIt,rightIt);
+
+ IndexType downleftIndex(curRightPos);
+ downleftIndex[0]+= (-1);
+ downleftIndex[1]+= 1;
+ rightIt.SetLocation(downleftIndex);
+ neighborsMetric[0][2] = m_Functor(leftIt,rightIt);
+
+ IndexType upleftIndex(curRightPos);
+ upleftIndex[0]+= (-1);
+ upleftIndex[1]+= (-1);
+ rightIt.SetLocation(upleftIndex);
+ neighborsMetric[0][0] = m_Functor(leftIt,rightIt);
+
+ //check that it is an extrema
+ if (m_Minimize)
+ {
+ if (neighborsMetric[1][1] > neighborsMetric[2][0] ||
+ neighborsMetric[1][1] > neighborsMetric[2][2] ||
+ neighborsMetric[1][1] > neighborsMetric[0][2] ||
+ neighborsMetric[1][1] > neighborsMetric[0][0])
+ {
+ verticalInterpolation = false;
+ horizontalInterpolation = false;
+ }
+ }
+ else
+ {
+ if (neighborsMetric[1][1] < neighborsMetric[2][0] ||
+ neighborsMetric[1][1] < neighborsMetric[2][2] ||
+ neighborsMetric[1][1] < neighborsMetric[0][2] ||
+ neighborsMetric[1][1] < neighborsMetric[0][0])
+ {
+ verticalInterpolation = false;
+ horizontalInterpolation = false;
+ }
+ }
+ }
+ }
+
+ // Interpolate position : dichotomy
+ if (verticalInterpolation && !horizontalInterpolation)
+ {
+ unsigned int nbIterMax = 8;
+ double ya = static_cast<double>(vDisp_i -1);
+ double yb = static_cast<double>(vDisp_i);
+ double yc = static_cast<double>(vDisp_i +1);
+ double s_ya = neighborsMetric[1][0];
+ double s_yb = neighborsMetric[1][1];
+ double s_yc = neighborsMetric[1][2];
+
+ double yd;
+ double s_yd;
+
+ typedef itk::ResampleImageFilter<TInputImage,TInputImage,double> ResamplerType;
+ ResamplerType::Pointer resampler = ResamplerType::New();
+ resampler->SetInput(inRightPtr);
+ // set the output size and start index to the center position
+ // then set the smaller shift in the transform
+ IndexType upleftCorner(curRightPos);
+ upleftCorner[0] += (-curRadius[0]);
+ upleftCorner[1] += (-curRadius[1]);
+ SizeType windowSize;
+ windowSize[0] = 2 * curRadius[0] + 1;
+ windowSize[1] = 2 * curRadius[1] + 1;
+ resampler->SetOutputStartIndex(upleftCorner);
+ resampler->SetSize(windowSize);
+ typedef itk::TranslationTransform<double,2> TransformationType;
+ TransformationType::Pointer transfo = TransformationType::New();
+ double offsetTransfo[2];
+ offsetTransfo[0] = 0.0;
+ offsetTransfo[1] = 0.0;
+ resampler->SetTransform(transfo);
+
+ RegionType tinyShiftedRegion;
+ tinyShiftedRegion.SetIndex(0, curRadius[0]);
+ tinyShiftedRegion.SetIndex(1, curRadius[1]);
+ tinyShiftedRegion.SetSize(0, 1);
+ tinyShiftedRegion.SetSize(1, 1);
+
+ for (unsigned int k=0 ; k<nbIterMax ; k++)
+ {
+ if ( (yb-ya) < (yc-yb) )
+ {
+ yd = 0.5 * (yc+yb);
+ offsetTransfo[1] = yd - yb;
+ transfo->SetParameters(offsetTransfo);
+ resampler->Update();
+ itk::ConstNeighborhoodIterator<TInputImage> shiftedIt(curRadius,resampler->GetOutput(),tinyShiftedRegion);
+ s_yd = m_Functor(leftIt,shiftedIt);
+
+ if (s_yd<s_yb)
+ {
+ ya = yb;
+ s_ya = s_yb;
+
+ yb = yd;
+ s_yb = s_yd;
+ }
+ else
+ {
+ yc = yd;
+ s_yc = s_yd;
+ }
+ }
+ else
+ {
+ yd = 0.5 * (ya+yb);
+ offsetTransfo[1] = yd - yb;
+ transfo->SetParameters(offsetTransfo);
+ resampler->Update();
+ itk::ConstNeighborhoodIterator<TInputImage> shiftedIt(curRadius,resampler->GetOutput(),tinyShiftedRegion);
+ s_yd = m_Functor(leftIt,shiftedIt);
+
+ if (s_yd<s_yb)
+ {
+ yc = yb;
+ s_yc = s_yb;
+
+ yb = yd;
+ s_yb = s_yd;
+ }
+ else
+ {
+ ya = yd;
+ s_ya = s_yd;
+ }
+ }
+ }
+
+ outVDispIt.Set( yb );
+
+ }
+ else if (!verticalInterpolation && horizontalInterpolation)
+ {
+ unsigned int nbIterMax = 8;
+ double xa = static_cast<double>(hDisp_i -1);
+ double xb = static_cast<double>(hDisp_i);
+ double xc = static_cast<double>(hDisp_i +1);
+ double s_xa = neighborsMetric[0][1];
+ double s_xb = neighborsMetric[1][1];
+ double s_xc = neighborsMetric[2][1];
+
+ double xd;
+ double s_xd;
+
+ typedef itk::ResampleImageFilter<TInputImage,TInputImage,double> ResamplerType;
+ ResamplerType::Pointer resampler = ResamplerType::New();
+ resampler->SetInput(inRightPtr);
+ // set the output size and start index to the center position
+ // then set the smaller shift in the transform
+
+ for (unsigned int k=0 ; k<nbIterMax ; k++)
+ {
+ if ( (yb-ya) < (yc-yb) )
+ {
+ yd = 0.5 * (yc+yb);
+ // s_yd = metric(yd);
+ if (s_yd<s_yb)
+ {
+ ya = yb;
+ s_ya = s_yb;
+
+ yb = yd;
+ s_yb = s_yd;
+ }
+ else
+ {
+ yc = yd;
+ s_yc = s_yd;
+ }
+ }
+ else
+ {
+ yd = 0.5 * (ya+yb);
+ // s_yd = metric(yd);
+ if (s_yd<s_yb)
+ {
+ yc = yb;
+ s_yc = s_yb;
+
+ yb = yd;
+ s_yb = s_yd;
+ }
+ else
+ {
+ ya = yd;
+ s_ya = s_yd;
+ }
+ }
+ }
+
+ outHDispIt.Set( xb );
+
+ // TODO
+ }
+ else
+ {
+ // TODO
+ }
+
+
+
+ if (!verticalInterpolation)
+ {
+ // No vertical interpolation done : simply copy the integer vertical disparity
+ outVDispIt.Set( static_cast<double>(vDisp_i));
+ }
+
+ if (!horizontalInterpolation)
+ {
+ // No horizontal interpolation done : simply copy the integer horizontal disparity
+ outHDispIt.Set( static_cast<double>(hDisp_i));
+ }
+
+
+ progress.CompletedPixel();
+
+ ++leftIt;
+ ++outHDispIt;
+ ++outVDispIt;
+ ++outMetricIt;
+
+ if (useHorizontalDisparity)
+ {
+ ++inHDispIt;
+ }
+ if (useVerticalDisparity)
+ {
+ ++inVDispIt;
+ }
+
+ if(inLeftMaskPtr)
+ {
+ ++inLeftMaskIt;
+ }
+
+ if(inRightMaskPtr)
+ {
+ ++inRightMaskIt;
+ }
+ }
+}
+
+} // End namespace otb
+
+#endif
--
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