ADD: example for the stereo reconstruction chain (WIP)

Code/DisparityMap/otbStereorectificationDeformationFieldSource.txx

@@ -20,6 +20,7 @@
 
 #include "otbStereorectificationDeformationFieldSource.h"
 #include "itkProgressReporter.h"
+#include "otbMath.h"
 
 // For partial specialization
 #include "otbVectorImage.h"

Examples/DisparityMap/CMakeLists.txt

@@ -13,6 +13,9 @@ ADD_EXECUTABLE(FineRegistrationImageFilterExample FineRegistrationImageFilterExa
 TARGET_LINK_LIBRARIES(FineRegistrationImageFilterExample OTBFeatureExtraction OTBCommon OTBIO
 ITKIO)
 
+ADD_EXECUTABLE(StereoReconstructionExample StereoReconstructionExample.cxx )
+TARGET_LINK_LIBRARIES(StereoReconstructionExample OTBFeatureExtraction OTBCommon OTBIO
+ITKIO)
 
 IF( NOT OTB_DISABLE_CXX_TESTING AND BUILD_TESTING )
 

Examples/DisparityMap/StereoReconstructionExample.cxx

+/*=========================================================================
+
+  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.
+
+=========================================================================*/
+
+
+//  Software Guide : BeginCommandLineArgs
+//    INPUTS: {sensor_stereo_left.tif}, {sensor_stereo_right.tif}
+//    OUTPUTS: {elevationOutput.tif}
+//    140 
+//  Software Guide : EndCommandLineArgs
+
+// Software Guide : BeginLatex
+//
+// This example demonstrates the use of the stereo reconstruction chain, using the filters :
+// \begin{itemize}
+// \item \doxygen{otb}{StereorectificationDeformationFieldSource}
+// \item \doxygen{otb}{StreamingWarpImageFilter}
+// \item \doxygen{otb}{PixelWiseBlockMatchingImageFilter}
+// \item \doxygen{otb}{otbSubPixelDisparityImageFilter}
+// \item \doxygen{otb}{otbDisparityMapMedianFilter}
+// \item \doxygen{otb}{DisparityMapToDEMFilter}
+//
+// Software Guide : EndLatex
+
+// Software Guide : BeginCodeSnippet
+#include "otbStereorectificationDeformationFieldSource.h"
+#include "otbStreamingWarpImageFilter.h"
+#include "otbPixelWiseBlockMatchingImageFilter.h"
+#include "otbSubPixelDisparityImageFilter.h"
+#include "otbDisparityMapMedianFilter.h"
+#include "otbDisparityMapToDEMFilter.h"
+
+#include "otbImage.h"
+#include "otbVectorImage.h"
+#include "otbImageFileReader.h"
+#include "otbStreamingImageFileWriter.h"
+#include "otbBCOInterpolateImageFunction.h"
+// Software Guide : EndCodeSnippet
+
+
+
+int main(int argc, char* argv[])
+{
+  if (argc != 5)
+    {
+    std::cerr << "Usage: " << argv[0];
+    std::cerr << " sensorImage1 sensorImage2 outputDEM ";
+    std::cerr << "averageElevation  " << std::endl;
+    return EXIT_FAILURE;
+    }
+  
+  typedef otb::Image<float,2>                 FloatImageType;
+  typedef otb::VectorImage<float,2>           FloatVectorImageType;
+  
+  typedef otb::ImageFileReader
+    <FloatImageType>                          ImageReaderType;
+  
+  typedef otb::StereorectificationDeformationFieldSource
+    <FloatImageType,FloatVectorImageType>     DeformationFieldSourceType;
+  
+  typedef itk::Vector<double,2>               DeformationType;
+  typedef otb::Image<DeformationType>         DeformationFieldType;
+  
+//   typedef itk::VectorCastImageFilter
+//     <FloatVectorImageType,
+//      DeformationFieldType>                    DeformationFieldCastFilterType;
+
+//   typedef itk::InverseDeformationFieldImageFilter
+//     <DeformationFieldType,DeformationFieldType> InverseDeformationFieldFilterType;
+
+//   typedef itk::VectorIndexSelectionCastImageFilter
+//     <DeformationFieldType,
+//      FloatImageType>                          IndexSelectionCastFilterType;
+// 
+//   typedef otb::ImageList<FloatImageType>      ImageListType;
+//   typedef otb::ImageListToVectorImageFilter
+//     <ImageListType,FloatVectorImageType>      ImageListFilterType;
+// 
+//   typedef otb::DEMToImageGenerator
+//     <FloatImageType>                          DEMToImageGeneratorType;
+//   typedef otb::StreamingStatisticsImageFilter
+//     <FloatImageType>                          StatisticsFilterType;
+  
+  double avgElevation = atof(argv[4]);
+  
+  ImageReaderType::Pointer leftReader =  ImageReaderType::New();
+  ImageReaderType::Pointer rightReader =  ImageReaderType::New();
+  
+  leftReader->SetFileName(argv[1]);
+  rightReader->SetFileName(argv[2]);
+  
+  DeformationFieldSourceType::Pointer m_DeformationFieldSource = DeformationFieldSourceType::New();
+  m_DeformationFieldSource->SetLeftImage(leftReader->GetOutput());
+  m_DeformationFieldSource->SetRightImage(rightReader->GetOutput());
+  m_DeformationFieldSource->SetGridStep(4);
+  m_DeformationFieldSource->SetScale(1.0);
+  m_DeformationFieldSource->SetAverageElevation(avgElevation);
+  
+  //m_DeformationFieldSource->Update();
+  
+  
+  
+  typedef otb::StreamingImageFileWriter<FloatVectorImageType> WriterType;
+  WriterType::Pointer leftOutput = WriterType::New();
+  WriterType::Pointer rightOutput = WriterType::New();
+  
+  leftOutput->SetInput(m_DeformationFieldSource->GetLeftDeformationFieldOutput());
+  rightOutput->SetInput(m_DeformationFieldSource->GetRightDeformationFieldOutput());
+  
+  leftOutput->SetFileName("/home2/gpasero/ORFEO-TOOLBOX/stereo/grid_example_left.tif");
+  rightOutput->SetFileName("/home2/gpasero/ORFEO-TOOLBOX/stereo/grid_example_right.tif");
+  
+  leftOutput->Update();
+  rightOutput->Update();
+
+  std::cout << "epi.rectsizex" << m_DeformationFieldSource->GetRectifiedImageSize()[0] << std::endl;
+  std::cout << "epi.rectsizey" << m_DeformationFieldSource->GetRectifiedImageSize()[1] << std::endl;
+  std::cout << "epi.baseline" << m_DeformationFieldSource->GetMeanBaselineRatio() << std::endl;  
+  
+  return EXIT_SUCCESS;
+}