#define MAX_STRING_LENGTH 1024
#define ARRAY_SIZE(x) (sizeof((x)) / sizeof((x)[0]))
-#define __max(a,b) (((a) > (b)) ? (a) : (b))
-#define __min(a,b) (((a) < (b)) ? (a) : (b))
+#define __max(a, b) (((a) > (b)) ? (a) : (b))
+#define __min(a, b) (((a) < (b)) ? (a) : (b))
/* There are calib.txt, im0.png, and im1.png in each dataset directories.*/
-static const char* dataset[] = {
- "Adirondack",
- "Jadeplant",
- "Motorcycle",
- "Piano",
- "Pipes",
- "Playroom",
- "Playtable",
- "Recycle",
- "Shelves",
- "Vintage",
- "Backpack",
- "Bicycle1",
- "Cable",
- "Classroom1",
- "Couch",
- "Flowers",
- "Mask",
- "Shopvac",
- "Sticks",
- "Storage",
- "Sword1",
- "Sword2",
- "Umbrella"
-};
+static const char *dataset[] = { "Adirondack", "Jadeplant", "Motorcycle", "Piano", "Pipes", "Playroom",
+ "Playtable", "Recycle", "Shelves", "Vintage", "Backpack", "Bicycle1",
+ "Cable", "Classroom1", "Couch", "Flowers", "Mask", "Shopvac",
+ "Sticks", "Storage", "Sword1", "Sword2", "Umbrella" };
class StopWatch
{
public:
- StopWatch() {
+ StopWatch()
+ {
start = std::chrono::steady_clock::now();
}
~StopWatch() = default;
- std::chrono::milliseconds elapsedTime() {
- return std::chrono::duration_cast<std::chrono::milliseconds>(
- std::chrono::steady_clock::now() - start);
+ std::chrono::milliseconds elapsedTime()
+ {
+ return std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::steady_clock::now() - start);
}
+
private:
std::chrono::steady_clock::time_point start;
};
-typedef struct _appdata {
+typedef struct _appdata
+{
mv_3d_h mv3d;
std::chrono::milliseconds diffMs;
std::string dataPath;
- std::string intrinsicName;
- std::string rgbName;
std::string datasetName;
float minDisp;
float maxDisp;
std::string dataset;
} appdata;
-enum {
+enum
+{
FMT_PFM = 1,
FMT_PNG
};
-int littleendian()
+static int littleendian()
{
int intval = 1;
- uchar *uval = (uchar *)&intval;
+ uchar *uval = (uchar *) &intval;
return uval[0] == 1;
}
-void WriteFilePFM(float *data, int width, int height, const char* filename,
- float minDisp, float maxDisp, float scalefactor = 1 / 255.0)
+static void WriteFilePFM(float *data, int width, int height, const char *filename, float minDisp, float maxDisp,
+ float scalefactor = 1 / 255.0)
{
FILE *stream = fopen(filename, "wb");
if (stream == 0) {
int n = width;
for (int y = height - 1; y >= 0; y--) {
- float* ptr = data + y * width;
+ float *ptr = data + y * width;
for (int x = 0; x < width; x++) {
if (ptr[x] <= 0 || ptr[x] > maxDisp) { //xsh modified
ptr[x] = INFINITY;
}
}
- if ((int)fwrite(ptr, sizeof(float), n, stream) != n) {
+ if ((int) fwrite(ptr, sizeof(float), n, stream) != n) {
fprintf(stderr, "WriteFilePFM: problem writing data\n");
exit(1);
}
// translate value x in [0..1] into color triplet using "jet" color map
// if out of range, use darker colors
// variation of an idea by http://www.metastine.com/?p=7
-void jet(float x, int& r, int& g, int& b)
+static void jet(float x, int &r, int &g, int &b)
{
- if (x < 0) x = -0.05;
- if (x > 1) x = 1.05;
- x = x / 1.15 + 0.1; // use slightly asymmetric range to avoid darkest shades of blue.
- r = __max(0, __min(255, (int)(round(255 * (1.5 - 4*fabs(x - .75))))));
- g = __max(0, __min(255, (int)(round(255 * (1.5 - 4*fabs(x - .5))))));
- b = __max(0, __min(255, (int)(round(255 * (1.5 - 4*fabs(x - .25))))));
+ if (x < 0)
+ x = -0.05;
+ if (x > 1)
+ x = 1.05;
+ x = x / 1.15 + 0.1; // use slightly asymmetric range to avoid darkest shades of blue.
+ r = __max(0, __min(255, (int) (round(255 * (1.5 - 4 * fabs(x - .75))))));
+ g = __max(0, __min(255, (int) (round(255 * (1.5 - 4 * fabs(x - .5))))));
+ b = __max(0, __min(255, (int) (round(255 * (1.5 - 4 * fabs(x - .25))))));
}
-void WriteFilePNG(unsigned short *data, int width, int height, const char* filename,
- float minDisp, float maxDisp)
+static void WriteFilePNG(unsigned short *data, int width, int height, const char *filename, float minDisp,
+ float maxDisp)
{
// Open the file
FILE *stream = fopen(filename, "wb");
cv::Mat dump(cv::Size(width, height), CV_16U);
for (int y = 0; y < height; y++) {
- unsigned short* ptr = data + y * width;
+ unsigned short *ptr = data + y * width;
for (int x = 0; x < width; x++) {
unsigned short f = ptr[x];
- dump.at<unsigned short>(y,x) = f;
+ dump.at<unsigned short>(y, x) = f;
}
- }
+ }
printf("%d x %d", width, height);
cv::imwrite(filename, dump);
fclose(stream);
}
-void WritePLY(double *data, int size, const char* filename)
+static void WritePLY(double *data, int size, const char *filename)
{
std::ofstream stream(filename, std::ofstream::out);
stream << "ply" << std::endl;
stream << "end_header" << std::endl;
for (int pc = 0; pc < size; ++pc) {
- stream << std::fixed << std::setprecision(2) <<
- data[pc*3] << " " << data[pc*3 + 1] << " " << data[pc*3 + 2] << std::endl;
+ stream << std::fixed << std::setprecision(2) << data[pc * 3] << " " << data[pc * 3 + 1] << " "
+ << data[pc * 3 + 2] << std::endl;
}
return;
}
-void _depth_middlebury_cb(mv_source_h source,
- unsigned short* depth,
- unsigned int width,
- unsigned int height,
- void* user_data)
+static void _depth_middlebury_cb(mv_source_h source, unsigned short *depth, unsigned int width, unsigned int height,
+ void *user_data)
{
if (!user_data) {
printf("user_data is null. Skip..\n");
return;
}
- auto udata = static_cast<appdata*>(user_data);
+ auto udata = static_cast<appdata *>(user_data);
StopWatch stopWatch;
if (udata->fmt == FMT_PFM) {
- WriteFilePFM(reinterpret_cast<float*>(depth), width, height, udata->datasetName.c_str(),
- udata->minDisp, udata->maxDisp);
+ WriteFilePFM(reinterpret_cast<float *>(depth), width, height, udata->datasetName.c_str(), udata->minDisp,
+ udata->maxDisp);
} else {
- WriteFilePNG(depth, width, height, udata->datasetName.c_str(),
- udata->minDisp, udata->maxDisp);
+ WriteFilePNG(depth, width, height, udata->datasetName.c_str(), udata->minDisp, udata->maxDisp);
}
udata->diffMs = stopWatch.elapsedTime();
}
-void _pointcloud_middlebury_cb(mv_source_h source,
- mv_3d_pointcloud_h pointcloud,
- void *user_data)
+static void _pointcloud_middlebury_cb(mv_source_h source, mv_3d_pointcloud_h pointcloud, void *user_data)
{
if (!user_data) {
printf("user_data is null. Skip..\n");
return;
}
- auto udata = static_cast<appdata*>(user_data);
- std::string filename = udata->dataset + std::string(".pcd");
- mv_3d_pointcloud_write_file(udata->mv3d, pointcloud, MV_3D_POINTCLOUD_TYPE_PCD_BIN, (char*)filename.c_str());
+ auto udata = static_cast<appdata *>(user_data);
+ std::string filename = udata->dataset + std::string(".ply");
+ mv_3d_pointcloud_write_file(udata->mv3d, pointcloud, MV_3D_POINTCLOUD_TYPE_PLY_TXT, (char *) filename.c_str());
- mv_3d_pointcloud_plane_model_h model;
- mv_3d_pointcloud_plane_inlier_h inlier;
+ mv_3d_pointcloud_plane_model_h model = nullptr;
+ mv_3d_pointcloud_plane_inlier_h inlier = nullptr;
mv_3d_pointcloud_plane_model_create(&model);
mv_3d_pointcloud_plane_inlier_create(&inlier);
mv_3d_pointcloud_segment_plane(udata->mv3d, pointcloud, &model, &inlier);
- filename = udata->dataset + std::string("-plane.pcd");
- mv_3d_pointcloud_plane_write_file(udata->mv3d, model, inlier, pointcloud, MV_3D_POINTCLOUD_TYPE_PCD_BIN, (char*)filename.c_str());
+ filename = udata->dataset + std::string("-plane.ply");
+ mv_3d_pointcloud_plane_write_file(udata->mv3d, model, inlier, pointcloud, MV_3D_POINTCLOUD_TYPE_PLY_TXT,
+ (char *) filename.c_str());
mv_3d_pointcloud_plane_model_destroy(model);
mv_3d_pointcloud_plane_inlier_destroy(inlier);
int perform_middlebury_test()
{
- char* path_to_dataset = NULL;
- char* suffix_for_algo = NULL;
+ char *path_to_dataset = NULL;
+ char *suffix_for_algo = NULL;
int err = MEDIA_VISION_ERROR_NONE;
mv_engine_config_h engine_config = NULL;
- mv_source_h left_source = NULL;
+ mv_source_h left_source = NULL;
mv_source_h right_source = NULL;
- mv_3d_h mv3d_handle = NULL;
+ mv_3d_h mv3d_handle = NULL;
size_t datasize = ARRAY_SIZE(dataset);
cv::Mat left_frame, right_frame;
- while (input_string("root path including dataset:",
- 1024, &path_to_dataset) == -1) {
+ while (input_string("root path including dataset:", 1024, &path_to_dataset) == -1) {
printf("Incorrect! Try again.\n");
}
- while (input_string("suffix for algorithm:",
- 1024, &suffix_for_algo) == -1) {
+ while (input_string("suffix for algorithm:", 1024, &suffix_for_algo) == -1) {
printf("Incorrect! Try again.\n");
}
- const char* formats[] = {"pfm", "png"};
+ const char *formats[] = { "pfm", "png" };
int sel_fmt = -1;
- while(sel_fmt <= 0 || sel_fmt > static_cast<int>(ARRAY_SIZE(formats))) {
+ while (sel_fmt <= 0 || sel_fmt > static_cast<int>(ARRAY_SIZE(formats))) {
sel_fmt = show_menu_linear("Select Action", formats, ARRAY_SIZE(formats));
}
snprintf(dataPath, MAX_STRING_LENGTH, "%s/%s", path_to_dataset, dataset[data]);
snprintf(calibFilename, MAX_STRING_LENGTH, "%s/calib.txt", dataPath);
- snprintf(stereoConfigFileName, MAX_STRING_LENGTH, "%s/calibOcv.xml", dataPath);
+ snprintf(stereoConfigFileName, MAX_STRING_LENGTH, "%s/calibOcv.yaml", dataPath);
snprintf(leftFilename, MAX_STRING_LENGTH, "%s/im0.png", dataPath);
snprintf(rightFilename, MAX_STRING_LENGTH, "%s/im1.png", dataPath);
- if ((access(calibFilename, F_OK) < 0) ||
- (access(leftFilename, F_OK) < 0) ||
- (access(rightFilename, F_OK) < 0) ) {
+ if ((access(calibFilename, F_OK) < 0) || (access(leftFilename, F_OK) < 0) ||
+ (access(rightFilename, F_OK) < 0)) {
printf("Invalid dataset path:\n");
goto _err;
}
- printf("Run dataset %s\n", dataset[data]);
- FILE* fp = fopen(calibFilename, "r");
+ FILE *fp = fopen(calibFilename, "r");
char line[MAX_STRING_LENGTH];
float fVal;
float dmin = 0, dmax = 0;
int width = 0, height = 0;
if (fp != NULL) {
while (fgets(line, MAX_STRING_LENGTH, fp) != NULL) {
- if (sscanf(line, "vmin= %f", &fVal) == 1) dmin = fVal;
- if (sscanf(line, "vmax= %f", &fVal) == 1) dmax = fVal;
- if (sscanf(line, "width= %d", &iVal) == 1) width = iVal;
- if (sscanf(line, "height= %d", &iVal) == 1) height = iVal;
+ if (sscanf(line, "vmin= %f", &fVal) == 1)
+ dmin = fVal;
+ if (sscanf(line, "vmax= %f", &fVal) == 1)
+ dmax = fVal;
+ if (sscanf(line, "width= %d", &iVal) == 1)
+ width = iVal;
+ if (sscanf(line, "height= %d", &iVal) == 1)
+ height = iVal;
}
fclose(fp);
} else {
int maxDisp = static_cast<int>(dmax);
// engine_config
- err = mv_engine_config_set_int_attribute(engine_config,
- MV_3D_DEPTH_MODE, MV_3D_DEPTH_MODE_STEREO);
+ err = mv_engine_config_set_int_attribute(engine_config, MV_3D_DEPTH_MODE, MV_3D_DEPTH_MODE_STEREO);
if (err != MEDIA_VISION_ERROR_NONE) {
printf("Failed to set depth mode\n");
goto _err;
}
- err = mv_engine_config_set_int_attribute(engine_config,
- MV_3D_DEPTH_WIDTH, width);
+ err = mv_engine_config_set_int_attribute(engine_config, MV_3D_DEPTH_WIDTH, width);
if (err != MEDIA_VISION_ERROR_NONE) {
printf("Failed to set width\n");
goto _err;
}
- err = mv_engine_config_set_int_attribute(engine_config,
- MV_3D_DEPTH_HEIGHT, height);
+ err = mv_engine_config_set_int_attribute(engine_config, MV_3D_DEPTH_HEIGHT, height);
if (err != MEDIA_VISION_ERROR_NONE) {
printf("Failed to set height\n");
goto _err;
}
- err = mv_engine_config_set_int_attribute(engine_config,
- MV_3D_DEPTH_MIN_DISPARITY, minDisp);
+ err = mv_engine_config_set_int_attribute(engine_config, MV_3D_DEPTH_MIN_DISPARITY, minDisp);
if (err != MEDIA_VISION_ERROR_NONE) {
printf("Failed to set min disparity\n");
goto _err;
}
- err = mv_engine_config_set_int_attribute(engine_config,
- MV_3D_DEPTH_MAX_DISPARITY, maxDisp);
+ err = mv_engine_config_set_int_attribute(engine_config, MV_3D_DEPTH_MAX_DISPARITY, maxDisp);
if (err != MEDIA_VISION_ERROR_NONE) {
printf("Failed to set max disparity\n");
goto _err;
}
- err = mv_engine_config_set_string_attribute(engine_config,
- MV_3D_DEPTH_STEREO_CONFIG_FILE_PATH, stereoConfigFileName);
+ err = mv_engine_config_set_string_attribute(engine_config, MV_3D_DEPTH_STEREO_CONFIG_FILE_PATH,
+ stereoConfigFileName);
if (err != MEDIA_VISION_ERROR_NONE) {
printf("Failed to set stereo config file path\n");
goto _err;
}
- err = mv_engine_config_set_double_attribute(engine_config,
- MV_3D_POINTCLOUD_SAMPLING_RATIO, samplingRatio);
+ err = mv_engine_config_set_double_attribute(engine_config, MV_3D_POINTCLOUD_SAMPLING_RATIO, samplingRatio);
if (err != MEDIA_VISION_ERROR_NONE) {
printf("Failed to set stereo config file path\n");
goto _err;
}
- err = mv_engine_config_set_int_attribute(engine_config,
- MV_3D_POINTCLOUD_OUTLIER_REMOVAL_POINTS, outlierRemovalPoints);
+ err = mv_engine_config_set_int_attribute(engine_config, MV_3D_POINTCLOUD_OUTLIER_REMOVAL_POINTS,
+ outlierRemovalPoints);
if (err != MEDIA_VISION_ERROR_NONE) {
printf("Failed to set stereo config file path\n");
goto _err;
}
- err = mv_engine_config_set_double_attribute(engine_config,
- MV_3D_POINTCLOUD_OUTLIER_REMOVAL_RADIUS, outlierRemovalRadius);
+ err = mv_engine_config_set_double_attribute(engine_config, MV_3D_POINTCLOUD_OUTLIER_REMOVAL_RADIUS,
+ outlierRemovalRadius);
if (err != MEDIA_VISION_ERROR_NONE) {
printf("Failed to set stereo config file path\n");
goto _err;
}
- err = mv_engine_config_set_string_attribute(engine_config,
- MV_3D_POINTCLOUD_OUTPUT_FILE_PATH, MEDIA_FILE_PATH);
+ err = mv_engine_config_set_string_attribute(engine_config, MV_3D_POINTCLOUD_OUTPUT_FILE_PATH, MEDIA_FILE_PATH);
if (err != MEDIA_VISION_ERROR_NONE) {
printf("Failed to set stereo config file path\n");
goto _err;
left_frame = cv::imread(leftFilename, cv::IMREAD_COLOR);
right_frame = cv::imread(rightFilename, cv::IMREAD_COLOR);
- err = mv_source_fill_by_buffer(left_source,
- left_frame.ptr<unsigned char>(),
- left_frame.elemSize() * left_frame.size().width
- * left_frame.size().height,
- left_frame.size().width,
- left_frame.size().height,
- MEDIA_VISION_COLORSPACE_RGB888);
+ err = mv_source_fill_by_buffer(left_source, left_frame.ptr<unsigned char>(),
+ left_frame.elemSize() * left_frame.size().width * left_frame.size().height,
+ left_frame.size().width, left_frame.size().height,
+ MEDIA_VISION_COLORSPACE_RGB888);
if (err != MEDIA_VISION_ERROR_NONE) {
printf("Failed to fill left_source\n");
goto _err;
}
- err = mv_source_fill_by_buffer(right_source,
- right_frame.ptr<unsigned char>(),
- right_frame.elemSize() * right_frame.size().width
- * right_frame.size().height,
- right_frame.size().width,
- right_frame.size().height,
- MEDIA_VISION_COLORSPACE_RGB888);
+ err = mv_source_fill_by_buffer(right_source, right_frame.ptr<unsigned char>(),
+ right_frame.elemSize() * right_frame.size().width * right_frame.size().height,
+ right_frame.size().width, right_frame.size().height,
+ MEDIA_VISION_COLORSPACE_RGB888);
if (err != MEDIA_VISION_ERROR_NONE) {
printf("Failed to fill right_source\n");
goto _err;
}
// get depth
- appdata dump {
- mv3d_handle,
- std::chrono::milliseconds::zero(),
- std::string(dataPath),
- std::string(dataPath) + std::string("/intrinsics.json"),
- std::string(leftFilename),
- std::string(dataPath) + std::string("/disp0") + std::string(suffix_for_algo),
- static_cast<float>(minDisp),
- static_cast<float>(maxDisp),
- sel_fmt
- };
+ appdata dump { mv3d_handle,
+ std::chrono::milliseconds::zero(),
+ std::string(dataPath),
+ std::string(dataPath) + std::string("/disp0") + std::string(suffix_for_algo),
+ static_cast<float>(minDisp),
+ static_cast<float>(maxDisp),
+ sel_fmt,
+ std::string(dataset[data]) };
dump.datasetName += sel_fmt == FMT_PFM ? std::string(".pfm") : std::string(".png");
- dump.dataset = std::string(dataset[data]);
- err = mv_3d_set_depth_cb(mv3d_handle, _depth_middlebury_cb, static_cast<void*>(&dump));
+ err = mv_3d_set_depth_cb(mv3d_handle, _depth_middlebury_cb, static_cast<void *>(&dump));
if (err != MEDIA_VISION_ERROR_NONE) {
printf("Failed to set depth callback to handle\n");
goto _err;
}
- err = mv_3d_set_pointcloud_cb(mv3d_handle, _pointcloud_middlebury_cb, static_cast<void*>(&dump));
+ err = mv_3d_set_pointcloud_cb(mv3d_handle, _pointcloud_middlebury_cb, static_cast<void *>(&dump));
if (err != MEDIA_VISION_ERROR_NONE) {
printf("Failed to set pointcloud callback to handle\n");
goto _err;
printf("Failed to prepare depth handle\n");
goto _err;
}
+
StopWatch stopWatch;
- err = mv_3d_run(mv3d_handle,
- left_source,
- right_source,
- NULL);
+ err = mv_3d_run(mv3d_handle, left_source, right_source, NULL);
/* time to save a file is excluded */
std::chrono::milliseconds diffMs = stopWatch.elapsedTime() - dump.diffMs;
int main()
{
int err = MEDIA_VISION_ERROR_NONE;
- const char* names[] = {"Middlebury - TrainingQ(Imperf)"};
+ const char *names[] = { "Middlebury - TrainingQ(Imperf)" };
int sel_opt = show_menu_linear("Select Action", names, ARRAY_SIZE(names));
if (sel_opt <= 0 || sel_opt > static_cast<int>(ARRAY_SIZE(names))) {
projects / platform / core / api / mediavision.git / commitdiff