/********************************************************************
** Image Component Library (ICL) **
** **
** Copyright (C) 2006-2012 CITEC, University of Bielefeld **
** Neuroinformatics Group **
** Website: www.iclcv.org and **
** http://opensource.cit-ec.de/projects/icl **
** **
** File : ICLAlgorithms/examples/svs-test.cpp **
** Module : ICLAlgorithms **
** Authors: Christof Elbrechter, Andre Justus **
** **
** **
** Commercial License **
** ICL can be used commercially, please refer to our website **
** www.iclcv.org for more details. **
** **
** GNU General Public License Usage **
** Alternatively, this file may be used under the terms of the **
** GNU General Public License version 3.0 as published by the **
** Free Software Foundation and appearing in the file LICENSE.GPL **
** included in the packaging of this file. Please review the **
** following information to ensure the GNU General Public License **
** version 3.0 requirements will be met: **
** http://www.gnu.org/copyleft/gpl.html. **
** **
** The development of this software was supported by the **
** Excellence Cluster EXC 277 Cognitive Interaction Technology. **
** The Excellence Cluster EXC 277 is a grant of the Deutsche **
** Forschungsgemeinschaft (DFG) in the context of the German **
** Excellence Initiative. **
** **
*********************************************************************/
#include <ICLAlgorithms/SVS.h>
#include <ICLQuick/Common.h>
#include <ICLUtils/Timer.h>
#include <iterator>
#include <fstream>
#include <ICLIO/File.h>
const char *inifile_light[] = {
"# SVS Engine v 3.2 Stereo Camera Parameter File",
"[left camera]",
"pwidth 640",
"pheight 480",
"dpx 0.007000",
"dpy 0.007000",
"sx 1.000000",
"Cx 320.526995",
"Cy 240.809716",
"f 511.363092",
"fy 513.712339",
"alpha 0.000000",
"kappa1 -0.159408",
"kappa2 0.161214",
"kappa3 0.000000",
"tau1 0.000000",
"tau2 0.000000",
"proj",
"5.140000e+002 0.000000e+000 3.065270e+002 0.000000e+000",
"0.000000e+000 5.140000e+002 2.757325e+002 0.000000e+000",
"0.000000e+000 0.000000e+000 1.000000e+000 0.000000e+000",
"rect",
"9.990557e-001 -1.115309e-003 -4.343369e-002",
"1.107551e-003 9.999993e-001 -2.026861e-004",
"4.343389e-002 1.543897e-004 9.990563e-001",
"",
"[right camera]",
"pwidth 640",
"pheight 480",
"dpx 0.007000",
"dpy 0.007000",
"sx 1.000000",
"Cx 320.916494",
"Cy 240.655358",
"f 521.225593",
"fy 523.525160",
"alpha 0.000000",
"kappa1 -0.152761",
"kappa2 0.142905",
"kappa3 0.000000",
"tau1 0.000000",
"tau2 0.000000",
"proj",
"5.140000e+002 0.000000e+000 3.239165e+002 -4.570280e+004",
"0.000000e+000 5.140000e+002 2.757325e+002 0.000000e+000",
"0.000000e+000 0.000000e+000 1.000000e+000 0.000000e+000",
"rect",
"9.988248e-001 1.767150e-003 -4.843450e-002",
"-1.758498e-003 9.999985e-001 2.212436e-004",
"4.843481e-002 -1.358116e-004 9.988263e-001",
"",
0
};
const char *inifile[] = {
"# SVS Engine v 3.2 Stereo Camera Parameter File",
"",
"[image]",
"max_linelen 640",
"max_lines 480",
"max_decimation 1",
"max_binning 1",
"max_framediv 1",
"gamma 0",
"color_right 0",
"color 1",
"ix 0",
"iy 0",
"vergence 0.000000",
"rectified 1",
"width 640",
"height 480",
"linelen 640",
"lines 480",
"decimation 1",
"binning 1",
"framediv 0",
"subwindow 0",
"have_rect 1",
"autogain 0",
"autoexposure 0",
"autowhite 0",
"autobrightness 0",
"gain 50",
"exposure 50",
"contrast 50",
"brightness 50",
"saturation 50",
"red 0",
"blue 0",
"",
"[stereo]",
"convx 11",
"convy 11",
"corrxsize 15",
"corrysize 15",
"thresh 7",
"unique 10",
"lr 1",
"ndisp 32",
"dpp 16",
"offx 0",
"offy 0",
"frame 1.050000",
"",
"[external]",
"Tx -88.915959",
"Ty -0.157128",
"Tz 4.306600",
"Rx 0.000422",
"Ry 0.005006",
"Rz 0.002866",
"",
"[left camera]",
"pwidth 640",
"pheight 480",
"dpx 0.007000",
"dpy 0.007000",
"sx 1.000000",
"Cx 306.526995",
"Cy 286.809716",
"f 511.363092",
"fy 513.712339",
"alpha 0.000000",
"kappa1 -0.159408",
"kappa2 0.161214",
"kappa3 0.000000",
"tau1 0.000000",
"tau2 0.000000",
"proj",
"5.140000e+002 0.000000e+000 3.065270e+002 0.000000e+000",
"0.000000e+000 5.140000e+002 2.757325e+002 0.000000e+000",
"0.000000e+000 0.000000e+000 1.000000e+000 0.000000e+000",
"rect",
"9.990557e-001 -1.115309e-003 -4.343369e-002",
"1.107551e-003 9.999993e-001 -2.026861e-004",
"4.343389e-002 1.543897e-004 9.990563e-001",
"",
"[right camera]",
"pwidth 640",
"pheight 480",
"dpx 0.007000",
"dpy 0.007000",
"sx 1.000000",
"Cx 323.916494",
"Cy 264.655358",
"f 521.225593",
"fy 523.525160",
"alpha 0.000000",
"kappa1 -0.152761",
"kappa2 0.142905",
"kappa3 0.000000",
"tau1 0.000000",
"tau2 0.000000",
"proj",
"5.140000e+002 0.000000e+000 3.239165e+002 -4.570280e+004",
"0.000000e+000 5.140000e+002 2.757325e+002 0.000000e+000",
"0.000000e+000 0.000000e+000 1.000000e+000 0.000000e+000",
"rect",
"9.988248e-001 1.767150e-003 -4.843450e-002",
"-1.758498e-003 9.999985e-001 2.212436e-004",
"4.843481e-002 -1.358116e-004 9.988263e-001",
"",
"[global]",
"GTx 0.000000",
"GTy 0.000000",
"GTz 0.000000",
"GRx 0.000000",
"GRy 0.000000",
"GRz 0.000000",
0
};
int main(){
{
std::ofstream o("cfg-374374943464543.ini");
for(int i=0;inifile[i];++i){
o << inifile[i] << std::endl;
}
// std::copy(inifile,inifile+(121-7),std::ostream_iterator<std::string>(o,"\n"));
}
ImgBase *outImg=0;
Img8u imgL,imgR;
try{
imgL = cvt8u(scale(load("demoImages/face320-cal-L.pgm"),320,240)); /// Why??
imgR = cvt8u(scale(load("demoImages/face320-cal-R.pgm"),320,240));
}catch(const FileNotFoundException &){
std::cout << "demo images that are necessary for this demo could not be found\n"
<< "in ./demoImages/face320-cal-*.pgm (* is L or R). You can run\n"
<< "this demo from your $ICL_SOURCE_ROOT/ICLAlgorithms/example dir.\n";
exit(-1);
}
SVS svs;
Timer timer;
printf("\nBenchmarking SVS\n");
timer.start();
int N=5;
printf("Doing %d iterations\n",N);
for(int i=0;i<N;i++){
svs.load(&imgL,&imgR);
svs.loadCalibration("cfg-374374943464543.ini");
svs.printvars();
timer.stopSubTimer("Iterations of Load done");
svs.doStereo();
outImg=svs.getDisparity();
}
timer.stop("Iterations of get_disparity done");
//File("cfg-374374943464543.ini").erase();
show((label(cvt(imgL),"left image"),
label(cvt(imgR),"right image"),
label(cvt(outImg),"depth-image")));
}