public void Test_Census()
{
CensusCostComputer costCpu = new CensusCostComputer();
costCpu.MaskHeight = 1;
costCpu.MaskWidth = 1;
costCpu.ImageBase = new GrayScaleImage() { ImageMatrix = _imageLeft };
costCpu.ImageMatched = new GrayScaleImage() { ImageMatrix = _imageRight };
costCpu.Init();
// Expected census in points (base):
// [0,0] : 0000_0000, [0,1] : 0100_0101, [1,1] : 1101_1011, [2,2] : 0101_0001
IBitWord c00 = BitWord.CreateBitWord(new uint[1] { 0 });
IBitWord c10 = BitWord.CreateBitWord(new uint[1] { 1 << 8 | 0 << 7 | 1 << 6 | 0 << 5 | 0 << 4 | 0 << 3 | 0 << 2 | 1 << 1 | 0 << 0 });
IBitWord c11 = BitWord.CreateBitWord(new uint[1] { 1 << 8 | 1 << 7 | 0 << 6 | 1 << 5 | 0 << 4 | 1 << 3 | 0 << 2 | 1 << 1 | 1 << 0 });
IBitWord c22 = BitWord.CreateBitWord(new uint[1] { 1 << 8 | 0 << 7 | 0 << 6 | 0 << 5 | 0 << 4 | 1 << 3 | 0 << 2 | 1 << 1 | 0 << 0 });
int diff = costCpu.CensusBase[0, 0].GetHammingDistance(c00);
Assert.IsTrue(diff == 0,
"Wrong census transform in point [0,0]. Census: " + costCpu.CensusBase[0, 0].ToString());
diff = costCpu.CensusBase[0, 1].GetHammingDistance(c10);
Assert.IsTrue(diff == 0,
"Wrong census transform in point [0,1]. Census: " + costCpu.CensusBase[0, 1].ToString());
diff = costCpu.CensusBase[1, 1].GetHammingDistance(c11);
Assert.IsTrue(diff == 0,
"Wrong census transform in point [1,1]. Census: " + costCpu.CensusBase[1, 1].ToString());
diff = costCpu.CensusBase[2, 2].GetHammingDistance(c22);
Assert.IsTrue(diff == 0,
"Wrong census transform in point [2,2]. Census: " + costCpu.CensusBase[2, 2].ToString());
// Expected matching cost in points (base, matched):
// ([2,2], [3,2]) : 3
// ([2,2], [4,2]) : 0
// ([2,2], [2,2]) : 3
double cost = costCpu.GetCost(new IntVector2(2, 2), new IntVector2(3, 2));
Assert.IsTrue(cost.Round() == 3, "Wrong rank cost in points ([2,2],[3,2]). Expected: 3; Actual: " + cost);
cost = costCpu.GetCost(new IntVector2(2, 2), new IntVector2(4, 2));
Assert.IsTrue(cost.Round() == 0, "Wrong rank cost in points ([2,2],[4,2]). Expected: 0; Actual: " + cost);
cost = costCpu.GetCost(new IntVector2(2, 2), new IntVector2(2, 2));
Assert.IsTrue(cost.Round() == 3, "Wrong rank cost in points ([2,2],[2,2]). Expected: 3; Actual: " + cost);
}
public void Test_BSGM_NoNoise()
{
SGMAggregator agg = new SGMAggregator();
CensusCostComputer cost = new CensusCostComputer();
WTADisparityComputer dispComp = new WTADisparityComputer();
cost.ImageBase = new GrayScaleImage() { ImageMatrix = _imageLeft };
cost.ImageMatched = new GrayScaleImage() { ImageMatrix = _imageRight };
cost.MaskWidth = 3;
cost.MaskHeight = 3;
agg.CostComp = cost;
dispComp.ConfidenceComp.UsedConfidenceMethod = ConfidenceMethod.TwoAgainstTwo;
dispComp.CostComp = cost;
dispComp.ImageBase = cost.ImageBase;
dispComp.ImageMatched = cost.ImageMatched;
agg.DispComp = dispComp;
DisparityMap disp = new DisparityMap(_imageLeft.RowCount, _imageLeft.ColumnCount);
agg.DisparityMap = disp;
dispComp.DisparityMap = disp;
agg.ImageBase = cost.ImageBase;
agg.ImageMatched = cost.ImageMatched;
agg.IsLeftImageBase = true;
agg.Fundamental = _F;
// agg.PathsLength = 10;
agg.LowPenaltyCoeff = 0.02;
agg.HighPenaltyCoeff = 0.04;
agg.MaxDisparity = 10;
agg.MinDisparity = 1;
dispComp.Init();
agg.Init();
agg.ComputeMatchingCosts();
}
public virtual void InitParameters()
{
// Add all available cost computers
ParametrizedObjectParameter costParam =
new ParametrizedObjectParameter("Matching Cost Computer", "COST");
costParam.Parameterizables = new List<IParameterizable>();
var cens = new CensusCostComputer();
cens.InitParameters();
costParam.Parameterizables.Add(cens);
var rank = new RankCostComputer();
rank.InitParameters();
costParam.Parameterizables.Add(rank);
_params.Add(costParam);
}