public object Clone()
{
var cloned = new DisparityMap(RowCount, ColumnCount);
for(int r = 0; r < RowCount; ++r)
{
for(int c = 0; c < ColumnCount; ++c)
{
cloned.Set(r, c, (Disparity)Disparities[r, c].Clone());
}
}
return cloned;
}
public DisparityMap FilterMap(DisparityMap map)
{
DisparityMap filtered = new DisparityMap(map.RowCount, map.ColumnCount);
Disparity[] window = new Disparity[9];
int middle = 4;
int invalidCount = 0;
Disparity invalidDisparity = new Disparity()
{
SubDX = 1e12,
SubDY = 1e12,
Flags = (int)DisparityFlags.Invalid
};
for(int r = 1; r < map.RowCount - 1; ++r)
{
for(int c = 1; c < map.ColumnCount - 1; ++c)
{
int n = 0;
invalidCount = 0;
for(int y = -1; y <= 1; ++y)
{
for(int x = -1; x <= 1; ++x)
{
if((map[r + y, c - 1].Flags & (int)DisparityFlags.Invalid) != 0)
{
window[n] = invalidDisparity;
++invalidCount;
}
else
window[n] = map[r + y, c - 1];
++n;
}
}
Array.Sort(window, (d1, d2) =>
{
double r1 = (d1.SubDX * d1.SubDX + d1.SubDY * d1.SubDY);
double r2 = (d2.SubDX * d2.SubDX + d2.SubDY * d2.SubDY);
return r1 < r2 ? 1 : r1 > r2 ? -1 : 0;
});
// Set value of image to be median of window
filtered.Set(r, c - 1, (Disparity)window[middle + (invalidCount >> 2)].Clone()); // For each 2 invalid cells move middle by 1 pos
// c - 1 to negate some strange horizontal shift
}
}
for(int r = 0; r < map.RowCount; ++r)
{
filtered.Set(r, 0, (Disparity)map[r, 0].Clone());
filtered.Set(r, map.ColumnCount - 2, (Disparity)map[r, map.ColumnCount - 2].Clone());
filtered.Set(r, map.ColumnCount - 1, (Disparity)map[r, map.ColumnCount - 1].Clone());
}
for(int c = 0; c < map.ColumnCount; ++c)
{
filtered.Set(0, c, (Disparity)map[0, c].Clone());
filtered.Set(map.RowCount - 1, c, (Disparity)map[map.RowCount - 1, c].Clone());
}
return filtered;
}