public static Disparity CreateFromNode(XmlNode node)
{
Disparity disp = new Disparity()
{
DX = int.Parse(node.Attributes["dx"].Value),
DY = int.Parse(node.Attributes["dy"].Value),
SubDX = int.Parse(node.Attributes["subdx"].Value),
SubDY = int.Parse(node.Attributes["subdy"].Value),
Cost = double.Parse(node.Attributes["cost"].Value),
Confidence = double.Parse(node.Attributes["confidence"].Value),
Flags = ParseDisparityFlags(node.Attributes["flags"].Value)
};
return disp;
}
public override void StoreDisparity(Disparity disp)
{
_dispForPixel.Add(disp);
if(_minCost > disp.Cost)
{
_min2Cost = _minCost;
_min2Idx = _minIdx;
_minCost = disp.Cost;
_minIdx = _dispForPixel.Count - 1;
}
else if(_min2Cost > disp.Cost)
{
_min2Cost = disp.Cost;
_min2Idx = _dispForPixel.Count - 1;
}
}
public void Set(int y, int x, Disparity d)
{
Disparities[y, x] = d;
}
public int Compare(Disparity x, Disparity y)
{
return x.DX < y.DX ? 1 : (x.DX > y.DX ? -1 : 0);
}
public override void StoreDisparity(Disparity disp)
{
_dispForPixel[_idx] = disp;
++_idx;
}
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;
}
public abstract void StoreDisparity(Disparity disp);
