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);
}
public void Test_EpiScan_Ideal()
{
EpilineScanAggregator agg = new EpilineScanAggregator();
RankCostComputer cost = new RankCostComputer();
MatchConfidenceComputer conf = new MatchConfidenceComputer();
cost.ImageBase = new GrayScaleImage() { ImageMatrix = _imageLeft };
cost.ImageMatched = new GrayScaleImage() { ImageMatrix = _imageRight };
cost.RankMaskHeight = 3;
cost.RankMaskWidth = 3;
cost.CorrMaskWidth = 3;
cost.CorrMaskHeight = 3;
//cost.MaskHeight = 3;
//cost.MaskWidth = 3;
agg.CostComp = cost;
conf.CostComp = cost;
conf.UsedConfidenceMethod = ConfidenceMethod.TwoAgainstTwo;
DisparityMap disp = new DisparityMap(_imageLeft.RowCount, _imageLeft.ColumnCount);
agg.DisparityMap = disp;
agg.ImageBase = cost.ImageBase;
agg.ImageMatched = cost.ImageMatched;
agg.IsLeftImageBase = true;
agg.Fundamental = _F;
cost.Init();
agg.ComputeMatchingCosts();
}
public void Test_Rank()
{
RankCostComputer costCpu = new RankCostComputer();
costCpu.RankMaskHeight = 1;
costCpu.RankMaskWidth = 1;
costCpu.CorrMaskHeight = 1;
costCpu.CorrMaskWidth = 1;
costCpu.ImageBase = new GrayScaleImage() { ImageMatrix = _imageLeft };
costCpu.ImageMatched = new GrayScaleImage() { ImageMatrix = _imageRight };
costCpu.Init();
// Expected rank in points (base):
// [0,0] : 0, [0,1] : 3, [1,1] : 6, [2,2] : 3
Assert.IsTrue(costCpu.RankBase[0, 0] == 0, "Wrong rank transform in point [0,0]. Expected: 0; Actual: " + costCpu.RankBase[0, 0]);
Assert.IsTrue(costCpu.RankBase[1, 0] == 3, "Wrong rank transform in point [0,1]. Expected: 3; Actual: " + costCpu.RankBase[0, 1]);
Assert.IsTrue(costCpu.RankBase[1, 1] == 6, "Wrong rank transform in point [1,1]. Expected: 6; Actual: " + costCpu.RankBase[1, 1]);
Assert.IsTrue(costCpu.RankBase[2, 2] == 3, "Wrong rank transform in point [2,2]. Expected: 3; Actual: " + costCpu.RankBase[2, 2]);
// Expected matching cost in points (base, matched):
// ([2,2], [2,3]) : 36/9
// ([2,2], [2,4]) : 0
// ([2,2], [2,2]) : 36/9
double cost = costCpu.GetCost(new IntVector2(2, 2), new IntVector2(3, 2));
Assert.IsTrue(Math.Abs(cost - 36.0 / 9.0) < 1e-6, "Wrong rank cost in points ([2,2],[2,3]). Expected: 4; Actual: " + cost);
cost = costCpu.GetCost(new IntVector2(2, 2), new IntVector2(4, 2));
Assert.IsTrue(Math.Abs(cost - 0.0) < 1e-6, "Wrong rank cost in points ([2,2],[2,4]). Expected: 0; Actual: " + cost);
cost = costCpu.GetCost(new IntVector2(2, 2), new IntVector2(2, 2));
Assert.IsTrue(Math.Abs(cost - 36.0 / 9.0) < 1e-6, "Wrong rank cost in points ([2,2],[2,2]). Expected: 4; Actual: " + cost);
}