correlation.tcl

package require image
package require model3d
#package require stereo


# image left and right must be rectified and reduced 
# this macro doesn't do the rectification step
# it only does the calculation of the correlation 
# and the calculation of the disparity image
# it doesn't do the reconstruction 3D 
#
#    proc do_correlation_only { {image_dir "/home/ayman/sawtooth/"}
#                               {image_name_left  "im0_gray.ras"}
#                               {image_name_right "im2_gray.ras"}

namespace eval stereo {
    proc do_correlation_only { {image_dir "/home/ayman/images/dala/indoor/serie05/"}
                               {image_name_left  "image.037.g_rec.jpg"}
                               {image_name_right "image.037.d_rec.jpg"}
                               {type_correlation 1}
                               {type_interpolation 1}
                               {window_size 11}
                               {i_min 0.0}
                               {i_max 1.0}
                               {j_min 0.0}
                               {j_max 1.0}
                               {do_display true}
                           } {

        #  type_correlation: 0 = ZNCC
        #                    1 = ZNCC_Sigma
        #                    2 = Census
        #                    3 = Census_sigma 
        #
        #    i_min, i_max, j_min, j_max : precise the zone of images to be 
        #                                 rectified
        #                                 (reel value between 0.0 and 1.0)
        #                                 i for lines
        #                                 j for columns.
        #
        
        
        # save old path
        set oldPath [pwd]
        cd $image_dir
        
        set file_name_left  "${image_dir}/${image_name_left}"
        set file_name_right "${image_dir}/${image_name_right}"
        
        if { [file exists $file_name_left] } then {
            puts "opening file $file_name_left"
        } else {
            puts "file ${file_name_left} not found"
            return
        }
        if { [file exists $file_name_right]} then {
            puts "opening file $file_name_right"
        } else {
            puts "file ${file_name_right} not found"
            return
        }
        
        set source_image_left [image::Image_loadImage \
                                   ${file_name_left}]
        
        set source_image_right [image::Image_loadImage \
                                    ${file_name_right}]

        
        set disp_min -100;
        set disp_max 0;
  
        # enum CENSUS_TYPE {CENSUS_NIL, 
        #               CENSUS_8BITS_SQUARE,
        #                   CENSUS_8BITS_DIAMOND,
        #                   CENSUS_MEAN_8BITS_SQUARE,
        #                   CENSUS_MEAN_8BITS_DIAMOND,
        #                   CENSUS_MEAN_MEAN_8BITS_SQUARE,
        #                   CENSUS_MEAN_MEAN_8BITS_DIAMOND};
        set type_census 4;
        
        # filter the disparity image with a blob_filter
        #        0 : no filter
        #        1 : yes do the blob filter
        set do_blob_filtre 1;   
        
        set th_filter_disparity1 500
        set th_filter_disparity2 1.0
        
        set th_sigma  1.0;  # Seuil sur l'cart type des pixels
        set th_score  0.5;  # Seuil sur la valeur du score max
        set th_delta  0.05; # Seuil sur (score max - 2nd score)
        set th_voisins  0.0;  # Seuil sur la forme du pic de corrlation
        set espilon_inverse 1;  # Seuil sur la diff entre corrlation
        #   directe et inverse
        
        # affichage de l'image gauche
        if { $do_display } {
            ::display::show $source_image_left "image source gauche"
            #::display::show $source_image_right "image source droite"
        }
        
        
        # nblig :  nombre de lignes dans l'image (height)
        # nbcol :  nombre de colonnes dans l'image (width)
        set nbcol [::image::CvImage_width $source_image_left]
        set nblig [::image::CvImage_height $source_image_left]
        
        
        
        # Les tailles des images
        set images_sizes [::stereo::new_ImagesSizes]
        ::stereo::ImagesSizes_initialize $images_sizes \
            $nblig $nbcol 1 1  \
            $i_min $i_max $j_min $j_max
        
        ::stereo::ImagesSizes_info $images_sizes
        
        
        set nRectifiedImageWidth \
      [::stereo::ImagesSizes_getRectifiedImageWidth $images_sizes]
        set nRectifiedImageHeight \
            [::stereo::ImagesSizes_getRectifiedImageHeight $images_sizes]
  #        set nRectifiedImageWidth  $nbcol
  #        set nRectifiedImageHeight $nblig

  set img_depth $::image::IPL_DEPTH_8U
  set color_space  $::image::JfrImage_CS_GRAY
  set img_depth_2 [image::CvImage_depth $source_image_left]        
  puts "img_depth  == $img_depth   img_depth_2  $img_depth_2"
  puts "====================================="
  puts "width = $nRectifiedImageWidth  height= $nRectifiedImageHeight"
  puts "====================================="
  puts "====================================="
  puts "====================================="

        
        # Les paramtres de corrlation
        set correlation_params [::stereo::new_CorrelationParams]
        ::stereo::CorrelationParams_initialize $correlation_params \
            $type_correlation  $type_interpolation  \
            $window_size $window_size $disp_min  $disp_max  \
            $th_sigma  $th_score  $th_delta  $th_voisins \
            $espilon_inverse
        
                
        ::stereo::CorrelationParams_info $correlation_params

  puts " "
        puts "nblig = $nblig" 
        set ddd [stereo::ImagesSizes_nb_lig_final_get $images_sizes]
        puts "nblig ImagesSizes.nblig_rect $ddd" 
        

        
        # La structure qui contient les rsultats de la corrlation
        set correlation_results [::stereo::new_CorrelationResults]
        ::stereo::CorrelationResults_initialize $correlation_results \
            $images_sizes  $correlation_params
        
        ::stereo::CorrelationResults_info $correlation_results
        
        
        # Les images intermdiaires
        set images_tmp_g [::stereo::new_ImagesTemporary]
        ::stereo::ImagesTemporary_initialize $images_tmp_g $images_sizes
        
        set images_tmp_d [::stereo::new_ImagesTemporary]
        ::stereo::ImagesTemporary_initialize $images_tmp_d $images_sizes
        
        
        
        
        ##################################################################
        # Pre-traitements avant correlation
        if { [expr {$type_correlation == 0} || {$type_correlation == 1}] } {
            # ZNCC: calcul des moyennes et sigmas
            ::stereo::jfrMoyennesSigmas $source_image_left \
                $images_tmp_g $correlation_params
            ::stereo::jfrMoyennesSigmas $source_image_right \
                $images_tmp_d $correlation_params

      puts "ImagesTemporary information "
      puts "=============================================== "
      ::stereo::ImagesTemporary_info $images_tmp_g
      ::stereo::ImagesTemporary_info $images_tmp_d
      puts "=============================================== "
            
        } else { #  Census
            if {[expr {$type_census == 3} || \
                     {$type_census == 4} || \
                     {$type_census == 5} || \
                     {$type_census == 6}]} {
                # Il faut calculer l'images des moyennes
                ::stereo::jfrMoyennes $source_image_left 3 3 $images_tmp_g
                ::stereo::jfrMoyennes $source_image_right 3 3 $images_tmp_d
            }
            
            
            
            # Creation des images de Census
            set im_census_gauche [::image::new_Image \
                                      $nRectifiedImageWidth \
                                      $nRectifiedImageHeight\
                                      $img_depth \
                                      $color_space]
            
            set im_census_droite [::image::new_Image \
                                      $nRectifiedImageWidth \
                                      $nRectifiedImageHeight\
                                      $img_depth \
                                      $color_space]
            
            ::stereo::jfrTransform_census_8bits  \
                $source_image_left $images_tmp_g \
                $type_census $im_census_gauche
            
            ::stereo::jfrTransform_census_8bits  \
                $source_image_right $images_tmp_d \
                $type_census  $im_census_droite

      display::show $im_census_gauche "census gauche"

        }
  
  
  
  
        ###################################################################
        # Corrlation
        
        if {[expr {$type_correlation == 0} || {$type_correlation == 1}]} {
            # ZNCC
            ::stereo::jfrCorrelationZncc \
                $source_image_left $source_image_right \
                $images_tmp_g $images_tmp_d \
                $correlation_params $correlation_results
        } else {
            # Census
            ::stereo::jfrCorrelationCensus \
                $im_census_gauche $im_census_droite \
                $images_sizes $correlation_params $correlation_results
        }
        
        
        # Affichage des disparits non filtres
        set im_disparity \
            [::stereo::CorrelationResults_getImageForDisparity \
                 $correlation_results]
        
        if { $do_display } {
            ::display::show $im_disparity "image of non filtered disparity "
        }
        
        ###################################################################
        # Filtrage
        if {$do_blob_filtre != 0} {
            ::stereo::jfrBlobFilterDisparites $correlation_results \
                $th_filter_disparity1 $th_filter_disparity2
        }
        
        ####  "Disparites filtrees"
        # Affichage des disparits filtres
        set im_disparity_fltr \
            [::stereo::CorrelationResults_getImageForDisparity \
                 $correlation_results]
        
        if { $do_display } {
            ::display::show $im_disparity_fltr "image of filtered disparity "
        }
        
        # Affichage ventuel des pixels corrls
        set im_correlated_pixels \
            [::stereo::CorrelationResults_getImageOfCorrelatedPixels \
                 $correlation_results $source_image_left]
        if { $do_display } {
            ::display::show $im_correlated_pixels "image of correlated pixels"
        }
        
        # display of regions
        set im_regions \
            [::stereo::CorrelationResults_getImageForRegions \
                 $correlation_results]
        if { $do_display } {
            # ::display::show $im_regions "image of regions"
        }
        
        
        # clean intermediaire variables
        ::stereo::delete_ImagesSizes $images_sizes
        ::stereo::delete_CorrelationParams $correlation_params
        ::stereo::delete_CorrelationResults $correlation_results
        ::stereo::delete_ImagesTemporary $images_tmp_g
        ::stereo::delete_ImagesTemporary $images_tmp_d
        
        ::image::delete_Image $im_correlated_pixels
        ::image::delete_Image $im_disparity
        
        ::image::delete_Image $source_image_left
        ::image::delete_Image $source_image_right
        
        # Restauration des chemins d'accs aux donnes image et vecteurs 
        cd $oldPath
        
    }
}

package provide stereo 0.1