rectification.tcl

package require image
package require model3d

namespace eval stereo {
    # this macro rectify a pair of image (left and right images)
    # and save the rectified images in the same directory
    #    
    
    proc rectification { {image_dir "/home/ayman/images/dala/indoor/serie08/"}
       {image_name "image.059"}
       {type_rectification 1}
       {rectified_suffix "_rec"}
       {filtrage 0}
       {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}
       {delcorrelimages true}
       {debayer false}
       {parameter_file "param.stereo"}
         } {
  #
  # Parameters :
  #
  #    image_dir: working directory, directoy which contains the
  #               images and in which will be saved the resulted
  #               images
  #
  #    image_name: l'entte du nom des fichiers image, sans
  #                l'extension
  #                (voir commentaires ci dessus)
  #
  #
  #
  #
  #
  #    type_rectification: 0 = pas de rectification
  #                        1 = rectification  partir des matrices
  #                        2 = rectification  partir des tables
  #                        3 = rectification "inverse"  
  #
  #    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
  
  
  # read file of calibration parameters
  set param_stereo_file "${image_dir}/${parameter_file}"  
  set calibrageMatrices  [::stereo::new_CalibrageMatrices]
  ::stereo::CalibrageMatrices_readFromFile $calibrageMatrices \
      $param_stereo_file
  
  ######################################################################
  # Initialisation : read of source images and initialize the
  # data structures

  # search for the image extension
  if { [file exists $image_dir/$image_name.d] } then {
      set separateur "."
      set extension ""
  } elseif { [file exists $image_dir/$image_name.d.gz] } then {
      set separateur "."
      set extension ".gz"
  } elseif { [file exists $image_dir/$image_name.d.Z] } then {
      set separateur "."
      set extension ""
  } elseif { [file exists $image_dir/$image_name.d.tif] } then {
      set separateur "."
      set extension ".tif"
  } elseif { [file exists $image_dir/$image_name.d.tif.gz] } then {
      set separateur "."
      set extension ".tif.gz"
  } elseif { [file exists $image_dir/$image_name.d.tiff] } then {
      set separateur "."
      set extension ".tiff"
  } elseif { [file exists $image_dir/$image_name.d.tiff.gz] } then {
      set separateur "."
      set extension ".tiff.gz"
  } elseif { [file exists $image_dir/$image_name.d.ras] } then {
      set separateur "."
      set extension ".ras"
  } elseif { [file exists $image_dir/$image_name.d.ras.gz] } then {
      set separateur "."
      set extension ".ras.gz"
  } elseif { [file exists $image_dir/$image_name-d] } then {
      set separateur "-"
      set extension ""
  } elseif { [file exists $image_dir/$image_name-d.gz] } then {
      set separateur "-"
      set extension ".gz"
  } elseif { [file exists $image_dir/$image_name.d.Z] } then {
      set separateur "."
      set extension ".Z"
  } elseif { [file exists $image_dir/$image_name.d.jpeg] } then {
      set separateur "."
      set extension ".jpeg"
  } elseif { [file exists $image_dir/$image_name-d.tif] } then {
      set separateur "-"
      set extension ".tif"
  } elseif { [file exists $image_dir/$image_name-d.tif.gz] } then {
      set separateur "-"
      set extension ".tif.gz"
  } elseif { [file exists $image_dir/$image_name-d.ras] } then {
      set separateur "-"
      set extension ".ras"
  } elseif { [file exists $image_dir/$image_name-d.ras.gz] } then {
      set separateur "-"
      set extension ".ras.gz"
  } elseif { [file exists $image_dir/${image_name}_d] } then {
      set separateur "_"
      set extension ""
  } elseif { [file exists $image_dir/${image_name}_d.gz] } then {
      set separateur "_"
      set extension ".gz"
  } elseif { [file exists $image_dir/$image_name.d.Z] } then {
      set separateur "."
      set extension ".Z"
  } elseif { [file exists $image_dir/${image_name}_d.tif] } then {
      set separateur "_"
      set extension ".tif"
  } elseif { [file exists $image_dir/${image_name}_d.tif.gz] } then {
      set separateur "_"
      set extension ".tif.gz"
  } elseif { [file exists $image_dir/${image_name}_d.ras] } then {
      set separateur "_"
      set extension ".ras"
  } elseif { [file exists $image_dir/${image_name}_d.ras.gz] } then {
      set separateur "_"
      set extension ".ras.gz"
  } else {
      puts "images files not found"
      return
  }
  
  # compose the sources files names 
  set img_file_name_g ${image_dir}${image_name}${separateur}g$extension
  set img_file_name_d ${image_dir}${image_name}${separateur}d$extension

  # compose the results files names
  set img_red_file_name_g ${image_dir}${image_name}${separateur}g${rectified_suffix}.jpg
  set img_red_file_name_d ${image_dir}${image_name}${separateur}d${rectified_suffix}.jpg
  
  puts "loading of image : $img_file_name_g"
  set source_image_left [image::Image_loadImage $img_file_name_g]

  puts "loading of image : $img_file_name_d"
  set source_image_right [image::Image_loadImage $img_file_name_d]

  
  if { $debayer } {
      set interm [image::new_Image [$source_image_left width] \
          [$source_image_left height] \
          [$source_image_left depth] 3]
      image::Image_convertColorMode $source_image_left $interm \
    $::image::Image_bayerRG2bgr
      image::Image_convertColorMode $interm $source_image_left \
    $::image::Image_rgb2grey
      image::Image_convertColorMode $source_image_right $interm \
    $::image::Image_bayerRG2bgr
      image::Image_convertColorMode $interm $source_image_right \
    $::image::Image_rgb2grey
      image::delete_Image $interm
  }
  
  
  
  set LEFT_IMAGE_ID  0
  set RIGHT_IMAGE_ID 1
  
  # do_reduction flag
  #       0 : pas de reduction
  #       1 : avec reduction
  set do_reduction 1;
  
  # typre_reduction: type de reduction:
  #        0 = sous-echantillonage
  #        1 = rduction-moyennage
  set type_reduction 1;   
  
  
  # Do_Interpolation flag pendant la rectification : 
  #       0 : non
  #       1 : oui
  set do_interpolation 1;
  
  # Correction de la distorsion pendant la rectification :
  #           0: non
  #           1: nouveau modle en R
  #           2: modle en R3
  # see the enum:
  #      enum DISTORTION_TYPE{ DISTORTION_NIL,
  #                DISTORTION_R,
  #                      DISTORTION_R3};
  set distorsion_type 2;
  
  # Les tailles des images originales
  
  set disp_min -200;
  
  # voir enum
  # 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;
  
  # Les paramtres pour le filtrage laplacien avant corrlation
  if {$filtrage == 1} {
      set size_low 3;
      set size_high 7;
      set coefficient 2;
  }
  
  set th_sigma  1.0;  # Seuil sur l'cart type des pixels
  set th_score  0.0;  # Seuil sur la valeur du score max
  set th_delta  0.0;  # 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
  
  
  # Tout les variables qui suivent sont en global juste pour le debug
  # (en fait on les libre  la fin)
  #global im_reduite_gauche 
  #     globalsource_gauche im_rectifiee_gauche 
  #     global im_reduite_droite source_droite im_rectifiee_droite
  #global im_reduite_droite
  #     global images_sizes
  #     global rectif_params_gauche rectif_params_droite
  #     global images_tmp_g images_tmp_d
  
  # 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 (hieght)
  # 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
  
  
  
  
  # re-initialize ImagesSizes object to get the new data
  ::stereo::ImagesSizes_initialize $images_sizes $calibrageMatrices
  
  
  
  # 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
  
  set rectif_params_droite [::stereo::new_RectificationParams]
  ::stereo::RectificationParams_initialize $rectif_params_droite \
      $images_sizes $calibrageMatrices $RIGHT_IMAGE_ID
  
  
  set rectif_params_gauche [::stereo::new_RectificationParams]
  ::stereo::RectificationParams_initialize $rectif_params_gauche \
      $images_sizes $calibrageMatrices $LEFT_IMAGE_ID
  
  
  # On initialise les tables s'il le faut
  if {$type_rectification == 2} {
      ::stereo::RectificationParams_initializeTables_michel \
    $rectif_params_gauche $distorsion_type
      ::stereo::RectificationParams_initializeTables_michel \
    $rectif_params_droite $distorsion_type
  }
  
  
  
  ######################################################################
  # Rectification 
  # first we must create the rectified image buffer 
  # then call the rectification function
  set nRectifiedImageWidth \
      [::stereo::ImagesSizes_getRectifiedImageWidth $images_sizes]
  set nRectifiedImageHeight \
      [::stereo::ImagesSizes_getRectifiedImageHeight $images_sizes]
  set img_depth $::image::IPL_DEPTH_8U
  set color_space  $::image::JfrImage_CS_GRAY
  
  set im_reduite_gauche [::image::new_Image \
           $nRectifiedImageWidth \
           $nRectifiedImageHeight\
           $img_depth \
           $color_space]
  
  
  set im_reduite_droite [::image::new_Image \
           $nRectifiedImageWidth \
           $nRectifiedImageHeight\
           $img_depth \
           $color_space]
  
  
  ::stereo::jfrRectification $source_image_left $im_reduite_gauche \
      $images_sizes $rectif_params_gauche \
      $do_reduction $type_rectification\
      $distorsion_type $do_interpolation
  
  
  ::stereo::jfrRectification $source_image_right $im_reduite_droite \
      $images_sizes $rectif_params_droite \
      $do_reduction $type_rectification\
      $distorsion_type $do_interpolation
  
  # Display the resulting images
  if { $do_display } {
      ::display::show $im_reduite_gauche "image reduite gauche"
      ::display::show $im_reduite_droite "image reduite droite"
  }
  
  
  puts "save reduced image to file $img_red_file_name_g"
  puts "save reduced image to file $img_red_file_name_d"
  image::Image_saveImage $im_reduite_gauche $img_red_file_name_g
  image::Image_saveImage $im_reduite_droite $img_red_file_name_d
  
  
  ::stereo::delete_CalibrageMatrices $calibrageMatrices
  ::image::delete_Image $source_image_left
  ::image::delete_Image $source_image_right
  
  
  # clean intermediaire variables
  ::stereo::delete_ImagesSizes $images_sizes
  # ::stereo::delete_CalibrageMatrices $calibrageMatrices
  ::stereo::delete_ImagesTemporary $images_tmp_g
  ::stereo::delete_ImagesTemporary $images_tmp_d
  ::stereo::delete_RectificationParams $rectif_params_droite
  ::stereo::delete_RectificationParams $rectif_params_gauche

  if { $delcorrelimages} {
      ::image::delete_Image $im_reduite_gauche
      ::image::delete_Image $im_reduite_droite
  }
  
  
  # restore old path
  cd $oldPath
  
    }
    
}

package provide stereo 0.1