Revision 7464d0e7083dd9680285c3b17c4e784d584d06eb authored by Software Heritage on 10 October 2014, 00:00:00 UTC, committed by Software Heritage on 15 October 2014, 00:00:00 UTC
0 parent
statistics.cpp
/**
* @file statistics.cpp
* @brief Automatic computation of K in Kolmogorov-Zabih algorithm
* @author Vladimir Kolmogorov <vnk@cs.cornell.edu>
* Pascal Monasse <monasse@imagine.enpc.fr>
*
* Copyright (c) 2001-2003, 2012-2014, Vladimir Kolmogorov, Pascal Monasse
* All rights reserved.
*
* This program is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* You should have received a copy of the GNU General Pulic License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <algorithm>
#include <iostream>
#include "match.h"
/// Heuristic for selecting parameter 'K'
/// Details are described in Kolmogorov's thesis
float Match::GetK()
{
int i = dispMax-dispMin+1;
int k = (i+2)/4; // around 0.25 times the number of disparities
if(k<3) k=3;
int* array = new int[k];
std::fill_n(array, k, 0);
int sum=0, num=0;
int xmin = std::max(0,-dispMin); // 0<=x,x+dispMin
int xmax = std::min(imSizeL.x,imSizeR.x-dispMax); // x<wl,x+dispMax<wr
Coord p;
for(p.y=0; p.y<imSizeL.y && p.y<imSizeR.y; p.y++)
for(p.x=xmin; p.x<xmax; p.x++) {
// compute k'th smallest value among data_penalty(p, p+d) for all d
for(int i=0, d=dispMin; d<=dispMax; d++) {
int delta = (imLeft?
data_penalty_gray (p,p+d):
data_penalty_color(p,p+d));
if(i<k) array[i++] = delta;
else for(i=0; i<k; i++)
if(delta<array[i])
std::swap(delta, array[i]);
}
sum += *std::max_element(array, array+k);
num ++;
}
delete [] array;
if(num==0) { std::cerr<<"GetK: Not enough samples!"<<std::endl; exit(1); }
if(sum==0) { std::cerr<<"GetK failed: K is 0!"<<std::endl; exit(1); }
float K = ((float)sum)/num;
std::cout <<"Computing statistics: K(data_penalty noise) ="<< K <<std::endl;
return K;
}
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