fb360_dep::depth_estimation Namespace Reference

Classes
class	PointDistance
struct	PyramidLevel

Typedefs
using	PixelType = cv::Vec3w
using	PixelTypeFloat = cv::Vec3f

Functions
void	plotMatches (const PyramidLevel< PixelType > &pyramidLevel, const std::string &caller, const filesystem::path &debugDir)
void	getPyramidLevelSizes (std::map< int, cv::Size > &sizes, const filesystem::path &imageDir)
std::tuple< float, float >	computeCost (const PyramidLevel< PixelType > &pyramidLevel, const int dstIdx, const float disparity, const int x, const int y)
void	computeBruteForceCosts (PyramidLevel< PixelType > &pyramidLevel, const int dstIdx, const float disparity, cv::Mat_< float > &costMap, cv::Mat_< float > &confidenceMap)
void	computeBruteForceDisparity (PyramidLevel< PixelType > &pyramidLevel, const int dstIdx, const float minDepthMeters, const float maxDepthMeters, const bool partialCoverage, const bool useForegroundMasks, const int numThreads)
void	computeBruteForceDisparities (PyramidLevel< PixelType > &pyramidLevel, const float minDepthMeters, const float maxDepthMeters, const bool partialCoverage, const bool useForegroundMasks, const int numThreads)
void	pingPongRectangle (cv::Mat_< float > &dispRes, cv::Mat_< float > &costsRes, cv::Mat_< float > &confidencesRes, const cv::Mat_< bool > &changed, const cv::Mat_< cv::Vec3b > &labImage, const PyramidLevel< PixelType > &pyramidLevel, const int dstIdx, const int xBegin, const int yBegin, const int xEnd, const int yEnd)
void	pingPong (PyramidLevel< PixelType > &pyramidLevel, const int iterations, const int numThreads)
void	pingPongPropagation (PyramidLevel< PixelType > &pyramidLevel, const int iterations, const int numThreads, const filesystem::path &debugDir)
void	getSrcMismatches (std::vector< float > &dispMatches, std::vector< float > &dispMismatches, const PyramidLevel< PixelType > &pyramidLevel, const int dstIdx, const int x, const int y)
void	updateDstDisparityAndMismatchMask (bool &dstDispMask, float &dstDispNew, const float dispCurr, const std::vector< float > &dispMatches, std::vector< float > &dispMismatches, const float dstVar, const float varThreshLow, const float varThreshHigh)
void	handleDisparityMismatch (std::unordered_map< std::string, cv::Mat_< float >> &mapDstDisp, PyramidLevel< PixelType > &pyramidLevel, const int dstIdx)
void	handleDisparityMismatches (PyramidLevel< PixelType > &pyramidLevel, const int startLevel, const int numThreads)
void	randomProposal (PyramidLevel< PixelType > &pyramidLevel, const int dstIdx, const int y, const int numProposals, const float minDepthMeters, const float maxDepthMeters)
void	preprocessLevel (PyramidLevel< PixelType > &pyramidLevel, const float minDepthMeters, const float maxDepthMeters, const bool partialCoverage, const bool useForegroundMasks, const int numThreads)
void	randomProposals (PyramidLevel< PixelType > &pyramidLevel, const int numProposals, const float minDepthMeters, const float maxDepthMeters, const int numThreads, const filesystem::path &debugDir)
void	bilateralFilter (PyramidLevel< PixelType > &pyramidLevel, const int numThreads)
void	medianFilter (PyramidLevel< PixelType > &pyramidLevel, const int numThreads)
void	saveResults (PyramidLevel< PixelType > &pyramidLevel, const bool saveDebugImages, const std::string &outputFormatsIn)
void	maskFov (PyramidLevel< PixelType > &pyramidLevel, const int numThreads)
void	precomputeProjections (PyramidLevel< PixelType > &pyramidLevel, const int threads)
void	reprojectColors (PyramidLevel< PixelType > &pyramidLevel, const int numThreads)
void	processLevel (PyramidLevel< PixelType > &pyramidLevel, const std::string &outputFormats, const bool useForegroundMasks, const std::string &outputRoot, const int numRandomProposals, const bool partialCoverage, const float minDepthM, const float maxDepthM, const bool doMedianFilter, const bool saveDebugImages, const int pingPongIterations, const int mismatchesStartLevel, const bool doBilateralFilter, const int threads)
bool	operator> (const PointDistance &ptDist1, const PointDistance &ptDist2)
bool	operator< (const PointDistance &ptDist1, const PointDistance &ptDist2)
Camera::Vector3	dstToWorldPoint (const Camera &camDst, const int x, const int y, const float disparity, const int dstW, const int dstH, const double shiftX, const double shiftY)
bool	worldToSrcPoint (Camera::Vector2 &pSrc, const Camera::Vector3 &pWorld, const Camera &camSrc, const int srcW, const int srcH)
std::vector< int >	mapSrcToDstIndexes (const Camera::Rig &rigSrc, const Camera::Rig &rigDst)
std::vector< std::array< int, 2 > >	prunePingPongCandidates (const std::vector< std::array< int, 2 >> &pingPongCandidateOffsets, const cv::Mat_< cv::Vec3b > &labImage, const std::array< int, 2 > &startPoint, const size_t numNeighbors)
std::pair< float, float >	computeSSD (const cv::Mat_< PixelType > &dstColor, const int x, const int y, const PixelType &dstBias, const cv::Mat_< PixelType > &dstSrcColor, const float xDstSrc, const float yDstSrc, const PixelType &dstSrcBias, const int radius)
void	plotDstPointInSrc (const Camera &camDst, const int x, const int y, const float disparity, const Camera camSrc, const cv::Mat_< PixelType > &srcColor, const cv::Mat_< PixelType > &dstColor, const filesystem::path &outputDir, const std::string &prefix)
cv::Mat_< PixelType >	project (const cv::Mat_< PixelType > &srcColor, const cv::Mat_< cv::Vec2f > &warpDstToSrc)
cv::Mat_< PixelType >	colorBias (const cv::Mat_< PixelType > &color, const int blurRadius)
cv::Mat	computeRgbVariance (const cv::Mat &image, const int windowRadius)
cv::Mat_< float >	computeImageVariance (const cv::Mat &image)
std::vector< cv::Mat_< bool > >	generateFovMasks (const Camera::Rig &rig, const cv::Size &size, const int threads)
filesystem::path	getImageDir (const filesystem::path &dir, const ImageType &imageType)
filesystem::path	getImageDir (const filesystem::path &dir, const ImageType &imageType, const int level)
filesystem::path	getImageDir (const filesystem::path &dir, const ImageType &imageType, const int level, const std::string &camId)
filesystem::path	getImageDir (const filesystem::path &dir, const ImageType &imageType, const std::string &camId)
filesystem::path	genFilename (const filesystem::path &dir, const ImageType &imageType, const int level, const std::string &camId, const std::string &frameName, const std::string &extension)
void	createLevelOutputDirs (const filesystem::path &outputDir, const int level, const Camera::Rig &rig, const bool saveDebugImages)
template<typename TPixel , typename TGuide >
cv::Mat_< TPixel >	generalizedJointBilateralFilter (const cv::Mat_< TPixel > &image, const cv::Mat_< TGuide > &guide, const cv::Mat_< TGuide > &neighborTGuide, const cv::Mat_< bool > &mask, const int radius, const float sigma, const float weight0=1.0f, const float weight1=1.0f, const float weight2=1.0f, const int numThreads=-1)
int	getRadius (const cv::Size &size, const cv::Size &sizeUp)
std::vector< cv::Mat_< float > >	upsampleDisparities (const Camera::Rig &rigIn, const std::vector< cv::Mat_< float >> &disps, const std::vector< cv::Mat_< float >> &bgDispsUp, const std::vector< cv::Mat_< bool >> &masks, const std::vector< cv::Mat_< bool >> &masksUpIn, const cv::Size &sizeUp, const bool useForegroundMasks, const int threads)

Variables
const float	kLevelScale = 0.9f
const float	kScaleDisparityPlot = 255.0f
const float	kScaleCostPlot = 255.0f / 100.0f
const float	kScaleConfidencePlot = 255.0f * 100.0f
const std::vector< float >	kRgbWeights = {0.3333f, 0.3334f, 0.3333f}
const float	kMinVar = 1.0f / 12.0f / 65025.0f
const std::vector< std::array< int, 2 > >	candidateTemplateOriginal

Typedef Documentation

PixelType

using fb360_dep::depth_estimation::PixelType = typedef cv::Vec3w

PixelTypeFloat

using fb360_dep::depth_estimation::PixelTypeFloat = typedef cv::Vec3f

Function Documentation

bilateralFilter()

void fb360_dep::depth_estimation::bilateralFilter	(	PyramidLevel< PixelType > &	pyramidLevel,
		const int	numThreads
	)

colorBias()

cv::Mat_< PixelType > fb360_dep::depth_estimation::colorBias	(	const cv::Mat_< PixelType > &	color,
		const int	blurRadius
	)

computeBruteForceCosts()

void fb360_dep::depth_estimation::computeBruteForceCosts	(	PyramidLevel< PixelType > &	pyramidLevel,
		const int	dstIdx,
		const float	disparity,
		cv::Mat_< float > &	costMap,
		cv::Mat_< float > &	confidenceMap
	)

computeBruteForceDisparities()

void fb360_dep::depth_estimation::computeBruteForceDisparities	(	PyramidLevel< PixelType > &	pyramidLevel,
		const float	minDepthMeters,
		const float	maxDepthMeters,
		const bool	partialCoverage,
		const bool	useForegroundMasks,
		const int	numThreads
	)

computeBruteForceDisparity()

void fb360_dep::depth_estimation::computeBruteForceDisparity	(	PyramidLevel< PixelType > &	pyramidLevel,
		const int	dstIdx,
		const float	minDepthMeters,
		const float	maxDepthMeters,
		const bool	partialCoverage,
		const bool	useForegroundMasks,
		const int	numThreads
	)

computeCost()

std::tuple< float, float > fb360_dep::depth_estimation::computeCost	(	const PyramidLevel< PixelType > &	pyramidLevel,
		const int	dstIdx,
		const float	disparity,
		const int	x,
		const int	y
	)

computeImageVariance()

cv::Mat_< float > fb360_dep::depth_estimation::computeImageVariance

(

const cv::Mat &

image

)

computeRgbVariance()

cv::Mat fb360_dep::depth_estimation::computeRgbVariance	(	const cv::Mat &	image,
		const int	windowRadius
	)

computeSSD()

std::pair< float, float > fb360_dep::depth_estimation::computeSSD	(	const cv::Mat_< PixelType > &	dstColor,
		const int	x,
		const int	y,
		const PixelType &	dstBias,
		const cv::Mat_< PixelType > &	dstSrcColor,
		const float	xDstSrc,
		const float	yDstSrc,
		const PixelType &	dstSrcBias,
		const int	radius
	)

createLevelOutputDirs()

void fb360_dep::depth_estimation::createLevelOutputDirs	(	const filesystem::path &	outputDir,
		const int	level,
		const Camera::Rig &	rig,
		const bool	saveDebugImages
	)

dstToWorldPoint()

Camera::Vector3 fb360_dep::depth_estimation::dstToWorldPoint	(	const Camera &	camDst,
		const int	x,
		const int	y,
		const float	disparity,
		const int	dstW,
		const int	dstH,
		const double	shiftX,
		const double	shiftY
	)

generalizedJointBilateralFilter()

template<typename TPixel , typename TGuide >

cv::Mat_<TPixel> fb360_dep::depth_estimation::generalizedJointBilateralFilter	(	const cv::Mat_< TPixel > &	image,
		const cv::Mat_< TGuide > &	guide,
		const cv::Mat_< TGuide > &	neighborTGuide,
		const cv::Mat_< bool > &	mask,
		const int	radius,
		const float	sigma,
		const float	weight0 = 1.0f,
		const float	weight1 = 1.0f,
		const float	weight2 = 1.0f,
		const int	numThreads = -1
	)

generateFovMasks()

std::vector< cv::Mat_< bool > > fb360_dep::depth_estimation::generateFovMasks	(	const Camera::Rig &	rig,
		const cv::Size &	size,
		const int	threads
	)

genFilename()

filesystem::path fb360_dep::depth_estimation::genFilename	(	const filesystem::path &	dir,
		const ImageType &	imageType,
		const int	level,
		const std::string &	camId,
		const std::string &	frameName,
		const std::string &	extension
	)

getImageDir() [1/4]

filesystem::path fb360_dep::depth_estimation::getImageDir	(	const filesystem::path &	dir,
		const ImageType &	imageType
	)

getImageDir() [2/4]

filesystem::path fb360_dep::depth_estimation::getImageDir	(	const filesystem::path &	dir,
		const ImageType &	imageType,
		const int	level
	)

getImageDir() [3/4]

filesystem::path fb360_dep::depth_estimation::getImageDir	(	const filesystem::path &	dir,
		const ImageType &	imageType,
		const int	level,
		const std::string &	camId
	)

getImageDir() [4/4]

filesystem::path fb360_dep::depth_estimation::getImageDir	(	const filesystem::path &	dir,
		const ImageType &	imageType,
		const std::string &	camId
	)

getPyramidLevelSizes()

void fb360_dep::depth_estimation::getPyramidLevelSizes	(	std::map< int, cv::Size > &	sizes,
		const filesystem::path &	imageDir
	)

getRadius()

int fb360_dep::depth_estimation::getRadius	(	const cv::Size &	size,
		const cv::Size &	sizeUp
	)

getSrcMismatches()

void fb360_dep::depth_estimation::getSrcMismatches	(	std::vector< float > &	dispMatches,
		std::vector< float > &	dispMismatches,
		const PyramidLevel< PixelType > &	pyramidLevel,
		const int	dstIdx,
		const int	x,
		const int	y
	)

handleDisparityMismatch()

void fb360_dep::depth_estimation::handleDisparityMismatch	(	std::unordered_map< std::string, cv::Mat_< float >> &	mapDstDisp,
		PyramidLevel< PixelType > &	pyramidLevel,
		const int	dstIdx
	)

handleDisparityMismatches()

void fb360_dep::depth_estimation::handleDisparityMismatches	(	PyramidLevel< PixelType > &	pyramidLevel,
		const int	startLevel,
		const int	numThreads
	)

mapSrcToDstIndexes()

std::vector< int > fb360_dep::depth_estimation::mapSrcToDstIndexes	(	const Camera::Rig &	rigSrc,
		const Camera::Rig &	rigDst
	)

maskFov()

void fb360_dep::depth_estimation::maskFov	(	PyramidLevel< PixelType > &	pyramidLevel,
		const int	numThreads
	)

medianFilter()

void fb360_dep::depth_estimation::medianFilter	(	PyramidLevel< PixelType > &	pyramidLevel,
		const int	numThreads
	)

operator<()

bool fb360_dep::depth_estimation::operator<	(	const PointDistance &	ptDist1,
		const PointDistance &	ptDist2
	)

operator>()

bool fb360_dep::depth_estimation::operator>	(	const PointDistance &	ptDist1,
		const PointDistance &	ptDist2
	)

pingPong()

void fb360_dep::depth_estimation::pingPong	(	PyramidLevel< PixelType > &	pyramidLevel,
		const int	iterations,
		const int	numThreads
	)

pingPongPropagation()

void fb360_dep::depth_estimation::pingPongPropagation	(	PyramidLevel< PixelType > &	pyramidLevel,
		const int	iterations,
		const int	numThreads,
		const filesystem::path &	debugDir
	)

pingPongRectangle()

void fb360_dep::depth_estimation::pingPongRectangle	(	cv::Mat_< float > &	dispRes,
		cv::Mat_< float > &	costsRes,
		cv::Mat_< float > &	confidencesRes,
		const cv::Mat_< bool > &	changed,
		const cv::Mat_< cv::Vec3b > &	labImage,
		const PyramidLevel< PixelType > &	pyramidLevel,
		const int	dstIdx,
		const int	xBegin,
		const int	yBegin,
		const int	xEnd,
		const int	yEnd
	)

plotDstPointInSrc()

void fb360_dep::depth_estimation::plotDstPointInSrc	(	const Camera &	camDst,
		const int	x,
		const int	y,
		const float	disparity,
		const Camera	camSrc,
		const cv::Mat_< PixelType > &	srcColor,
		const cv::Mat_< PixelType > &	dstColor,
		const filesystem::path &	outputDir,
		const std::string &	prefix
	)

plotMatches()

void fb360_dep::depth_estimation::plotMatches	(	const PyramidLevel< PixelType > &	pyramidLevel,
		const std::string &	caller,
		const filesystem::path &	debugDir
	)

precomputeProjections()

void fb360_dep::depth_estimation::precomputeProjections	(	PyramidLevel< PixelType > &	pyramidLevel,
		const int	threads
	)

preprocessLevel()

void fb360_dep::depth_estimation::preprocessLevel	(	PyramidLevel< PixelType > &	pyramidLevel,
		const float	minDepthMeters,
		const float	maxDepthMeters,
		const bool	partialCoverage,
		const bool	useForegroundMasks,
		const int	numThreads
	)

processLevel()

void fb360_dep::depth_estimation::processLevel	(	PyramidLevel< PixelType > &	pyramidLevel,
		const std::string &	outputFormats,
		const bool	useForegroundMasks,
		const std::string &	outputRoot,
		const int	numRandomProposals,
		const bool	partialCoverage,
		const float	minDepthM,
		const float	maxDepthM,
		const bool	doMedianFilter,
		const bool	saveDebugImages,
		const int	pingPongIterations,
		const int	mismatchesStartLevel,
		const bool	doBilateralFilter,
		const int	threads
	)

project()

cv::Mat_< PixelType > fb360_dep::depth_estimation::project	(	const cv::Mat_< PixelType > &	srcColor,
		const cv::Mat_< cv::Vec2f > &	warpDstToSrc
	)

prunePingPongCandidates()

std::vector< std::array< int, 2 > > fb360_dep::depth_estimation::prunePingPongCandidates	(	const std::vector< std::array< int, 2 >> &	pingPongCandidateOffsets,
		const cv::Mat_< cv::Vec3b > &	labImage,
		const std::array< int, 2 > &	startPoint,
		const size_t	numNeighbors
	)

randomProposal()

void fb360_dep::depth_estimation::randomProposal	(	PyramidLevel< PixelType > &	pyramidLevel,
		const int	dstIdx,
		const int	y,
		const int	numProposals,
		const float	minDepthMeters,
		const float	maxDepthMeters
	)

randomProposals()

void fb360_dep::depth_estimation::randomProposals	(	PyramidLevel< PixelType > &	pyramidLevel,
		const int	numProposals,
		const float	minDepthMeters,
		const float	maxDepthMeters,
		const int	numThreads,
		const filesystem::path &	debugDir
	)

reprojectColors()

void fb360_dep::depth_estimation::reprojectColors	(	PyramidLevel< PixelType > &	pyramidLevel,
		const int	numThreads
	)

saveResults()

void fb360_dep::depth_estimation::saveResults	(	PyramidLevel< PixelType > &	pyramidLevel,
		const bool	saveDebugImages,
		const std::string &	outputFormatsIn
	)

updateDstDisparityAndMismatchMask()

void fb360_dep::depth_estimation::updateDstDisparityAndMismatchMask	(	bool &	dstDispMask,
		float &	dstDispNew,
		const float	dispCurr,
		const std::vector< float > &	dispMatches,
		std::vector< float > &	dispMismatches,
		const float	dstVar,
		const float	varThreshLow,
		const float	varThreshHigh
	)

upsampleDisparities()

std::vector< cv::Mat_< float > > fb360_dep::depth_estimation::upsampleDisparities	(	const Camera::Rig &	rigIn,
		const std::vector< cv::Mat_< float >> &	disps,
		const std::vector< cv::Mat_< float >> &	bgDispsUp,
		const std::vector< cv::Mat_< bool >> &	masks,
		const std::vector< cv::Mat_< bool >> &	masksUpIn,
		const cv::Size &	sizeUp,
		const bool	useForegroundMasks,
		const int	threads
	)

worldToSrcPoint()

bool fb360_dep::depth_estimation::worldToSrcPoint	(	Camera::Vector2 &	pSrc,
		const Camera::Vector3 &	pWorld,
		const Camera &	camSrc,
		const int	srcW,
		const int	srcH
	)

Variable Documentation

candidateTemplateOriginal

const std::vector<std::array<int, 2> > fb360_dep::depth_estimation::candidateTemplateOriginal

Initial value:

= {{{{0, 0}},
                                                                    {{-1, 0}},
                                                                    {{1, 0}}, 
                                                                    {{0, -1}}, 
                                                                    {{0, 1}}, 
                                                                    {{-2, -2}}, 
                                                                    {{2, -2}}, 
                                                                    {{-2, 2}},
                                                                    {{2, 2}}}}

kLevelScale

const float fb360_dep::depth_estimation::kLevelScale = 0.9f

kMinVar

const float fb360_dep::depth_estimation::kMinVar = 1.0f / 12.0f / 65025.0f

kRgbWeights

const std::vector<float> fb360_dep::depth_estimation::kRgbWeights = {0.3333f, 0.3334f, 0.3333f}

kScaleConfidencePlot

const float fb360_dep::depth_estimation::kScaleConfidencePlot = 255.0f * 100.0f

kScaleCostPlot

const float fb360_dep::depth_estimation::kScaleCostPlot = 255.0f / 100.0f

kScaleDisparityPlot

const float fb360_dep::depth_estimation::kScaleDisparityPlot = 255.0f