- Improved disparity GUI

evaluation/visualization/src/boofcv/alg/feature/disparity/DisparityDisplayPanel.java

@@ -43,6 +43,7 @@ public class DisparityDisplayPanel extends StandardAlgConfigPanel
 
 	JSpinner minDisparitySpinner;
 	JSpinner maxDisparitySpinner;
+	JCheckBox subpixelToggle;
 	JSpinner radiusSpinner;
 	JSpinner errorSpinner;
 	JSpinner reverseSpinner;
@@ -52,6 +53,7 @@ public class DisparityDisplayPanel extends StandardAlgConfigPanel
 	int selectedView;
 
 	boolean colorInvalid = false;
+	boolean useSubpixel = true;
 
 	// minimum disparity to calculate
 	int minDisparity = 0;
@@ -74,6 +76,7 @@ public DisparityDisplayPanel() {
 		viewSelector.addItem("Disparity");
 		viewSelector.addItem("Left");
 		viewSelector.addItem("Right");
+		viewSelector.addItem("Top View");
 		viewSelector.addItemListener(this);
 		viewSelector.setMaximumSize(viewSelector.getPreferredSize());
 
@@ -90,6 +93,11 @@ public DisparityDisplayPanel() {
 		maxDisparitySpinner.addChangeListener(this);
 		maxDisparitySpinner.setMaximumSize(maxDisparitySpinner.getPreferredSize());
 
+		subpixelToggle = new JCheckBox("Subpixel");
+		subpixelToggle.setSelected(useSubpixel);
+		subpixelToggle.addItemListener(this);
+		subpixelToggle.setMaximumSize(invalidToggle.getPreferredSize());
+
 		radiusSpinner = new JSpinner(new SpinnerNumberModel(regionRadius,1, 30, 1));
 		radiusSpinner.addChangeListener(this);
 		radiusSpinner.setMaximumSize(radiusSpinner.getPreferredSize());
@@ -112,6 +120,7 @@ public DisparityDisplayPanel() {
 		addSeparator(100);
 		addLabeled(minDisparitySpinner, "Min Disparity", this);
 		addLabeled(maxDisparitySpinner, "Max Disparity", this);
+		addAlignLeft(subpixelToggle,this);
 		addLabeled(radiusSpinner,    "Region Radius", this);
 		addLabeled(errorSpinner,     "Max Error", this);
 		addLabeled(textureSpinner,   "Texture", this);
@@ -157,14 +166,17 @@ public void itemStateChanged(ItemEvent e) {
 		} else if( e.getSource() == invalidToggle) {
 			colorInvalid = invalidToggle.isSelected();
 			listener.disparityRender();
+		} else if( e.getSource() == subpixelToggle ) {
+			useSubpixel = subpixelToggle.isSelected();
+			listener.disparitySettingChange();
 		}
 	}
 
 	public void setActiveGui( boolean error , boolean reverse ) {
-		setEnabled(7,error);
-		setEnabled(8,reverse);
-		setEnabled(9,error);
-		setEnabled(10,reverse);
+		setEnabled(8,error);
+		setEnabled(9,reverse);
+		setEnabled(10,error);
+		setEnabled(11,reverse);
 	}
 
 	public void setListener(Listener listener ) {

evaluation/visualization/src/boofcv/alg/feature/disparity/VisualizeStereoDisparity.java

@@ -29,6 +29,7 @@
 import boofcv.factory.feature.disparity.DisparityAlgorithms;
 import boofcv.factory.feature.disparity.FactoryStereoDisparity;
 import boofcv.gui.SelectAlgorithmAndInputPanel;
+import boofcv.gui.d3.PointCloudSideViewer;
 import boofcv.gui.image.ImagePanel;
 import boofcv.gui.image.ShowImages;
 import boofcv.gui.image.VisualizeImageData;
@@ -48,6 +49,8 @@
 import java.util.List;
 
 /**
+ * TODO comment
+ *
  * @author Peter Abeles
  */
 public class VisualizeStereoDisparity <T extends ImageSingleBand, D extends ImageSingleBand>
@@ -68,7 +71,10 @@ public class VisualizeStereoDisparity <T extends ImageSingleBand, D extends Imag
 	RectifyCalibrated rectifyAlg = RectifyImageOps.createCalibrated();
 
 	DisparityDisplayPanel control = new DisparityDisplayPanel();
+	JPanel panel = new JPanel();
 	ImagePanel gui = new ImagePanel();
+	PointCloudSideViewer cloudGui = new PointCloudSideViewer();
+	boolean computedCloud;
 
 	int selectedAlg;
 	StereoDisparity<T,D> activeAlg;
@@ -90,7 +96,6 @@ public VisualizeStereoDisparity() {
 
 		control.setListener(this);
 
-		JPanel panel = new JPanel();
 		panel.setLayout(new BorderLayout());
 		panel.add(control, BorderLayout.WEST);
 		panel.add(gui,BorderLayout.CENTER);
@@ -102,6 +107,7 @@ public synchronized void process() {
 		if( !rectifiedImages )
 			return;
 
+		computedCloud = false;
 		activeAlg.process(rectLeft, rectRight);
 
 		disparityRender();
@@ -113,28 +119,46 @@ public synchronized void process() {
 	private void changeImageView() {
 		SwingUtilities.invokeLater(new Runnable() {
 			public void run() {
-				BufferedImage img;
-
-				switch (control.selectedView) {
-					case 0:
-						img = disparityOut;
-						break;
-
-					case 1:
-						img = colorLeft;
-						break;
-
-					case 2:
-						img = colorRight;
-						break;
-
-					default:
-						throw new RuntimeException("Unknown option");
+				JComponent comp;
+				if( control.selectedView < 3 ) {
+					BufferedImage img;
+
+					switch (control.selectedView) {
+						case 0:
+							img = disparityOut;
+							break;
+
+						case 1:
+							img = colorLeft;
+							break;
+
+						case 2:
+							img = colorRight;
+							break;
+
+						default:
+							throw new RuntimeException("Unknown option");
+					}
+
+					gui.setBufferedImage(img);
+					gui.setPreferredSize(new Dimension(img.getWidth(), img.getHeight()));
+					comp = gui;
+				} else {
+					if( !computedCloud ) {
+						computedCloud = true;
+						double baseline = calib.getRightToLeft().getT().norm();
+						cloudGui.configure(baseline,rectK.get(0,0),rectK.get(1,1),rectK.get(0,2),rectK.get(1,2),
+								control.minDisparity,control.maxDisparity);
+						cloudGui.process(activeAlg.getDisparity(),colorLeft);
+					}
+					comp = cloudGui;
 				}
-
-				gui.setBufferedImage(img);
-				gui.setPreferredSize(new Dimension(img.getWidth(), img.getHeight()));
-				gui.repaint();
+				panel.getLayout();
+				panel.remove(gui);
+				panel.remove(cloudGui);
+				panel.add(comp,BorderLayout.CENTER);
+				panel.validate();
+				comp.repaint();
 				processedImage = true;
 			}
 		});
@@ -258,27 +282,52 @@ public StereoDisparity<T,D> createAlg() {
 
 		int r = control.regionRadius;
 
-		switch( selectedAlg ) {
-			case 0:
-				changeGuiActive(false,false);
-				return (StereoDisparity)FactoryStereoDisparity.regionWta(DisparityAlgorithms.RECT,control.minDisparity,
-						control.maxDisparity, r, r, -1, -1, -1, ImageUInt8.class);
-
-			case 1:
-				changeGuiActive(true,true);
-				return (StereoDisparity)FactoryStereoDisparity.regionWta(DisparityAlgorithms.RECT,control.minDisparity,
-						control.maxDisparity, r, r, control.pixelError, control.reverseTol, control.texture,
-						ImageUInt8.class);
-
-			case 2:
-				changeGuiActive(true,true);
-				return (StereoDisparity)FactoryStereoDisparity.regionWta(DisparityAlgorithms.RECT_FIVE,
-						control.minDisparity, control.maxDisparity, r, r,
-						control.pixelError, control.reverseTol, control.texture,
-						ImageUInt8.class);
-
-			default:
-				throw new RuntimeException("Unknown selection");
+		if( control.useSubpixel ) {
+			switch( selectedAlg ) {
+				case 0:
+					changeGuiActive(false,false);
+					return (StereoDisparity)FactoryStereoDisparity.regionSubpixelWta(DisparityAlgorithms.RECT,control.minDisparity,
+							control.maxDisparity, r, r, -1, -1, -1, ImageUInt8.class);
+
+				case 1:
+					changeGuiActive(true,true);
+					return (StereoDisparity)FactoryStereoDisparity.regionSubpixelWta(DisparityAlgorithms.RECT,control.minDisparity,
+							control.maxDisparity, r, r, control.pixelError, control.reverseTol, control.texture,
+							ImageUInt8.class);
+
+				case 2:
+					changeGuiActive(true,true);
+					return (StereoDisparity)FactoryStereoDisparity.regionSubpixelWta(DisparityAlgorithms.RECT_FIVE,
+							control.minDisparity, control.maxDisparity, r, r,
+							control.pixelError, control.reverseTol, control.texture,
+							ImageUInt8.class);
+
+				default:
+					throw new RuntimeException("Unknown selection");
+			}
+		} else {
+			switch( selectedAlg ) {
+				case 0:
+					changeGuiActive(false,false);
+					return (StereoDisparity)FactoryStereoDisparity.regionWta(DisparityAlgorithms.RECT,control.minDisparity,
+							control.maxDisparity, r, r, -1, -1, -1, ImageUInt8.class);
+
+				case 1:
+					changeGuiActive(true,true);
+					return (StereoDisparity)FactoryStereoDisparity.regionWta(DisparityAlgorithms.RECT,control.minDisparity,
+							control.maxDisparity, r, r, control.pixelError, control.reverseTol, control.texture,
+							ImageUInt8.class);
+
+				case 2:
+					changeGuiActive(true,true);
+					return (StereoDisparity)FactoryStereoDisparity.regionWta(DisparityAlgorithms.RECT_FIVE,
+							control.minDisparity, control.maxDisparity, r, r,
+							control.pixelError, control.reverseTol, control.texture,
+							ImageUInt8.class);
+
+				default:
+					throw new RuntimeException("Unknown selection");
+			}
 		}
 
 	}
@@ -298,7 +347,7 @@ public static void main( String args[] ) {
 
 		VisualizeStereoDisparity app = new VisualizeStereoDisparity();
 
-		String dirCalib = "../data/evaluation/calibration/stereo/Bumblebee2_Chess/";
+		String dirCalib = "../data/applet/calibration/stereo/Bumblebee2_Chess/";
 		String dirImgs = "../data/applet/stereo/";
 
 		StereoParameters calib = BoofMiscOps.loadXML(dirCalib+"stereo.xml");
@@ -309,6 +358,8 @@ public static void main( String args[] ) {
 		inputs.add(new PathLabel("Stones 1",dirImgs+"stones01_left.jpg",dirImgs+"stones01_right.jpg"));
 		inputs.add(new PathLabel("Thing 1",dirImgs+"thing01_left.jpg",dirImgs+"thing01_right.jpg"));
 		inputs.add(new PathLabel("Wall 1",dirImgs+"wall01_left.jpg",dirImgs+"wall01_right.jpg"));
+		inputs.add(new PathLabel("Garden 1",dirImgs+"garden01_left.jpg",dirImgs+"garden01_right.jpg"));
+		inputs.add(new PathLabel("Garden 2",dirImgs+"garden02_left.jpg",dirImgs+"garden02_right.jpg"));
 
 		app.setCalib(calib);
 		app.setInputList(inputs);

main/geo/src/boofcv/alg/feature/disparity/DisparityPointCloud.java

@@ -0,0 +1,91 @@
+/*
+ * Copyright (c) 2011-2012, Peter Abeles. All Rights Reserved.
+ *
+ * This file is part of BoofCV (http://boofcv.org).
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package boofcv.alg.feature.disparity;
+
+import boofcv.struct.FastQueue;
+import boofcv.struct.calib.IntrinsicParameters;
+import boofcv.struct.image.ImageUInt8;
+import georegression.struct.point.Point3D_F64;
+
+import java.util.List;
+
+/**
+ * @author Peter Abeles
+ */
+public class DisparityPointCloud {
+	FastQueue<Point3D_F64> cloud = new FastQueue<Point3D_F64>(200,Point3D_F64.class,true);
+
+	// distance between the two camera centers
+	double baseline;
+
+	double focalLengthX;
+	double focalLengthY;
+	double centerX;
+	double centerY;
+
+	// minimum disparity
+	int minDisparity;
+	// maximum minus minimum disparity
+	int rangeDisparity;
+
+	public void configure(double baseline,
+						  double focalLengthX, double focalLengthY,
+						  double centerX, double centerY,
+						  int minDisparity, int maxDisparity) {
+		this.baseline = baseline;
+		this.focalLengthX = focalLengthX;
+		this.focalLengthY = focalLengthY;
+		this.centerX = centerX;
+		this.centerY = centerY;
+		this.minDisparity = minDisparity;
+
+		this.rangeDisparity = maxDisparity-minDisparity;
+	}
+
+	public void process( ImageUInt8 disparity ) {
+
+		cloud.reset();
+
+		for( int y = 0; y < disparity.height; y++ ) {
+			int index = disparity.startIndex + disparity.stride*y;
+
+			for( int x = 0; x < disparity.width; x++ ) {
+				int value = disparity.data[index++] & 0xFF;
+
+				if( value >= rangeDisparity )
+					continue;
+
+				value += minDisparity;
+
+				if( value == 0 )
+					continue;
+
+				Point3D_F64 p = cloud.pop();
+
+				p.z = baseline*focalLengthX/value;
+				p.x = p.z*(x - centerX)/focalLengthX;
+				p.y = p.z*(y - centerY)/focalLengthY;
+			}
+		}
+	}
+
+	public List<Point3D_F64> getCloud() {
+		return cloud.toList();
+	}
+}

main/ip/src/boofcv/struct/image/ImageFloat32.java

@@ -59,7 +59,7 @@ public float get(int x, int y) {
 		return unsafe_get(x,y);
 	}
 
-	protected float unsafe_get(int x, int y) {
+	public float unsafe_get(int x, int y) {
 		return data[getIndex(x, y)];
 	}
 

main/feature/src/boofcv/alg/feature/disparity/DisparityPointCloud.java → main/visualize/src/boofcv/gui/d3/PointCloudSidePanel.java

@@ -16,10 +16,11 @@
  * limitations under the License.
  */
 
-package boofcv.alg.feature.disparity;
+package boofcv.gui.d3;
 
 /**
  * @author Peter Abeles
  */
-public class DisparityPointCloud {
+// todo menu bar - home, scale, offset (x,y), max height? tilt?
+public class PointCloudSidePanel {
 }