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refactor: extract disparity scale to DISP_SCALE define #3961

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refactor: extract disparity scale to DISP_SCALE define #3961

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13 changes: 8 additions & 5 deletions modules/ximgproc/src/disparity_filters.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -45,6 +45,7 @@ namespace ximgproc {

using std::vector;
#define EPS 1e-43f
#define DISP_SCALE 16

class DisparityWLSFilterImpl : public DisparityWLSFilter
{
Expand Down Expand Up @@ -290,7 +291,7 @@ void DisparityWLSFilterImpl::filter_(InputArray disparity_map_left, InputArray l
src = Mat(src_full_size ,ROI);
filtered_disparity_map.create(disp_full_size.size(), disp_full_size.type());
Mat& dst_full_size = filtered_disparity_map.getMatRef();
dst_full_size = Scalar(16*(min_disp-1));
dst_full_size = Scalar(DISP_SCALE*(min_disp-1));
dst = Mat(dst_full_size,ROI);
Mat filtered_disp;
fastGlobalSmootherFilter(src,disp,filtered_disp,lambda,sigma_color);
Expand Down Expand Up @@ -321,7 +322,7 @@ void DisparityWLSFilterImpl::filter_(InputArray disparity_map_left, InputArray l
src = Mat(src_full_size ,ROI);
filtered_disparity_map.create(disp_full_size.size(), disp_full_size.type());
Mat& dst_full_size = filtered_disparity_map.getMatRef();
dst_full_size = Scalar(16*(min_disp-1));
dst_full_size = Scalar(DISP_SCALE*(min_disp-1));
dst = Mat(dst_full_size,ROI);
Mat conf(confidence_map,ROI);

Expand Down Expand Up @@ -502,11 +503,13 @@ int readGT(String src_path,OutputArray dst)
if(!src.empty() && src.channels()==3 && src.depth()==CV_8U)
{
//MPI-Sintel format:
const int sintelScale = 64; // Sintel GT é 1/64
const float scaleFactor = (float)DISP_SCALE / sintelScale;
for(int i=0;i<src.rows;i++)
for(int j=0;j<src.cols;j++)
{
Vec3b bgrPixel = src.at<Vec3b>(i, j);
dstMat.at<short>(i,j) = 64*bgrPixel.val[2]+bgrPixel.val[1]/4; //16-multiplied disparity
dstMat.at<short>(i,j) = (short)(scaleFactor * (256 * bgrPixel.val[2] + bgrPixel.val[1]));
}
return 0;
}
Expand All @@ -520,7 +523,7 @@ int readGT(String src_path,OutputArray dst)
if(src_val==0)
dstMat.at<short>(i,j) = UNKNOWN_DISPARITY;
else
dstMat.at<short>(i,j) = 16*src_val; //16-multiplied disparity
dstMat.at<short>(i,j) = DISP_SCALE*src_val; //16-multiplied disparity
}
return 0;
}
Expand Down Expand Up @@ -563,7 +566,7 @@ void getDisparityVis(InputArray src,OutputArray dst,double scale)
dst.create(srcMat.rows,srcMat.cols,CV_8UC1);
Mat& dstMat = dst.getMatRef();

srcMat.convertTo(dstMat, CV_8UC1, scale / 16.0);
srcMat.convertTo(dstMat, CV_8UC1, scale / DISP_SCALE);
dstMat &= (srcMat != UNKNOWN_DISPARITY);
}

Expand Down
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