vsrs_disparity.cc

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#include "../lib/common.h"
#include "../lib/args.h"
#include <opencv2/opencv.hpp>
#include <cstdlib>
#include <cstdint>
#include <cstring>
#include <iostream>
#include <fstream>
#include <stdexcept>

using namespace tlz;

void append_null_tail(std::ostream& output, std::streamsize length) {
    while(length--) output.put(0);
}


void export_yuv_disparity(std::string filename, const cv::Mat_<uchar>& mat) {
    std::ofstream output(filename, std::ios::binary);
    std::streamsize sz = mat.cols * mat.rows;
    output.write(reinterpret_cast<const std::ofstream::char_type*>(mat.data), sz);
    append_null_tail(output, sz);
}
void export_yuv_disparity(std::string filename, const cv::Mat_<ushort>& mat) {
    std::ofstream output(filename, std::ios::binary);
    std::streamsize sz = mat.cols * mat.rows * 2;
    output.write(reinterpret_cast<const std::ofstream::char_type*>(mat.data), sz);
    append_null_tail(output, sz);
}


template<typename Distance, typename Depth>
void orthogonal_distance_to_depth(
    const cv::Mat_<Distance>& in_z,
    cv::Mat_<Depth>& out_d,
    real d_near, real d_far,
    real z_near, real z_far
) {
    const real z_diff = z_far - z_near;
    const real offset = ((d_far * z_far) - (d_near * z_near)) / z_diff;
    const real factor = ((d_near - d_far) * z_near * z_far) / z_diff;   

    cv::Mat_<real> z_real = in_z;
    cv::Mat_<real> d_real = offset + factor / z_real;
    out_d = d_real;
}



int main(int argc, const char* argv[]) {
    get_args(argc, argv, "depth.png out_disparity.yuv z_near z_far [8/16]");
    std::string input_filename = in_filename_arg();
    std::string output_filename = out_filename_arg();
    ushort z_near = int_arg();
    ushort z_far = int_arg();
    bool output_disparity_16bit = (enum_opt_arg({"8", "16"}, "8") == "16");

    cv::Mat_<ushort> depth;
    {
        cv::Mat depth_ = cv::imread(input_filename, CV_LOAD_IMAGE_ANYDEPTH);
        if(depth_.depth() != CV_16U) throw std::runtime_error("input depth map: must be 16 bit");
        depth = depth_; 
    }

    if(output_disparity_16bit) {
        cv::Mat_<ushort> disparity;
        orthogonal_distance_to_depth<ushort, ushort>(depth, disparity, 0xffff, 0, z_near, z_far);
        disparity.setTo(0, depth == 0);

        export_yuv_disparity(output_filename, disparity);
    } else {
        cv::Mat_<uchar> disparity;
        orthogonal_distance_to_depth<ushort, uchar>(depth, disparity, 0xff, 0, z_near, z_far);
        disparity.setTo(0, depth == 0);

        export_yuv_disparity(output_filename, disparity);
    }

}