1 /* OpenSceneGraph example, osgstereomatch.
2 *
3 * Permission is hereby granted, free of charge, to any person obtaining a copy
4 * of this software and associated documentation files (the "Software"), to deal
5 * in the Software without restriction, including without limitation the rights
6 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
7 * copies of the Software, and to permit persons to whom the Software is
8 * furnished to do so, subject to the following conditions:
9 *
10 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
11 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
12 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
13 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
14 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
15 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
16 * THE SOFTWARE.
17 */
18
19 #include <osg/Vec3>
20 #include <osg/Vec4>
21 #include <osg/Quat>
22 #include <osg/Matrix>
23 #include <osg/ShapeDrawable>
24 #include <osg/Geometry>
25 #include <osg/Geode>
26 #include <osg/TextureRectangle>
27
28 #include <osgDB/FileUtils>
29 #include <osgDB/ReadFile>
30
31 #include <osgViewer/Viewer>
32 #include <osgViewer/ViewerEventHandlers>
33
34 #include <iostream>
35
36 #include "StereoPass.h"
37 #include "StereoMultipass.h"
38
createScene(osg::Image * left,osg::Image * right,unsigned int min_disp,unsigned int max_disp,unsigned int window_size,bool single_pass)39 osg::Node* createScene(osg::Image *left, osg::Image *right, unsigned int min_disp, unsigned int max_disp, unsigned int window_size, bool single_pass)
40 {
41 int width = left->s();
42 int height = left->t();
43
44 osg::Group* topnode = new osg::Group;
45
46 // create four quads so we can display up to four images
47
48 osg::ref_ptr<osg::Geode> geode = new osg::Geode();
49
50 // each geom will contain a quad
51 osg::ref_ptr<osg::DrawArrays> da = new osg::DrawArrays(osg::PrimitiveSet::QUADS,0,4);
52
53 osg::ref_ptr<osg::Vec4Array> colors = new osg::Vec4Array;
54 colors->push_back(osg::Vec4(1.0f,1.0f,1.0f,1.0f));
55
56 osg::ref_ptr<osg::Vec2Array> tcoords = new osg::Vec2Array; // texture coords
57 tcoords->push_back(osg::Vec2(0, 0));
58 tcoords->push_back(osg::Vec2(width, 0));
59 tcoords->push_back(osg::Vec2(width, height));
60 tcoords->push_back(osg::Vec2(0, height));
61
62 osg::ref_ptr<osg::StateSet> geomss[4]; // stateset where we can attach textures
63 osg::ref_ptr<osg::TextureRectangle> texture[4];
64
65 for (int i=0;i<4;i++) {
66 osg::ref_ptr<osg::Vec3Array> vcoords = new osg::Vec3Array; // vertex coords
67 osg::ref_ptr<osg::Geometry> geom = new osg::Geometry;
68
69 // tile the quads on the screen
70 // 2 3
71 // 0 1
72 int xoff, zoff;
73 xoff = (i%2);
74 zoff = i>1 ? 1 : 0;
75
76 // initial viewer camera looks along y
77 vcoords->push_back(osg::Vec3d(0+(xoff * width), 0, 0+(zoff * height)));
78 vcoords->push_back(osg::Vec3d(width+(xoff * width), 0, 0+(zoff * height)));
79 vcoords->push_back(osg::Vec3d(width+(xoff * width), 0, height+(zoff * height)));
80 vcoords->push_back(osg::Vec3d(0+(xoff * width), 0, height+(zoff * height)));
81
82 geom->setVertexArray(vcoords.get());
83 geom->setTexCoordArray(0,tcoords.get());
84 geom->addPrimitiveSet(da.get());
85 geom->setColorArray(colors.get(), osg::Array::BIND_OVERALL);
86 geomss[i] = geom->getOrCreateStateSet();
87 geomss[i]->setMode(GL_LIGHTING, osg::StateAttribute::OFF);
88
89 texture[i] = new osg::TextureRectangle;
90 texture[i]->setResizeNonPowerOfTwoHint(false);
91 texture[i]->setFilter(osg::Texture::MIN_FILTER, osg::Texture::LINEAR);
92 texture[i]->setFilter(osg::Texture::MAG_FILTER, osg::Texture::LINEAR);
93
94 geode->addDrawable(geom.get());
95 }
96
97 // attach the input images to the bottom textures of the view
98 texture[0]->setImage(left);
99 texture[1]->setImage(right);
100 geomss[0]->setTextureAttributeAndModes(0, texture[0].get(), osg::StateAttribute::ON);
101 geomss[1]->setTextureAttributeAndModes(0, texture[1].get(), osg::StateAttribute::ON);
102
103 topnode->addChild(geode.get());
104
105 // create the processing passes
106 if (single_pass) {
107 StereoPass *stereopass = new StereoPass(texture[0].get(), texture[1].get(),
108 width, height,
109 min_disp, max_disp, window_size);
110
111 topnode->addChild(stereopass->getRoot().get());
112
113 // attach the output of the processing to the top left geom
114 geomss[2]->setTextureAttributeAndModes(0,
115 stereopass->getOutputTexture().get(),
116 osg::StateAttribute::ON);
117 } else {
118 StereoMultipass *stereomp = new StereoMultipass(texture[0].get(), texture[1].get(),
119 width, height,
120 min_disp, max_disp, window_size);
121 topnode->addChild(stereomp->getRoot().get());
122 // attach the output of the processing to the top left geom
123 geomss[2]->setTextureAttributeAndModes(0,
124 stereomp->getOutputTexture().get(),
125 osg::StateAttribute::ON);
126 }
127
128 return topnode;
129 }
130
main(int argc,char * argv[])131 int main(int argc, char *argv[])
132 {
133 // use an ArgumentParser object to manage the program arguments.
134 osg::ArgumentParser arguments(&argc,argv);
135
136 // set up the usage document, in case we need to print out how to use this program.
137 arguments.getApplicationUsage()->setDescription(arguments.getApplicationName()+" is the example which demonstrates a stereo matching algorithm. It uses multiple render targets and multiple passes with texture ping-pong.");
138 arguments.getApplicationUsage()->setCommandLineUsage(arguments.getApplicationName()+" [options] --left left_image --right right_image --min min_disparity --max max_disparity --window window_size");
139 arguments.getApplicationUsage()->addCommandLineOption("-h or --help","Display this information");
140 arguments.getApplicationUsage()->addCommandLineOption("--left","The left image of the stereo pair to load.");
141 arguments.getApplicationUsage()->addCommandLineOption("--right","The right image of the stereo pair to load.");
142 arguments.getApplicationUsage()->addCommandLineOption("--min","The minimum disparity to start matching pixels.");
143 arguments.getApplicationUsage()->addCommandLineOption("--max","The maximum disparity to stop matching pixels.");
144 arguments.getApplicationUsage()->addCommandLineOption("--window","The window size used to match areas around pixels.");
145 arguments.getApplicationUsage()->addCommandLineOption("--single","Use a single pass instead on multiple passes.");
146
147 // if user request help write it out to cout.
148 if (arguments.read("-h") || arguments.read("--help"))
149 {
150 arguments.getApplicationUsage()->write(std::cout);
151 return 1;
152 }
153
154 std::string leftName("");
155 while(arguments.read("--left", leftName)) {}
156
157 std::string rightName("");
158 while(arguments.read("--right", rightName)) {}
159
160 unsigned int minDisparity = 0;
161 while (arguments.read("--min", minDisparity)) {}
162
163 unsigned int maxDisparity = 31;
164 while (arguments.read("--max", maxDisparity)) {}
165
166 unsigned int windowSize = 5;
167 while (arguments.read("--window", windowSize)) {}
168
169 bool useSinglePass = false;
170 while (arguments.read("--single")) { useSinglePass = true; }
171
172 if (leftName == "" || rightName=="") {
173 arguments.getApplicationUsage()->write(std::cout);
174 return 1;
175 }
176
177 // load the images
178 osg::ref_ptr<osg::Image> leftIm = osgDB::readRefImageFile(leftName);
179 osg::ref_ptr<osg::Image> rightIm = osgDB::readRefImageFile(rightName);
180
181 osg::Node* scene = createScene(leftIm.get(), rightIm.get(), minDisparity, maxDisparity, windowSize, useSinglePass);
182
183 // construct the viewer.
184 osgViewer::Viewer viewer;
185 viewer.setThreadingModel(osgViewer::Viewer::SingleThreaded);
186
187 // add the stats handler
188 viewer.addEventHandler(new osgViewer::StatsHandler);
189
190 viewer.setSceneData(scene);
191
192 return viewer.run();
193 }
194