def collect_descriptors_sad(self, frame):
self.timer['descriptor_collection'].start()
frame.descriptors = [
VO.grab_16x16(frame.rawdata, frame.size[0], p[0] - 7, p[1] - 7)
for p in frame.kp
]
self.timer['descriptor_collection'].stop()
def collect(self, frame):
lgrad = " " * (frame.size[0] * frame.size[1])
VO.ost_do_prefilter_norm(frame.rawdata, lgrad, frame.size[0],
frame.size[1], 31, scratch)
frame.descriptors = [
VO.grab_16x16(lgrad, frame.size[0], p[0] - 7, p[1] - 7)
for p in frame.kp
]
def lookup_disparity(self, x, y):
(w, h) = self.size
refpat = VO.grab_16x16(self.lgrad, w, x - 7, y - 7)
# ftzero 31
# dlen 64
# tfilter_thresh 10
# ufilter_thresh 15
v = VO.ost_do_stereo_sparse(refpat, self.rgrad, x, y, w, h, 31, 64, 10, 15)
if v < 0:
return None
else:
return v / 16.0
def do_stereo_sparse(refpat, rgrad, x, y, xim, yim, ftzero, dlen, tfilter_thresh, ufilter_thresh):
if x < dlen or y < 7 or y > (yim - 8):
return -1
tiles = [VO.grab_16x16(rgrad, xim, (x - dlen + 1) + i - 7, y - 7) for i in range(dlen)]
ind = VO.sad_search(refpat, tiles, chr(1) * dlen)
# do interpolation
if ind == 0 or ind == (dlen - 1):
return (dlen - ind - 1) * 16
c = VO.sad(refpat, tiles[ind])
p = VO.sad(refpat, tiles[ind + 1])
n = VO.sad(refpat, tiles[ind - 1])
v = float(dlen - ind - 1) + (p - n) / (2 * (p + n - 2 * c))
return 0.5 + 16 * v
def lookup_disparity(self, x, y):
(w, h) = self.size
refpat = VO.grab_16x16(self.lgrad, w, x - 7, y - 7)
# ftzero 31
# dlen 64
# tfilter_thresh 10
# ufilter_thresh 15
v = VO.ost_do_stereo_sparse(refpat, self.rgrad, x, y, w, h, 31, 64, 10,
15)
if v < 0:
return None
else:
return v / 16.
def do_stereo_sparse(refpat, rgrad, x, y, xim, yim, ftzero, dlen,
tfilter_thresh, ufilter_thresh):
if x < dlen or y < 7 or y > (yim - 8):
return -1
tiles = [
VO.grab_16x16(rgrad, xim, (x - dlen + 1) + i - 7, y - 7)
for i in range(dlen)
]
ind = VO.sad_search(refpat, tiles, chr(1) * dlen)
# do interpolation
if (ind == 0 or ind == (dlen - 1)):
return (dlen - ind - 1) * 16
c = VO.sad(refpat, tiles[ind])
p = VO.sad(refpat, tiles[ind + 1])
n = VO.sad(refpat, tiles[ind - 1])
v = float(dlen - ind - 1) + (p - n) / (2 * (p + n - 2 * c))
return (0.5 + 16 * v)
def collect(self, frame): lgrad = " " * (frame.size[0] * frame.size[1]) VO.ost_do_prefilter_norm(frame.rawdata, lgrad, frame.size[0], frame.size[1], 31, scratch) frame.descriptors = [ VO.grab_16x16(lgrad, frame.size[0], p[0]-7, p[1]-7) for p in frame.kp ]
def collect_descriptors_sad(self, frame): self.timer['descriptor_collection'].start() frame.descriptors = [ VO.grab_16x16(frame.rawdata, frame.size[0], p[0]-7, p[1]-7) for p in frame.kp ] self.timer['descriptor_collection'].stop()
