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SurfaceFitView: Watch for cases when there is no valid disparity #1

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SurfaceFitView: Watch for cases when there is no valid disparity #1

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12 changes: 10 additions & 2 deletions SurfaceFitView.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@

#include <ceres/ceres.h>

void vw::stereo::SurfaceFitViewBase::fit_2d_polynomial_surface( ImageView<PixelMask<Vector2i> > const& input,
bool vw::stereo::SurfaceFitViewBase::fit_2d_polynomial_surface( ImageView<PixelMask<Vector2i> > const& input,
Matrix3x3* output_h, Matrix3x3* output_v,
Vector2* xscaling, Vector2* yscaling) const {
// Figure out what our scaling parameters should be
Expand All @@ -12,12 +12,13 @@ void vw::stereo::SurfaceFitViewBase::fit_2d_polynomial_surface( ImageView<PixelM
xscaling->y() = 2.0/double(input.cols());
yscaling->y() = 2.0/double(input.rows());

bool is_good = false;
{
// Build a ceres problem to fit a polynomial robustly
ceres::Problem problem;
for (int j = 0; j < input.rows(); j+=2) {
for (int i = 0; i < input.cols(); i+=2 ) {
if (is_valid(input(i,j)))
if (is_valid(input(i,j))){
problem.AddResidualBlock
(new ceres::AutoDiffCostFunction<PolynomialSurfaceFit, 1, 9>
(new PolynomialSurfaceFit
Expand All @@ -26,9 +27,14 @@ void vw::stereo::SurfaceFitViewBase::fit_2d_polynomial_surface( ImageView<PixelM
(double(j) + yscaling->x()) * yscaling->y())),
new ceres::CauchyLoss(4),
&(*output_h)(0,0));
is_good = true;
}
}
}

// Quit rather than error out if there is no valid disparity
if (!is_good) return false;

ceres::Solver::Options options;
options.max_num_iterations = 300;
options.minimizer_progress_to_stdout = false;
Expand Down Expand Up @@ -61,6 +67,8 @@ void vw::stereo::SurfaceFitViewBase::fit_2d_polynomial_surface( ImageView<PixelM
ceres::Solve(options, &problem, &summary);
//std::cout << summary.BriefReport() << std::endl;
}

return true;
}


Expand Down
36 changes: 21 additions & 15 deletions SurfaceFitView.h
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Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,7 @@ namespace vw {

class SurfaceFitViewBase {
protected:
void fit_2d_polynomial_surface( ImageView<PixelMask<Vector2i> > const& input,
bool fit_2d_polynomial_surface( ImageView<PixelMask<Vector2i> > const& input,
Matrix3x3* output_h, Matrix3x3* output_v,
Vector2* xscaling, Vector2* yscaling) const;

Expand Down Expand Up @@ -80,20 +80,26 @@ namespace vw {
Vector2 xscaling, yscaling;
ImageView<PixelMask<Vector2i> > copy =
crop(edge_extend(m_input), exp_bbox);
fit_2d_polynomial_surface(copy,
&polynomial_h, &polynomial_v,
&xscaling, &yscaling);

ImageView<float> fitted_h(exp_bbox.width(), exp_bbox.height()),
fitted_v(exp_bbox.width(), exp_bbox.height());
render_polynomial_surface(polynomial_h, &fitted_h);
render_polynomial_surface(polynomial_v, &fitted_v);

ImageView<pixel_type> smoothed_disparity(exp_bbox.width(),exp_bbox.height());
fill(smoothed_disparity, pixel_type(Vector2f()));
select_channel(smoothed_disparity, 0) = fitted_h;
select_channel(smoothed_disparity, 1) = fitted_v;

ImageView<pixel_type> smoothed_disparity(exp_bbox.width(),
exp_bbox.height());

bool ans = fit_2d_polynomial_surface(copy,
&polynomial_h, &polynomial_v,
&xscaling, &yscaling);
if (ans){
ImageView<float> fitted_h(exp_bbox.width(), exp_bbox.height()),
fitted_v(exp_bbox.width(), exp_bbox.height());
render_polynomial_surface(polynomial_h, &fitted_h);
render_polynomial_surface(polynomial_v, &fitted_v);

fill(smoothed_disparity, pixel_type(Vector2f()));
select_channel(smoothed_disparity, 0) = fitted_h;
select_channel(smoothed_disparity, 1) = fitted_v;
}else{
// Could not fit a surface, return the original disparity
smoothed_disparity = copy;
}

return prerasterize_type(smoothed_disparity,
-exp_bbox.min().x(), -exp_bbox.min().y(),
cols(), rows());
Expand Down