Merge pull request #2819 from LaurentBerger:pyb_qd

* solved issue 2813

* review

modules/stereo/CMakeLists.txt

 set(the_description "Stereo Correspondence")
-ocv_define_module(stereo opencv_imgproc opencv_features2d opencv_core opencv_tracking)
+ocv_define_module(stereo opencv_imgproc opencv_features2d opencv_core opencv_tracking WRAP python)

modules/stereo/include/opencv2/stereo/quasi_dense_stereo.hpp

@@ -24,42 +24,44 @@ namespace stereo
 
 
 // A basic match structure
-struct CV_EXPORTS Match
+struct CV_EXPORTS_W_SIMPLE MatchQuasiDense
 {
-    cv::Point2i p0;
-    cv::Point2i p1;
-    float	corr;
+    CV_PROP_RW cv::Point2i p0;
+    CV_PROP_RW cv::Point2i p1;
+    CV_PROP_RW float	corr;
 
-    bool operator < (const Match & rhs) const//fixme  may be used uninitialized in this function
+    CV_WRAP MatchQuasiDense() { corr = 0; }
+
+    CV_WRAP_AS(apply) bool operator < (const MatchQuasiDense & rhs) const//fixme  may be used uninitialized in this function
     {
         return this->corr < rhs.corr;
     }
 };
-struct CV_EXPORTS PropagationParameters
+struct CV_EXPORTS_W_SIMPLE PropagationParameters
 {
-    int	corrWinSizeX;			// similarity window
-    int	corrWinSizeY;
+    CV_PROP_RW int	corrWinSizeX;			// similarity window
+    CV_PROP_RW int	corrWinSizeY;
 
-    int borderX;					// border to ignore
-    int borderY;
+    CV_PROP_RW int borderX;					// border to ignore
+    CV_PROP_RW int borderY;
 
     //matching
-    float correlationThreshold;	// correlation threshold
-    float textrureThreshold;		// texture threshold
+    CV_PROP_RW float correlationThreshold;	// correlation threshold
+    CV_PROP_RW float textrureThreshold;		// texture threshold
 
-    int	  neighborhoodSize;		// neighborhood size
-    int	  disparityGradient;	// disparity gradient threshold
+    CV_PROP_RW int	  neighborhoodSize;		// neighborhood size
+    CV_PROP_RW int	  disparityGradient;	// disparity gradient threshold
 
     // Parameters for LK flow algorithm
-    int lkTemplateSize;
-    int lkPyrLvl;
-    int lkTermParam1;
-    float lkTermParam2;
+    CV_PROP_RW int lkTemplateSize;
+    CV_PROP_RW int lkPyrLvl;
+    CV_PROP_RW int lkTermParam1;
+    CV_PROP_RW float lkTermParam2;
 
     // Parameters for GFT algorithm.
-    float gftQualityThres;
-    int gftMinSeperationDist;
-    int gftMaxNumFeatures;
+    CV_PROP_RW float gftQualityThres;
+    CV_PROP_RW int gftMinSeperationDist;
+    CV_PROP_RW int gftMaxNumFeatures;
 
 };
 
@@ -90,14 +92,14 @@ struct CV_EXPORTS PropagationParameters
  *
  */
 
-class CV_EXPORTS QuasiDenseStereo
+class  CV_EXPORTS_W QuasiDenseStereo
 {
 public:
     /**
      * @brief destructor
      * Method to free all the memory allocated by matrices and vectors in this class.
      */
-    virtual ~QuasiDenseStereo() = 0;
+    CV_WRAP virtual ~QuasiDenseStereo() = 0;
 
 
     /**
@@ -113,7 +115,7 @@ public:
      * in case of video processing.
      * @sa loadParameters
      */
-    virtual int loadParameters(cv::String filepath) = 0;
+    CV_WRAP virtual int loadParameters(cv::String filepath) = 0;
 
 
     /**
@@ -124,7 +126,7 @@ public:
      * @note This method can be used to generate a template file for tuning the class.
      * @sa loadParameters
      */
-    virtual int saveParameters(cv::String filepath) = 0;
+    CV_WRAP virtual int saveParameters(cv::String filepath) = 0;
 
 
     /**
@@ -133,7 +135,7 @@ public:
      * @note The method clears the sMatches vector.
      * @note The returned Match elements inside the sMatches vector, do not use corr member.
      */
-    virtual void getSparseMatches(std::vector<stereo::Match> &sMatches) = 0;
+    CV_WRAP virtual void getSparseMatches(CV_OUT std::vector<MatchQuasiDense> &sMatches) = 0;
 
 
     /**
@@ -142,7 +144,7 @@ public:
      * @note The method clears the denseMatches vector.
      * @note The returned Match elements inside the sMatches vector, do not use corr member.
      */
-    virtual void getDenseMatches(std::vector<stereo::Match> &denseMatches) = 0;
+    CV_WRAP virtual void getDenseMatches(CV_OUT  std::vector<MatchQuasiDense> &denseMatches) = 0;
 
 
 
@@ -158,7 +160,7 @@ public:
      * @sa sparseMatching
      * @sa quasiDenseMatching
      */
-    virtual void process(const cv::Mat &imgLeft ,const cv::Mat &imgRight) = 0;
+    CV_WRAP virtual void process(const cv::Mat &imgLeft ,const cv::Mat &imgRight) = 0;
 
 
     /**
@@ -169,7 +171,7 @@ public:
      * @retval cv::Point(0, 0) (NO_MATCH)  if no match is found in the right image for the specified pixel location in the left image.
      * @note This method should be always called after process, otherwise the matches will not be correct.
      */
-    virtual cv::Point2f getMatch(const int x, const int y) = 0;
+    CV_WRAP virtual cv::Point2f getMatch(const int x, const int y) = 0;
 
 
     /**
@@ -180,13 +182,13 @@ public:
      * @sa computeDisparity
      * @sa quantizeDisparity
      */
-    virtual cv::Mat getDisparity(uint8_t disparityLvls=50) = 0;
+    CV_WRAP virtual cv::Mat getDisparity(uint8_t disparityLvls=50) = 0;
 
 
-    static cv::Ptr<QuasiDenseStereo> create(cv::Size monoImgSize, cv::String paramFilepath = cv::String());
+    CV_WRAP static cv::Ptr<QuasiDenseStereo> create(cv::Size monoImgSize, cv::String paramFilepath = cv::String());
 
 
-    PropagationParameters Param;
+    CV_PROP_RW PropagationParameters Param;
 };
 
 } //namespace cv

modules/stereo/misc/python/pyopencv_stereo.hpp

+#ifdef HAVE_OPENCV_STEREO
+typedef std::vector<stereo::MatchQuasiDense> vector_MatchQuasiDense;
+
+template<> struct pyopencvVecConverter<stereo::MatchQuasiDense>
+{
+    static bool to(PyObject* obj, std::vector<stereo::MatchQuasiDense>& value, const ArgInfo& info)
+    {
+        return pyopencv_to_generic_vec(obj, value, info);
+    }
+
+    static PyObject* from(const std::vector<stereo::MatchQuasiDense>& value)
+    {
+        return pyopencv_from_generic_vec(value);
+    }
+};
+
+#endif

modules/stereo/misc/python/test/test_stereo.py

+#!/usr/bin/env python
+import cv2 as cv
+
+from tests_common import NewOpenCVTests
+
+class quasi_dense_stereo_test(NewOpenCVTests):
+
+    def test_simple(self):
+
+        stereo = cv.stereo.QuasiDenseStereo_create((100, 100))
+        self.assertIsNotNone(stereo)
+
+        dense_matches = cv.stereo_MatchQuasiDense()
+        self.assertIsNotNone(dense_matches)
+
+        parameters = cv.stereo_PropagationParameters()
+        self.assertIsNotNone(parameters)
+
+if __name__ == '__main__':
+    NewOpenCVTests.bootstrap()

modules/stereo/samples/dense_disparity.cpp

@@ -46,7 +46,7 @@ int main()
 
 
 //!     [export]
-    vector<stereo::Match> matches;
+    vector<stereo::MatchQuasiDense> matches;
     stereo->getDenseMatches(matches);
     std::ofstream dense("./dense.txt", std::ios::out);
     for (uint i=0; i< matches.size(); i++)

modules/stereo/samples/sample_quasi_dense.py

+import numpy as np
+import cv2 as cv
+
+left_img = cv.imread(cv.samples.findFile("aloeL.jpg"), cv.IMREAD_COLOR)
+right_img = cv.imread(cv.samples.findFile("aloeR.jpg"), cv.IMREAD_COLOR)
+
+frame_size = leftImg.shape[0:2];
+
+stereo = cv.stereo.QuasiDenseStereo_create(frame_size[::-1])
+stereo.process(left_img, right_img)
+disp = stereo.getDisparity(80)
+cv.imshow("disparity", disp)
+cv.waitKey()
+dense_matches = stereo.getDenseMatches()
+try:
+    with open("dense.txt", "wt") as f:
+        # if you want all matches use for idx in len(dense_matches): It can be a big file
+        for idx in range(0, min(10, len(dense_matches))):
+            nb = f.write(str(dense_matches[idx].p0) + "\t" + str(dense_matches[idx].p1) + "\t" + str(dense_matches[idx].corr) + "\n")
+except:
+    print("Cannot open file")

modules/stereo/src/quasi_dense_stereo.cpp

@@ -13,7 +13,7 @@ namespace stereo {
 
 #define NO_MATCH cv::Point(0,0)
 
-typedef std::priority_queue<Match, std::vector<Match>, std::less<Match> > t_matchPriorityQueue;
+typedef std::priority_queue<MatchQuasiDense, std::vector<MatchQuasiDense>, std::less<MatchQuasiDense> > t_matchPriorityQueue;
 
 
 class QuasiDenseStereoImpl : public QuasiDenseStereo
@@ -165,7 +165,7 @@ public:
             t_matchPriorityQueue Local;
 
             // Get the best seed at the moment
-            Match m = seeds.top();
+            MatchQuasiDense m = seeds.top();
             seeds.pop();
 
             // Ignore the border
@@ -209,7 +209,7 @@ public:
                             // push back if this is valid match
                             if( corr > Param.correlationThreshold )
                             {
-                                Match nm;
+                                MatchQuasiDense nm;
                                 nm.p0 = p0;
                                 nm.p1 = p1;
                                 nm.corr = corr;
@@ -223,7 +223,7 @@ public:
             // Get seeds from the local
             while( !Local.empty() )
             {
-                Match lm = Local.top();
+                MatchQuasiDense lm = Local.top();
                 Local.pop();
                 // Check if its unique in both ref and dst.
                 if(refMap.at<cv::Point2i>(lm.p0.y, lm.p0.x) != NO_MATCH)
@@ -410,7 +410,7 @@ public:
         for(uint i=0; i < featuresLeft.size(); i++)
         {
             // Calculate correlation and store match in Seeds.
-            Match m;
+            MatchQuasiDense m;
             m.p0 = cv::Point2i(featuresLeft[i]);
             m.p1 = cv::Point2i(featuresRight[i]);
             m.corr = 0;
@@ -442,7 +442,7 @@ public:
      * @retval true If the feature is in the border of the image.
      * @retval false If the feature is not in the border of image.
      */
-    bool CheckBorder(Match m, int bx, int by, int w, int h)
+    bool CheckBorder(MatchQuasiDense m, int bx, int by, int w, int h)
     {
         if(m.p0.x<bx || m.p0.x>w-bx || m.p0.y<by || m.p0.y>h-by ||
         m.p1.x<bx || m.p1.x>w-bx || m.p1.y<by || m.p1.y>h-by)
@@ -492,9 +492,9 @@ public:
     //-------------------------------------------------------------------------
 
 
-    void getSparseMatches(std::vector<stereo::Match> &sMatches) override
+    void getSparseMatches(std::vector<stereo::MatchQuasiDense> &sMatches) override
     {
-        Match tmpMatch;
+        MatchQuasiDense tmpMatch;
         sMatches.clear();
         sMatches.reserve(leftFeatures.size());
         for (uint i=0; i<leftFeatures.size(); i++)
@@ -594,9 +594,9 @@ public:
         return -1;
     }
 
-    void getDenseMatches(std::vector<stereo::Match> &denseMatches) override
+    void getDenseMatches(std::vector<stereo::MatchQuasiDense> &denseMatches) override
     {
-        Match tmpMatch;
+        MatchQuasiDense tmpMatch;
         denseMatches.clear();
         denseMatches.reserve(dMatchesLen);
         for (int row=0; row<height; row++)