qx_nonlocal_cost_aggregation.h

/******************************************************************************************
\Author:	Qingxiong Yang
\Function:	1. Compute matching cost using image color/intensity and gradient,
			2. Compute disparity map using filtering method presented in qx_tree_filter.h
\Reference:	Qingxiong Yang, A Non-Local Cost Aggregation Method for Stereo Matching,
			IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2012.
*******************************************************************************************/
#ifndef QX_NONLOCAL_COST_AGGREGATION_H
#define QX_NONLOCAL_COST_AGGREGATION_H
#include "qx_tree_filter.h"

class qx_nonlocal_cost_aggregation
{
public:
	qx_tree_filter m_tf, m_tf_right;
	int	m_h, m_w, m_nr_plane,max_disparity; double m_max_color_difference, m_max_gradient_difference, m_weight_on_color, m_weight_on_color_inv;
	unsigned char**m_disparity, **m_disparity_r, **m_disparity_right, **m_disparity_temp,**m_mask_occlusion, ***m_buf_u2;
	double m_table[256], m_sigma_range;
	unsigned char***m_left, ***m_right, ****m_buf_u3, ***m_image_shifted, ***m_image_temp;
	float***m_buf_f2, **m_cost_min, **m_cost_min_right, **m_cost_temp, **m_cost, **m_gradient_left, **m_gradient_right, **m_gradient_shifted;
	double****m_buf_d3, ***m_cost_vol, ***m_cost_vol_r, ***m_cost_vol_right, ***m_cost_vol_backup, ***m_cost_vol_temp;
    qx_nonlocal_cost_aggregation();
    ~qx_nonlocal_cost_aggregation();
    void clean();
	int init(int h,int w,int nr_plane,
		double sigma_range=0.1,
		double max_color_difference=7,
		double max_gradient_difference=2,
		double weight_on_color=0.11
		);
    int matching_cost(int s,unsigned char***left,unsigned char***right);
    int disparity(int s,unsigned char**disparity,int use_nonlocal_post_processing);
private:
	void matching_cost_from_color_and_gradient(int s,unsigned char***left,unsigned char***right);
	void compute_gradient(float**gradient,unsigned char***image);
	void compute_filter_weights(unsigned char***texture);
	void filter(float**image_filtered,float**image,bool compute_weight=true);
private:
	
};
#endif