matlab双目图计算深度图

/********************************************************************* * filtered = modefilt2_mex(img,win,ignore) * * Each pixel in the output gets the mode of its neighbors in the input. * The local neighborhood is defined by <win>. Also, numbers below ignore * are not considered when computing the modes. * * Inputs: * > img: 2D double matrix holding only positive integers (I know) * > win: [x_window_radius, y_window_radius] * > ignore: minimum value of pixels to consider (0 to consider all pixels) * * Outputs: * > filtered: 2D double matrix size(img) with filter result. * * * Coded by: Shawn Lankton, April 2008, (www.shawnlankton.com) * ********************************************************************/ #include <matrix.h> #include <mex.h> /* Definitions to keep compatibility with earlier versions of ML */ #ifndef MWSIZE_MAX typedef int mwSize; typedef int mwIndex; typedef int mwSignedIndex; #if (defined(_LP64) || defined(_WIN64)) && !defined(MX_COMPAT_32) /* Currently 2^48 based on hardware limitations */ # define MWSIZE_MAX 281474976710655UL # define MWINDEX_MAX 281474976710655UL # define MWSINDEX_MAX 281474976710655L # define MWSINDEX_MIN -281474976710655L #else # define MWSIZE_MAX 2147483647UL # define MWINDEX_MAX 2147483647UL # define MWSINDEX_MAX 2147483647L # define MWSINDEX_MIN -2147483647L #endif #define MWSIZE_MIN 0UL #define MWINDEX_MIN 0UL #endif double max(double a,double b){ if(a>b) return a; return b;} double min(double a,double b){ if(a<b) return a; return b;} void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) { //declare variables mxArray *img_in_m, *win_in_m, *ignore_in_m, *f_out_m; const mwSize *dims; double *img, *win, *ignore, *f; int dimx, dimy, numdims,idx,ign; int i,j,k,l,m,cl,cu,rl,ru; double pen[256]; double mode,penmax; //associate inputs img_in_m = mxDuplicateArray(prhs[0]); win_in_m = mxDuplicateArray(prhs[1]); ignore_in_m = mxDuplicateArray(prhs[2]); //figure out dimensions dims = mxGetDimensions(prhs[0]); numdims = mxGetNumberOfDimensions(prhs[0]); dimy = (int)dims[0]; dimx = (int)dims[1]; //associate outputs f_out_m = plhs[0] = mxCreateDoubleMatrix(dimy,dimx,mxREAL); //associate pointers img = mxGetPr(img_in_m); win = mxGetPr(win_in_m); ignore = mxGetPr(ignore_in_m); f = mxGetPr(f_out_m); //main program ign = int(ignore[0]); // ignore pixels below this value for(i=0;i<dimx;i++) // for every pixel { for(j=0;j<dimy;j++) { for(m=0;m<256; m++) pen[m]=0; // zero out bins mode = 0; penmax = 0; // clear mode and max bin count rl = max(0,i-win[0]); // set up local windows ru = min(dimx,i+win[0]); cl = max(0,j-win[1]); cu = min(dimy,j+win[1]); for(k=rl;k<ru;k++) // for every pixel in local window { for(l=cl;l<cu;l++) { idx = int(img[k*dimy+l]); // get bin number if(idx<ign) continue; // assume bad pixels if below ign pen[idx]++; // increment bin count if(pen[idx]>penmax) // if its a new mode { penmax = pen[idx]; // update bin count max mode = idx; // update mode } } } f[i*dimy+j]=mode; // set output pixel to mode from window } } return; }