Merge pull request #4 from Scoobadood/master

Enable running in batch mode.

README.txt

@@ -44,7 +44,6 @@ Both apps can read command line arguments. By adding the argument "--help" you w
 
 The coarsest level of the pyramid is always 15 x 20, so the total number of coarse-to-fine levels will depend on the parameter "rows". By default, rows = 240.
 
-
 The images that "Scene-Flow-Impair" reads can be specified on the command line 
 
 --i1 <filename> : The file name of the first intensity image. Defaults to i1.png
@@ -72,6 +71,8 @@ Scene-Flow_Impair writes outputs to two files, a text version containing the ful
                   The results will be written to <root>_resultsNN.txt and root_representationNN.png 
                   where NN is a two digit number.
 
+--no-show       : Supresses display of images so that the code can be run in batch mode. Output files are still generated
+
 
 The algorithm convergence is set to a fixed number of iterations at each level of the coarse-to-fine scheme, and depends on the amount of levels and the level itself. If necessary, it can be changed by modifying the variable num_max_iter[].
 

main_scene_flow_impair.cpp

@@ -39,6 +39,7 @@ struct Launch_args {
     const char      *depth_filename_1;
     const char      *depth_filename_2;
     const char      *output_filename_root;
+    bool            no_show;
 };
 
 /**
@@ -63,6 +64,7 @@ bool parse_arguments( int num_arg, char *argv[], Launch_args& args) {
 	args.depth_filename_1 = "z1.png";
 	args.depth_filename_2 = "z2.png";
 	args.output_filename_root = "pdflow";
+	args.no_show = false;
 
 	// Now check what's provided
 	bool parsed_ok = true;
@@ -113,6 +115,8 @@ bool parse_arguments( int num_arg, char *argv[], Launch_args& args) {
 			} else {
 				parsed_ok = false;
 			}
+		} else if ( strcmp( "--no-show", argv[arg_idx]) == 0 ) {
+			args.no_show = true;
 		} else {
 			parsed_ok = false;
 			break;
@@ -140,11 +144,12 @@ int main(int num_arg, char *argv[])
 		printf(" --help: Shows this menu... \n\n");
 		printf(" --rows r: Number of rows at the finest level of the pyramid. \n");
 		printf("\t   Options: r=15, r=30, r=60, r=120, r=240, r=480 (if VGA)\n");
- 		printf(" --i1 <filename> The first RGB image file name. Defaults to i1.png\n" );
- 		printf(" --i2 <filename> The second RGB image file name. Defaults to i2.png\n" );
- 		printf(" --z1 <filename> The first depth image file name. Defaults to z1.png\n" );
- 		printf(" --z2 <filename> The second depth image file name. Defaults to z2.png\n" );
- 		printf(" --out <filename> The output file name root. Omit file extension. Defaults to pdflow\n" );
+ 		printf(" --i1 <filename> : The first RGB image file name. Defaults to i1.png\n" );
+ 		printf(" --i2 <filename> : The second RGB image file name. Defaults to i2.png\n" );
+ 		printf(" --z1 <filename> : The first depth image file name. Defaults to z1.png\n" );
+ 		printf(" --z2 <filename> : The second depth image file name. Defaults to z2.png\n" );
+ 		printf(" --out <filename>: The output file name root. Omit file extension. Defaults to pdflow\n" );
+ 		printf(" --no-show       : Don't show the output results. Useful for batch processing\n");
         getwchar();
 		return 1;
 	}
@@ -167,9 +172,17 @@ int main(int num_arg, char *argv[])
 
 	if (imloaded == 1)
 	{
-		sceneflow.showImages();	
+		if( args.no_show == false ) 
+		{
+			sceneflow.showImages();	
+		}
 		sceneflow.solveSceneFlowGPU();
-		sceneflow.showAndSaveResults();
+		if( args.no_show ) {
+			cv::Mat image = sceneflow.createImage( );
+			sceneflow.saveResults( image );
+		} else {
+			sceneflow.showAndSaveResults();
+		}
 		sceneflow.freeGPUMemory();
         printf("\nPush any key over the scene flow image to finish\n");
 	}

scene_flow_impair.cpp

@@ -174,11 +174,8 @@ void PD_flow_opencv::freeGPUMemory()
 
 void PD_flow_opencv::initializeCUDA()
 {
- 	char name[100];
-
 	//Read one image to know the image resolution
-	sprintf(name, "i1.png");
-	intensity1 = cv::imread(name, CV_LOAD_IMAGE_GRAYSCALE);
+	intensity1 = cv::imread(intensity_filename_1, CV_LOAD_IMAGE_GRAYSCALE);
 
 	width = intensity1.cols;
 	height = intensity1.rows;
@@ -281,7 +278,8 @@ bool PD_flow_opencv::loadRGBDFrames()
 	return 1;
 }
 
-void PD_flow_opencv::showAndSaveResults( )
+// Create the image
+cv::Mat PD_flow_opencv::createImage() const
 {
 	//Save scene flow as an RGB image (one colour per direction)
 	cv::Mat sf_image(rows, cols, CV_8UC3);
@@ -308,13 +306,14 @@ void PD_flow_opencv::showAndSaveResults( )
             sf_image.at<cv::Vec3b>(v,u)[2] = static_cast<unsigned char>(255.f*fabs(dzp[v + u*rows])/maxmodz); //Red - z
 		}
 
-	//Show the scene flow as an RGB image	
-	cv::namedWindow("SceneFlow", cv::WINDOW_NORMAL);
-    cv::moveWindow("SceneFlow",width - cols/2,height - rows/2);
-	cv::imshow("SceneFlow", sf_image);
-	cv::waitKey(100000);
-
+	return sf_image;
+}
 
+/**
+ * Save results without displaying them
+ */
+void PD_flow_opencv::saveResults( const cv::Mat& sf_image ) const
+{
 	//Save the scene flow as a text file 
 	char	name[500];
 	int     nFichero = 0;
@@ -349,3 +348,17 @@ void PD_flow_opencv::showAndSaveResults( )
 	printf("Saving the visual representation to file: %s \n", name);
 	cv::imwrite(name, sf_image);
 }
+
+
+void PD_flow_opencv::showAndSaveResults( )
+{
+	cv::Mat sf_image = createImage( );
+
+	//Show the scene flow as an RGB image	
+	cv::namedWindow("SceneFlow", cv::WINDOW_NORMAL);
+    cv::moveWindow("SceneFlow",width - cols/2,height - rows/2);
+	cv::imshow("SceneFlow", sf_image);
+	cv::waitKey(100000);
+
+	saveResults( sf_image );
+}

scene_flow_impair.h

@@ -102,6 +102,8 @@ class PD_flow_opencv {
     void freeGPUMemory();
     void initializeCUDA();
 	void showImages();
+    cv::Mat createImage() const;
+    void saveResults( const cv::Mat& image) const;
 	void showAndSaveResults();
 
     PD_flow_opencv( unsigned int rows_config,