public Mat ReadDepth( )
{
Mat leftFrame = LeftCamera.ReadOriginal().Remap(LeftMapX, LeftMapY);
Mat rightFrame = RightCamera.ReadOriginal().Remap(RightMapX, RightMapY);
Mat disparity = new Mat();
Stereo.Compute(leftFrame, rightFrame, disparity);
Mat depth = new Mat();
Cv2.ReprojectImageTo3D(disparity, depth, DisparityToDepthMappingMatrix);
return(depth);
}
private void ProcessImages(object sender, EventArgs e)
{
StereoImage <Bgr, byte> image = null;
if (Model.Mode == SourceMode.Camera)
{
if (Controller.CameraIsEnabled())
{
//image = Controller.GeatedStereoImage();
}
}
else
{
if (Model.Image != null)
{
image = Model.Image;
}
}
if (image == null)
{
return;
}
SourceImage.ViewModel.Image = image;
var temp = new StereoImage <Bgr, byte>();
if (ResultImage.ViewModel.ShowLeft)
{
var model = (StereoSgbmModel)_viewModel.SgbmModel.Clone();
model.Image1 = image.LeftImage.Convert <Gray, byte>();
model.Image2 = image.RightImage.Convert <Gray, byte>();
var map = Stereo.Compute(model);
var test = map.Convert <Bgr, byte>();
CvInvoke.ApplyColorMap(test, test, ColorMapType.Rainbow);
temp.LeftImage = test;
test = test.SmoothGaussian(15);
temp.RightImage = test;
}
if (ResultImage.ViewModel.ShowRight)
{
var model = (OpticalFlowModel)_viewModel.FlowModel.Clone();
model.Image1 = image.LeftImage.Convert <Gray, byte>();
model.Image2 = image.RightImage.Convert <Gray, byte>();
var map = OpticalFlow.Compute(model);
temp.RightImage = map.Convert <Bgr, byte>();
if (temp.LeftImage == null)
{
temp.LeftImage = temp.RightImage;
}
}
ResultImage.ViewModel.Image = temp.Convert <Bgr, byte>();
if (_viewModel.SaveImage)
{
if (_viewModel.AllowGrabImage)
{
_viewModel.Images.Add(image);
ImageListBox.Items.Refresh();
}
if (_viewModel.AllowSaveImages)
{
Controller.SaveImages(_viewModel.Images, DateTime.Now.Ticks.ToString());
_viewModel.Images.Clear();
ImageListBox.Items.Refresh();
}
}
}
