public StereoVisionEdges()
{
algorithm_type = EDGES;
camera = new StereoVisionEdgesCam[2];
for (int cam = 0; cam < 2; cam++)
{
camera[cam] = new StereoVisionEdgesCam();
camera[cam].init(320, 240);
}
}
/// <summary>
/// update stereo correspondence
/// </summary>
/// <param name="left_bmp_colour">rectified left image data</param>
/// <param name="right_bmp_colour">rectified right_image_data</param>
/// <param name="left_bmp">rectified left image data</param>
/// <param name="right_bmp">rectified right_image_data</param>
/// <param name="image_width">width of the image</param>
/// <param name="image_height">height of the image</param>
/// <param name="calibration_offset_x">offset calculated during camera calibration</param>
/// <param name="calibration_offset_y">offset calculated during camera calibration</param>
public override void Update(
byte[] left_bmp_colour, byte[] right_bmp_colour,
byte[] left_bmp, byte[] right_bmp,
int image_width, int image_height,
float calibration_offset_x,
float calibration_offset_y)
{
byte[] rectified_frame_buf;
StereoVisionEdgesCam stereocam = null;
int calib_offset_x = (int)calibration_offset_x;
int calib_offset_y = (int)calibration_offset_y;
for (int cam = 1; cam >= 0; cam--)
{
int no_of_feats = 0;
int no_of_feats_horizontal = 0;
if (cam == 0)
{
rectified_frame_buf = left_bmp_colour;
stereocam = camera[0];
}
else
{
rectified_frame_buf = right_bmp_colour;
stereocam = camera[1];
}
stereocam.imgWidth = (uint)image_width;
stereocam.imgHeight = (uint)image_height;
no_of_feats = stereocam.svs_get_features_vertical(
rectified_frame_buf,
inhibition_radius,
minimum_response,
calib_offset_x,
calib_offset_y);
if (cam == 0)
{
no_of_feats_horizontal = stereocam.svs_get_features_horizontal(
rectified_frame_buf,
inhibition_radius,
minimum_response,
calib_offset_x,
calib_offset_y);
}
calib_offset_x = 0;
calib_offset_y = 0;
}
int matches = camera[0].svs_match(
camera[1],
ideal_no_of_matches,
max_disparity_percent,
learnDesc,
learnLuma,
learnDisp,
learnPrior,
use_priors);
features.Clear();
for (int i = 0; i < matches; i++)
{
features.Add(new StereoFeature(
(float)(camera[0].svs_matches[i * 4 + 1]),
(float)(camera[0].svs_matches[i * 4 + 2]),
(float)(camera[0].svs_matches[i * 4 + 3])));
}
}
