Use Graph Cut algorithm to find stereo correspondence
Inheritance: DisposableObject
      /// <summary>
      /// Given the left and right image, computer the disparity map and the 3D point cloud.
      /// </summary>
      /// <param name="left">The left image</param>
      /// <param name="right">The right image</param>
      /// <param name="leftDisparityMap">The left disparity map</param>
      /// <param name="points">The 3D point cloud within a [-0.5, 0.5] cube</param>
      private static void Computer3DPointsFromImages(Image<Gray, Byte> left, Image<Gray, Byte> right, out Image<Gray, Int16> leftDisparityMap, out MCvPoint3D32f[] points)
      {
         Size size = left.Size;

         using (Image<Gray, Int16> leftDisparity = new Image<Gray, Int16>(size))
         using (Image<Gray, Int16> rightDisparity = new Image<Gray, Int16>(size))
         using (StereoGC gc = new StereoGC(16, 2))
         {
            gc.FindStereoCorrespondence(left, right, leftDisparity, rightDisparity);

            leftDisparityMap = leftDisparity * (-16);

            float scale = Math.Max(size.Width, size.Height);

            //Construct a simple Q matrix, if you have a matrix from cvStereoRectify, you should use that instead
            using (Matrix<double> q = new Matrix<double>(
               new double[,] {
                  {1.0, 0.0, 0.0, -size.Width/2}, //shift the x origin to image center
                  {0.0, -1.0, 0.0, size.Height/2}, //shift the y origin to image center and flip it upside down
                  {0.0, 0.0, 16.0, 0.0}, //Multiply the z value by 16, 
                  {0.0, 0.0, 0.0, scale}})) //scale the object's corrdinate to within a [-0.5, 0.5] cube
               points = PointCollection.ReprojectImageTo3D(leftDisparity, q);
         }
      }
Ejemplo n.º 2
0
        public void TestStereoGCCorrespondence()
        {
            Image<Gray, Byte> left = new Image<Gray, byte>("left.jpg");
             Image<Gray, Byte> right = new Image<Gray, byte>("right.jpg");
             Image<Gray, Int16> leftDisparity = new Image<Gray, Int16>(left.Size);
             Image<Gray, Int16> rightDisparity = new Image<Gray, Int16>(left.Size);

             StereoGC stereoSolver = new StereoGC(10, 5);
             Stopwatch watch = Stopwatch.StartNew();
             stereoSolver.FindStereoCorrespondence(left, right, leftDisparity, rightDisparity);
             watch.Stop();
             Trace.WriteLine(String.Format("Time used: {0} milliseconds", watch.ElapsedMilliseconds));

             Matrix<double> q = new Matrix<double>(4, 4);
             q.SetIdentity();
             MCvPoint3D32f[] points = PointCollection.ReprojectImageTo3D(leftDisparity * (-16), q);

             float min = (float)1.0e10, max = 0;
             foreach (MCvPoint3D32f p in points)
             {
            if (p.z < min) min = p.z;
            else if (p.z > max) max = p.z;
             }
             Trace.WriteLine(String.Format("Min : {0}\r\nMax : {1}", min, max));

             //ImageViewer.Show(leftDisparity*(-16));
        }
Ejemplo n.º 3
0
      /// <summary>
      /// Given the left and right image, computer the disparity map and the 3D point cloud.
      /// </summary>
      /// <param name="left">The left image</param>
      /// <param name="right">The right image</param>
      /// <param name="leftDisparityMap">The left disparity map</param>
      /// <param name="points">The 3D point cloud within a [-0.5, 0.5] cube</param>
      private static void Computer3DPointsFromImages(Image<Gray, Byte> left, Image<Gray, Byte> right, out Image<Gray, Int16> leftDisparityMap, out MCvPoint3D32f[] points)
      {
         Size size = left.Size;

         using (Image<Gray, Int16> leftDisparity = new Image<Gray, Int16>(size))
         using (Image<Gray, Int16> rightDisparity = new Image<Gray, Int16>(size))
         //using (StereoSGBM stereoSolver = new StereoSGBM(5, 64, 0, 0, 0, 0, 0, 0, 0, 0, false))
         using (StereoGC stereoSolver = new StereoGC(16, 2))
         {
            stereoSolver.FindStereoCorrespondence(left, right, leftDisparity, rightDisparity);
            //stereoSolver.FindStereoCorrespondence(left, right, leftDisparity);

            leftDisparityMap = leftDisparity * (-16);
            //leftDisparityMap = leftDisparity.Clone();

            //Construct a simple Q matrix, if you have a matrix from cvStereoRectify, you should use that instead
            using (Matrix<double> q = new Matrix<double>(
               new double[,] {
                  {1.0, 0.0, 0.0, -size.Width/2}, //shift the x origin to image center
                  {0.0, 1.0, 0.0, -size.Height/2}, //shift the y origin to image center
                  {0.0, 0.0, -16.0, 0.0}, //Multiply the z value by -16, 
                  {0.0, 0.0, 0.0, 1.0}}))
               points = PointCollection.ReprojectImageTo3D(leftDisparity, q);
         }
      }