private Image<Gray, short> GetDispMap(VideoSource.StereoFrameSequenceElement stereoFrame)
{
int numDisparities = GetSliderValue(Num_Disparities);
int minDispatities = GetSliderValue(Min_Disparities);
int SAD = GetSliderValue(SAD_Window);
int P1 = 8 * 1 * SAD * SAD;//GetSliderValue(P1_Slider);
int P2 = 32 * 1 * SAD * SAD;//GetSliderValue(P2_Slider);
int disp12MaxDiff = GetSliderValue(Disp12MaxDiff);
int PreFilterCap = GetSliderValue(pre_filter_cap);
int UniquenessRatio = GetSliderValue(uniquenessRatio);
int SpeckleWindow = GetSliderValue(Speckle_Window);
int SpeckleRange = GetSliderValue(specklerange);
using (var gpuSBM = new Emgu.CV.GPU.GpuStereoBM(numDisparities, SAD))
using (StereoSGBM stereoSolver = new StereoSGBM(
minDisparity: minDispatities,
numDisparities: numDisparities,
blockSize: SAD,
p1: P1,
p2: P2,
disp12MaxDiff: disp12MaxDiff,
preFilterCap: PreFilterCap,
uniquenessRatio: UniquenessRatio,
speckleRange: SpeckleRange,
speckleWindowSize: SpeckleWindow,
mode: StereoSGBM.Mode.SGBM
))
using (var leftImg = new Image<Gray, byte>(stereoFrame.LeftRawFrame))
using (var rightImg = new Image<Gray, byte>(stereoFrame.RightRawFrame))
using (var dispImg = new Image<Gray, short>(leftImg.Size))
using (var gpuLeftImg = new Emgu.CV.GPU.GpuImage<Gray, byte>(leftImg))
using (var gpuRightImg = new Emgu.CV.GPU.GpuImage<Gray, byte>(rightImg))
using (var gpuDispImg = new Emgu.CV.GPU.GpuImage<Gray, byte>(leftImg.Size))
{
var dispMap = new Image<Gray, short>(leftImg.Size);
//CPU
//stereoSolver.FindStereoCorrespondence(leftImg, rightImg, dispImg);
//dispMap = dispImg.Convert<Gray, short>();
//
//GPU
gpuSBM.FindStereoCorrespondence(gpuLeftImg, gpuRightImg, gpuDispImg, null);
dispMap = gpuDispImg.ToImage().Convert<Gray, short>();
//
return dispMap;
}
}
private MCvPoint3D32f[] Get3DFeatures(StereoCameraParams stereoParams, VideoSource.StereoFrameSequenceElement stereoFrame, out Image<Gray, short> disparityImg)
{
using (var gpuSBM = new Emgu.CV.GPU.GpuStereoBM(128, 19))
using (StereoSGBM stereoSolver = new StereoSGBM(
minDisparity: 0,
numDisparities: 32,
blockSize: 0,
p1: 0,
p2: 0,
disp12MaxDiff: 0,
preFilterCap: 0,
uniquenessRatio: 0,
speckleRange: 0,
speckleWindowSize: 0,
mode: StereoSGBM.Mode.HH
))
using (var leftImg = new Image<Gray, byte>(stereoFrame.LeftRawFrame))
using (var rightImg = new Image<Gray, byte>(stereoFrame.RightRawFrame))
using (var dispImg = new Image<Gray, short>(leftImg.Size))
using (var gpuLeftImg = new Emgu.CV.GPU.GpuImage<Gray, byte>(leftImg))
using (var gpuRightImg = new Emgu.CV.GPU.GpuImage<Gray, byte>(rightImg))
using (var gpuDispImg = new Emgu.CV.GPU.GpuImage<Gray, byte>(leftImg.Size))
{
var dispMap = new Image<Gray, short>(leftImg.Size);
//CPU
//stereoSolver.FindStereoCorrespondence(leftImg, rightImg, dispImg);
//dispMap = dispImg.Convert<Gray, short>();
//
//GPU
gpuSBM.FindStereoCorrespondence(gpuLeftImg, gpuRightImg, gpuDispImg, null);
dispMap = gpuDispImg.ToImage().Convert<Gray, short>();
//
var points = PointCollection.ReprojectImageTo3D(dispMap, stereoParams.Q);
disparityImg = dispMap;
return points;
}
}