public void LoadFromFile(Stream file, string path)
{
XmlDocument dataDoc = new XmlDocument();
dataDoc.Load(file);
_pointList.Clear();
XmlNodeList points = dataDoc.GetElementsByTagName("Point");
foreach(XmlNode pointNode in points)
{
Camera3DPoint point = new Camera3DPoint();
var imgx = pointNode.Attributes["imgx"];
if(imgx != null)
point.Cam1Img.X = double.Parse(imgx.Value);
var imgy = pointNode.Attributes["imgy"];
if(imgy != null)
point.Cam1Img.Y = double.Parse(imgy.Value);
var realx = pointNode.Attributes["realx"];
if(imgy != null)
point.Real.X = double.Parse(realx.Value);
var realy = pointNode.Attributes["realy"];
if(realy != null)
point.Real.Y = double.Parse(realy.Value);
var realz = pointNode.Attributes["realz"];
if(realz != null)
point.Real.Z = double.Parse(realz.Value);
_pointList.Add(point);
}
}
private void CrossCheckMatches()
{
MatchedPoints = new List<CamCore.Camera3DPoint>();
int y, x;
int ps2 = _patchSize / 2;
double disp_xl, disp_yl, disp_xr, disp_yr;
for (y = ps2; y < FinalSizeY - ps2; ++y)
{
for (x = ps2; x < FinalSizeX - ps2; ++x)
{
if(_leftDisparities[0][y,x] > 0) // if point matched
{
disp_xl = _leftDisparities[1][y, x];
disp_yl = _leftDisparities[2][y, x];
disp_xr = _rightDisparities[1][y + (int)disp_yl, x + (int)disp_xl];
disp_yr = _rightDisparities[2][y + (int)disp_yl, x + (int)disp_xl];
if(Math.Abs((disp_xl+disp_xr)) + Math.Abs(disp_yl+disp_yr) <= 2)
{
CamCore.Camera3DPoint matchedPoint = new CamCore.Camera3DPoint()
{
Cam1Img = new Vector2(x, y),
Cam2Img = new Vector2(x + (disp_xl - disp_xr) / 2, y + (disp_yl - disp_yr) / 2)
};
MatchedPoints.Add(matchedPoint);
}
}
}
}
}
private void AddPoint(object sender, RoutedEventArgs e)
{
Camera3DPoint point = new Camera3DPoint();
_pointList.Add(point);
}
private void MatchFeatures()
{
int y, x;
double bestMatch, match;
CamCore.Camera3DPoint matchPoint = new CamCore.Camera3DPoint();
int ps2 = _patchSize / 2;
// For each point in feature map check if theres feature
// if yes then find best match
for(y = ps2; y < FinalSizeY - ps2; ++y)
{
for(x = ps2; x < FinalSizeX - ps2; ++x)
{
if(!(_leftFeatureMap[y, x] > 0.0f))
continue;
bestMatch = 0.0f;
matchPoint.Cam1Img = new Vector2(x, y);
int dxMax, dxMin, dyMax, dyMin, dx, dy;
// Search boundaries such as not to exceed image dimensions
dxMin = 0;
dxMax = Math.Min(_maxDispX, -x + FinalSizeX - ps2 - 1);
dyMin = Math.Max(-_maxDispY, -y + ps2 + 1);
dyMax = Math.Min(_maxDispY, -y + FinalSizeY - ps2 - 1);
// In expected disparity area find corners and compare patches
_leftPatch.StartCol = x - ps2;
_leftPatch.StartRow = y - ps2;
for(dx = dxMin; dx <= dxMax; dx++)
{
for(dy = dyMin; dy <= dyMax; dy++)
{
if((_rightFeatureMap[y + dy, x + dx] > 0.0f))
{
_rightPatch.StartCol = x + dx - ps2;
_rightPatch.StartRow = y + dy - ps2;
match = _corrComputer(_leftPatch, _rightPatch, 1.3f * _LoG_sigma);
if(match > bestMatch)
{
bestMatch = match;
matchPoint.Cam2Img = new Vector2(x + dx, y + dy);
}
}
}
}
if(bestMatch > _t_match)
{
MatchedPoints.Add(matchPoint);
matchPoint = new CamCore.Camera3DPoint();
}
}
}
}
