public StructuredLight(System.Drawing.Size size, bool xaxis = false, bool yaxis = true, bool inversePattern = true)//horizonal codes for disparity-gating
{
var cvSize = new OpenCvSharp.Size(size.Width, size.Height);
code = new XorCode(cvSize, xaxis, yaxis, inversePattern);
Calib = new DisparityCalibration();
}
static void Main(string[] args)
{
// test code for disparity measurement
var code = new XorCode(new Size(1280, 1024), true, false, false);
var patterns = code.GeneratePatterns();
var roi = new Rect(0, 231, 929, 591);
var imgs = Enumerable.Range(0, 11)
.Select(i => Cv2.ImRead($"board/code_{i}.png", ImreadModes.Unchanged))
.Select(i => new Mat(i, roi))
.ToArray();
var calib = new DisparityCalibration();
var decoded = code.Decode(imgs);
Cv2.ImWrite("decoded2.png", decoded[0] * 0.1);
var disparity = code.CovertToDisparity(decoded[0], calib);
Cv2.ImShow("disparity", disparity * 0.002f);
Cv2.WaitKey();
var dispArr = new float[disparity.Height][];
for (int i = 0; i < disparity.Height; i++)
{
dispArr[i] = new float[disparity.Width];
for (int j = 0; j < disparity.Width; j++)
{
dispArr[i][j] = disparity.At <float>(i, j);
}
}
File.WriteAllLines(@"tmp.txt", dispArr.Select(s => String.Join(" ", s)));
//disparity.ConvertTo(disparity, MatType.CV_32FC1);
// test code for calibration
//var roi = new Rect(0, 231, 929, 591);
//var imgs = Enumerable.Range(0, 22)
// .Select(i => Cv2.ImRead($"board/code_{i}.png", ImreadModes.Unchanged))
// .Select(i => new Mat(i, roi))
// .ToArray();
//var structuredLight = StructuredLight.CalibrationSetup(new System.Drawing.Size(1280, 1024));
//for (int i = 0; i < imgs.Length; i++)
//{
// imgs[i].ConvertTo(imgs[i], MatType.CV_32FC1);
//}
//structuredLight.Calibrate2(440, 80, 1612, 1280, 1024, imgs);
//structuredLight.Calib.Save();
//var code = new XorCode(new Size(1280, 1024), true, false, true);
//var decoded = code.Decode(imgs);
//var disparity = XorCode.CovertToDisparity(decoded[0], structuredLight.Calib);
//Cv2.ImShow("disparity", disparity * 0.001f);
//Cv2.WaitKey();
}
public override Mat CovertToDisparity(Mat decoded, DisparityCalibration calib)
{
var imgSize = decoded.Size();
Mat disparity = new Mat(imgSize, MatType.CV_32FC1);
for (int y = 0; y < imgSize.Height; y++)
{
for (int x = 0; x < imgSize.Width; x++)
{
var v = decoded.At <float>(y, x);
if (v < 0)
{
disparity.Set(y, x, -1f);
}
else
{
var d = calib.Warp(v, y) - x;
disparity.Set(y, x, (float)d);
}
}
}
return(disparity);
}
public virtual Mat CovertToDisparity(Mat decoded, DisparityCalibration calib) => throw new NotImplementedException();