Exemple #1
1
        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;
            }
        }
Exemple #2
1
        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;
            }
        }