private void Computer3DPointsFromStereoPair(Image <Gray, Byte> left, Image <Gray, Byte> right, out Image <Gray, short> disparityMap, out MCvPoint3D32f[] points)
{
Size size = left.Size;
disparityMap = new Image <Gray, short>(size);
//using (StereoSGBM stereoSolver = new StereoSGBM(5, 64, 0, 0, 0, 0, 0, 0, 0, 0, false))
stereoSolver.FindStereoCorrespondence(left, right, disparityMap);
//Construct a simple Q matrix, if you have a matrix from cvStereoRectify, you should use that instead
points = PointCollection.ReprojectImageTo3D(disparityMap, Q);
}
/// <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="disparityMap">The left disparity map</param>
/// <param name="points">The 3D point cloud within a [-0.5, 0.5] cube</param>
private static void Computer3DPointsFromStereoPair(Image <Gray, Byte> left, Image <Gray, Byte> right, out Image <Gray, short> disparityMap, out MCvPoint3D32f[] points)
{
Size size = left.Size;
disparityMap = new Image <Gray, short>(size);
//using (StereoSGBM stereoSolver = new StereoSGBM(5, 64, 0, 0, 0, 0, 0, 0, 0, 0, false))
using (StereoBM stereoSolver = new StereoBM(Emgu.CV.CvEnum.STEREO_BM_TYPE.BASIC, 0))
{
stereoSolver.FindStereoCorrespondence(left, right, disparityMap);
//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, 1.0, 0.0 }, //Multiply the z value by 1.0,
{ 0.0, 0.0, 0.0, 1.0 }
}))
points = PointCollection.ReprojectImageTo3D(disparityMap, q);
}
}
