/// <summary>
/// perform stereo matching of the given images and save the
/// results with the given filename
/// </summary>
/// <param name="calibration_filename">stereo camera calibration filename</param>
/// <param name="data_filename">file into which disparity data will be saved</param>
/// <param name="image_data">list containing two mono images</param>
/// <param name="image_width">width of the image in pixels</param>
/// <param name="image_height">height of the image in pixels</param>
/// <param name="maximum_disparity_percent">maximum disparity as a percentage of the image width</param>
/// <param name="output_filename">filename to save the depth map as</param>
private static void StereoMatch(string calibration_filename,
string data_filename,
List <byte[]> image_data,
int image_width, int image_height,
int maximum_disparity_percent,
string output_filename)
{
int horizontal_compression = 1;
int vertical_compression = 3;
// an interface to different stereo correspondence algorithms
sentience_stereo_interface stereointerface = new sentience_stereo_interface();
// load calibration data
if (calibration_filename != "")
{
stereointerface.loadCalibration(calibration_filename);
}
//the type of stereo correspondance algorithm to be used
int correspondence_algorithm_type = sentience_stereo_interface.CORRESPONDENCE_CONTOURS;
// load images into the correspondence object
stereointerface.loadImage(image_data[0], image_width, image_height, true, 1);
stereointerface.loadImage(image_data[1], image_width, image_height, false, 1);
// set the quality of the disparity map
stereointerface.setDisparityMapCompression(horizontal_compression, vertical_compression);
// set the maximum disparity as a percentage of the image width
stereointerface.setMaxDisparity(maximum_disparity_percent);
// perform stereo correspondence
stereointerface.stereoMatchRun(0, 8, correspondence_algorithm_type);
// make a bitmap to store the depth map
byte[] depthmap = new byte[image_width * image_height * 3];
stereointerface.getDisparityMap(depthmap, image_width, image_height, 0);
// save disparity data to file
if (data_filename != "")
{
SaveData(data_filename, depthmap, image_width, image_height);
}
if (output_filename != "")
{
// save output as a jpeg
if ((output_filename.ToLower().EndsWith(".jpg")) ||
(output_filename.ToLower().EndsWith(".jpeg")))
{
Bitmap depthmap_bmp = new Bitmap(image_width, image_height, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
BitmapArrayConversions.updatebitmap_unsafe(depthmap, depthmap_bmp);
depthmap_bmp.Save(output_filename, System.Drawing.Imaging.ImageFormat.Jpeg);
}
// save output as a bitmap
if (output_filename.ToLower().EndsWith(".bmp"))
{
Bitmap depthmap_bmp = new Bitmap(image_width, image_height, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
BitmapArrayConversions.updatebitmap_unsafe(depthmap, depthmap_bmp);
depthmap_bmp.Save(output_filename, System.Drawing.Imaging.ImageFormat.Bmp);
}
// save output as a pgm
if (output_filename.ToLower().EndsWith(".pgm"))
{
image.saveToPGM(depthmap, image_width, image_height, output_filename);
}
}
}
