public Simple3DReconstruction()
{
InitializeComponent();
_left = new Image<Bgr, byte>("left.jpg");
Image<Bgr, Byte> right = new Image<Bgr, byte>("right.jpg");
Image<Gray, Int16> leftDisparityMap;
Computer3DPointsFromImages(_left.Convert<Gray, Byte>(), right.Convert<Gray, Byte>(), out leftDisparityMap, out _points);
//remove some depth outliers
for (int i = 0; i < _points.Length; i++)
{
if (Math.Abs(_points[i].z) >= 1000) _points[i].z = 0;
}
//Display the disparity map
imageBox1.Image = leftDisparityMap;
Osg.Geode geode = new Osg.Geode();
Osg.Geometry geometry = new Osg.Geometry();
int textureSize = 256;
//create and setup the texture
SetTexture(_left.Resize(textureSize, textureSize, Emgu.CV.CvEnum.INTER.CV_INTER_CUBIC), geode);
#region setup the vertices
Osg.Vec3Array vertices = new Osg.Vec3Array();
foreach (MCvPoint3D32f p in _points)
vertices.Add(new Osg.Vec3(-p.x, p.y, p.z));
geometry.setVertexArray(vertices);
#endregion
#region setup the primitive as point cloud
Osg.DrawElementsUInt draw = new Osg.DrawElementsUInt(
(uint)Osg.PrimitiveSet.Mode.POINTS, 0);
for (uint i = 0; i < _points.Length; i++)
draw.Add(i);
geometry.addPrimitiveSet(draw);
#endregion
#region setup the texture coordinates for the pixels
Osg.Vec2Array textureCoor = new Osg.Vec2Array();
foreach (MCvPoint3D32f p in _points)
textureCoor.Add(new Osg.Vec2(p.x / _left.Width + 0.5f, p.y / _left.Height + 0.5f));
geometry.setTexCoordArray(0, textureCoor);
#endregion
geode.addDrawable(geometry);
#region apply the rotation on the scene
Osg.MatrixTransform transform = new Osg.MatrixTransform(
Osg.Matrix.rotate(90.0 / 180.0 * Math.PI, new Osg.Vec3d(1.0, 0.0, 0.0)) *
Osg.Matrix.rotate(180.0 / 180.0 * Math.PI, new Osg.Vec3d(0.0, 1.0, 0.0)));
transform.addChild(geode);
#endregion
viewer3D.Viewer.setSceneData(transform);
viewer3D.Viewer.realize();
}
public void SetData(Image <Gray, byte> left, Image <Gray, byte> right)
{
Image <Gray, short> disparityMap;
Computer3DPointsFromStereoPair(left, right, out disparityMap, out _points);
//Display the disparity map
imageBox1.Image = disparityMap;
Osg.Geode geode = new Osg.Geode();
Osg.Geometry geometry = new Osg.Geometry();
int textureSize = 256;
//create and setup the texture
SetTexture(left.Resize(textureSize, textureSize, Emgu.CV.CvEnum.INTER.CV_INTER_CUBIC), geode);
#region setup the vertices, the primitive and the texture
Osg.Vec3Array vertices = new Osg.Vec3Array();
Osg.DrawElementsUInt draw = new Osg.DrawElementsUInt
((uint)Osg.PrimitiveSet.Mode.POINTS, 0);
Osg.Vec2Array textureCoor = new Osg.Vec2Array();
uint verticesCount = 0;
foreach (MCvPoint3D32f p in _points)
{
//skip the depth outliers
if (Math.Abs(p.z) < 1000)
{
vertices.Add(new Osg.Vec3(-p.x, p.y, p.z));
draw.Add(verticesCount);
textureCoor.Add(new Osg.Vec2(p.x / left.Width + 0.5f, p.y / left.Height + 0.5f));
verticesCount++;
}
}
geometry.setVertexArray(vertices);
geometry.addPrimitiveSet(draw);
geometry.setTexCoordArray(0, textureCoor);
#endregion
geode.addDrawable(geometry);
#region apply the rotation on the scene
//Osg.MatrixTransform transform = new Osg.MatrixTransform
// (Osg.Matrix.rotate(90.0 / 180.0 * Math.PI, new Osg.Vec3d(1.0, 0.0, 0.0)) *
// Osg.Matrix.rotate(180.0 / 180.0 * Math.PI, new Osg.Vec3d(0.0, 1.0, 0.0)));
//transform.addChild(geode);
#endregion
//viewer3D.Viewer.setSceneData(transform);
viewer3D.Viewer.realize();
}
public void SetData(Image<Gray, byte> left, Image<Gray, byte> right)
{
Image<Gray, short> disparityMap;
Computer3DPointsFromStereoPair(left, right, out disparityMap, out _points);
//Display the disparity map
imageBox1.Image = disparityMap;
Osg.Geode geode = new Osg.Geode();
Osg.Geometry geometry = new Osg.Geometry();
int textureSize = 256;
//create and setup the texture
SetTexture(left.Resize(textureSize, textureSize, Emgu.CV.CvEnum.INTER.CV_INTER_CUBIC), geode);
#region setup the vertices, the primitive and the texture
Osg.Vec3Array vertices = new Osg.Vec3Array();
Osg.DrawElementsUInt draw = new Osg.DrawElementsUInt
((uint)Osg.PrimitiveSet.Mode.POINTS, 0);
Osg.Vec2Array textureCoor = new Osg.Vec2Array();
uint verticesCount = 0;
foreach (MCvPoint3D32f p in _points)
{
//skip the depth outliers
if (Math.Abs(p.z) < 1000)
{
vertices.Add(new Osg.Vec3(-p.x, p.y, p.z));
draw.Add(verticesCount);
textureCoor.Add(new Osg.Vec2(p.x / left.Width + 0.5f, p.y / left.Height + 0.5f));
verticesCount++;
}
}
geometry.setVertexArray(vertices);
geometry.addPrimitiveSet(draw);
geometry.setTexCoordArray(0, textureCoor);
#endregion
geode.addDrawable(geometry);
#region apply the rotation on the scene
//Osg.MatrixTransform transform = new Osg.MatrixTransform
// (Osg.Matrix.rotate(90.0 / 180.0 * Math.PI, new Osg.Vec3d(1.0, 0.0, 0.0)) *
// Osg.Matrix.rotate(180.0 / 180.0 * Math.PI, new Osg.Vec3d(0.0, 1.0, 0.0)));
//transform.addChild(geode);
#endregion
//viewer3D.Viewer.setSceneData(transform);
viewer3D.Viewer.realize();
}
public Simple3DReconstruction()
{
InitializeComponent();
_left = new Image <Bgr, byte>("left.jpg");
Image <Bgr, Byte> right = new Image <Bgr, byte>("right.jpg");
Image <Gray, Int16> leftDisparityMap;
Computer3DPointsFromImages(_left.Convert <Gray, Byte>(), right.Convert <Gray, Byte>(), out leftDisparityMap, out _points);
//remove some depth outliers
for (int i = 0; i < _points.Length; i++)
{
if (Math.Abs(_points[i].z) >= 1000)
{
_points[i].z = 0;
}
}
//Display the disparity map
imageBox1.Image = leftDisparityMap;
Osg.Geode geode = new Osg.Geode();
Osg.Geometry geometry = new Osg.Geometry();
int textureSize = 256;
//create and setup the texture
SetTexture(_left.Resize(textureSize, textureSize, Emgu.CV.CvEnum.INTER.CV_INTER_CUBIC), geode);
#region setup the vertices
Osg.Vec3Array vertices = new Osg.Vec3Array();
foreach (MCvPoint3D32f p in _points)
{
vertices.Add(new Osg.Vec3(-p.x, p.y, p.z));
}
geometry.setVertexArray(vertices);
#endregion
#region setup the primitive as point cloud
Osg.DrawElementsUInt draw = new Osg.DrawElementsUInt(
(uint)Osg.PrimitiveSet.Mode.POINTS, 0);
for (uint i = 0; i < _points.Length; i++)
{
draw.Add(i);
}
geometry.addPrimitiveSet(draw);
#endregion
#region setup the texture coordinates for the pixels
Osg.Vec2Array textureCoor = new Osg.Vec2Array();
foreach (MCvPoint3D32f p in _points)
{
textureCoor.Add(new Osg.Vec2(p.x / _left.Width + 0.5f, p.y / _left.Height + 0.5f));
}
geometry.setTexCoordArray(0, textureCoor);
#endregion
geode.addDrawable(geometry);
#region apply the rotation on the scene
Osg.MatrixTransform transform = new Osg.MatrixTransform(
Osg.Matrix.rotate(90.0 / 180.0 * Math.PI, new Osg.Vec3d(1.0, 0.0, 0.0)) *
Osg.Matrix.rotate(180.0 / 180.0 * Math.PI, new Osg.Vec3d(0.0, 1.0, 0.0)));
transform.addChild(geode);
#endregion
viewer3D.Viewer.setSceneData(transform);
viewer3D.Viewer.realize();
}
public Simple3DReconstruction()
{
InitializeComponent();
Image <Bgr, Byte> left = new Image <Bgr, byte>("left.jpg");
Image <Bgr, Byte> right = new Image <Bgr, byte>("right.jpg");
Image <Gray, short> disparityMap;
MCvPoint3D32f[] _points;
Stopwatch watch = Stopwatch.StartNew();
Computer3DPointsFromStereoPair(left.Convert <Gray, Byte>(), right.Convert <Gray, Byte>(), out disparityMap, out _points);
watch.Stop();
long disparityComputationTime = watch.ElapsedMilliseconds;
//Display the disparity map
imageBox1.Image = disparityMap;
watch.Reset(); watch.Start();
Osg.Geode geode = new Osg.Geode();
Osg.Geometry geometry = new Osg.Geometry();
int textureSize = 256;
//create and setup the texture
SetTexture(left.Resize(textureSize, textureSize, Emgu.CV.CvEnum.INTER.CV_INTER_CUBIC), geode);
#region setup the vertices, the primitive and the texture
Osg.Vec3Array vertices = new Osg.Vec3Array();
Osg.DrawElementsUInt draw = new Osg.DrawElementsUInt(
(uint)Osg.PrimitiveSet.Mode.POINTS, 0);
Osg.Vec2Array textureCoor = new Osg.Vec2Array();
uint verticesCount = 0;
foreach (MCvPoint3D32f p in _points)
{
//skip the depth outliers
if (Math.Abs(p.z) < 1000)
{
vertices.Add(new Osg.Vec3(-p.x, p.y, p.z));
draw.Add(verticesCount);
textureCoor.Add(new Osg.Vec2(p.x / left.Width + 0.5f, p.y / left.Height + 0.5f));
verticesCount++;
}
}
geometry.setVertexArray(vertices);
geometry.addPrimitiveSet(draw);
geometry.setTexCoordArray(0, textureCoor);
#endregion
geode.addDrawable(geometry);
#region apply the rotation on the scene
Osg.MatrixTransform transform = new Osg.MatrixTransform(
Osg.Matrix.rotate(90.0 / 180.0 * Math.PI, new Osg.Vec3d(1.0, 0.0, 0.0)) *
Osg.Matrix.rotate(180.0 / 180.0 * Math.PI, new Osg.Vec3d(0.0, 1.0, 0.0)));
transform.addChild(geode);
#endregion
watch.Stop();
Text = String.Format("Disparity and 3D points computed in {0} millseconds. 3D model created in {1} milliseconds",
disparityComputationTime, watch.ElapsedMilliseconds);
viewer3D.Viewer.setSceneData(transform);
viewer3D.Viewer.realize();
}