public DepthMapBuilder(ICommandBus commandBus)
{
_commandBus = commandBus;
_emitDelay = TimeSpan.FromMilliseconds(1000.0 / DEPTH_MAP_PER_SECONDS);
_stereoMatcher = StereoBM.Create();
_stereoMatcher.MinDisparity = 4;
_stereoMatcher.NumDisparities = 128;
_stereoMatcher.BlockSize = 21;
_stereoMatcher.SpeckleRange = 16;
_stereoMatcher.SpeckleWindowSize = 45;
}
//窗体初始化
private void DisparityMeasure_Load(object sender, EventArgs e)
{
//初始化BM、SGBM类对象
bmMatch = StereoBM.Create();
sgbmMatch = StereoSGBM.Create(sgbm_minDisparity, sgbm_numofDisparities, sgbm_blockSize, sgbm_P1, sgbm_P2,
sgbm_disp12MaxDiff, sgbm_preFilterCap, sgbm_uniquenessRatio, sgbm_speckleWindowSize,
sgbm_speckleRange, sgbm_Mode);
//初始化定时器
//dmTimer = new System.Threading.Timer(disparitymeTime, null, -1, 50);
timer_disparityMeasure.Enabled = true;
timer_disparityMeasure.Stop();
//计算有效视差区
//初始化BM参数
this.ucTrackBar_preFilterSize.Value = bm_preFilterSize;
this.textBox_preFilterSize.Text = bm_preFilterSize.ToString();
this.ucTrackBar_preFilterCap.Value = bm_preFilterCap;
this.textBox_preFilterCap.Text = bm_preFilterCap.ToString();
this.ucTrackBar_SADWinSize.Value = bm_SADWinSize;
this.textBox_SADWinSize.Text = bm_SADWinSize.ToString();
this.ucTrackBar_minDIsparity.Value = bm_minDisparity;
this.textBox_minDisparity.Text = bm_minDisparity.ToString();
//16倍倍数关系
this.ucTrackBar_numOfDis.Value = bm_numOfDisparities / 16;
this.textBox_numOfDis.Text = bm_numOfDisparities.ToString();
this.ucTrackBar_uniquenessRatio.Value = bm_uniquenessRatio;
this.textBox_uniquenessRatio.Text = bm_uniquenessRatio.ToString();
this.ucTrackBar_textureThre.Value = bm_textureThreshold;
this.textBox_textureThreshold.Text = bm_textureThreshold.ToString();
this.ucTrackBar_speckleWinSize.Value = bm_speckleWinSize;
this.textBox_speckleWinSize.Text = bm_speckleWinSize.ToString();
this.ucTrackBar_speckleRange.Value = bm_speckleRange;
this.textBox_speckleRange.Text = bm_speckleRange.ToString();
this.ucTrackBar_disp12MaxDiff.Value = bm_disp12MaxDiff;
this.textBox_disp12MaxDiff.Text = bm_disp12MaxDiff.ToString();
//初始化SGBM参数
this.numericUpDown_preFilterCap.Value = sgbm_preFilterCap;
this.numericUpDown_sadWinSize.Value = sgbm_blockSize;
this.numericUpDown_minDisparity.Value = sgbm_minDisparity;
this.numericUpDown_numOfDisparities.Value = sgbm_numofDisparities;
this.numericUpDown_p1.Value = sgbm_P1;
this.numericUpDown_p2.Value = sgbm_P2;
this.numericUpDown_uniquenessRatio.Value = sgbm_uniquenessRatio;
this.numericUpDown_disp12MaxDiff.Value = sgbm_disp12MaxDiff;
this.numericUpDown_speckleWinSize.Value = sgbm_speckleWindowSize;
this.numericUpDown_speckcleRange.Value = sgbm_speckleRange;
}
public void SimpleCompute()
{
var left = Image("tsukuba_left.png", ImreadModes.GrayScale);
var right = Image("tsukuba_right.png", ImreadModes.GrayScale);
var sbm = StereoBM.Create();
var disparity = new Mat();
sbm.Compute(left, right, disparity);
/*
* double min, max;
* Cv2.MinMaxLoc(disparity, out min, out max);
*
* var disparityU8 = new Mat();
* disparity.ConvertTo(disparityU8, MatType.CV_8UC1, 255 / (max - min), -255 * min / (max - min));
* Window.ShowImages(disparityU8);
* //*/
}
public void SimpleCompute()
{
var left = Image("tsukuba_left.png", ImreadModes.Grayscale);
var right = Image("tsukuba_right.png", ImreadModes.Grayscale);
var sbm = StereoBM.Create();
var disparity = new Mat();
sbm.Compute(left, right, disparity);
if (Debugger.IsAttached)
{
Cv2.MinMaxLoc(disparity, out double min, out double max);
var disparityU8 = new Mat();
disparity.ConvertTo(disparityU8, MatType.CV_8UC1, 255 / (max - min), -255 * min / (max - min));
Window.ShowImages(disparityU8);
}
}