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;
}
}
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;
}
}
public Image<Gray, short> GetDispMapCPU(Image<Gray, byte> leftImg, Image<Gray, byte> rightImg, DispMapFounderParameters parameters)
{
var ap = (StereoSGBMDispMapFounderParameters)parameters;
using (StereoSGBM sgbm = new StereoSGBM(
minDisparity: ap.MinDisparity,
numDisparities: ap.NumDisparities,
blockSize: ap.BlockSize,
p1: ap.P1,
p2: ap.P2,
disp12MaxDiff: ap.Disp12MaxDiff,
preFilterCap: ap.PreFilterCap,
uniquenessRatio: ap.UniquenessRatio,
speckleWindowSize: ap.SpeckleWindowSize,
speckleRange: ap.SpeckleRange,
mode: ap.Mode))
//using (var leftProcessImg = leftImg.Copy())
//using (var rightProcessImg = rightImg.Copy())
{
var leftProcessImg = leftImg;
var rightProcessImg = rightImg;
var dispMap = new Image<Gray, short>(leftProcessImg.Size);
//TODO: dirty hack
try
{
sgbm.FindStereoCorrespondence(leftProcessImg, rightProcessImg, dispMap);
}
catch
{
}
return dispMap;
}
}
private Image<Gray, short> FindDisparity1(Image<Bgr, Byte> image1, Image<Bgr, Byte> image2)
{
var disparity = new Image<Gray, short>(image1.Size);
using (
StereoSGBM stereoSolver = new StereoSGBM(-(int)minDispSlider_.Value, (int)numDispSlider_.Value, (int)sadWindowSizeSlider_.Value, (int)p1Slider_.Value, (int)p2Slider_.Value,
(int)disp12MaxDiffSlider_.Value, (int)preFilterCapSlider_.Value, (int)uniquenessRatioSlider_.Value, (int)speckleWindowSizeSlider_.Value, (int)speckleRangeSlider_.Value, StereoSGBM.Mode.SGBM)
)
{
stereoSolver.FindStereoCorrespondence(image1.Convert<Gray, Byte>(), image2.Convert<Gray, Byte>(),
disparity);
}
return disparity;
}
public static Func<Bitmap> Go(uint w,uint h, byte[] one, byte[] two)
{
GCHandle gchOne = default(GCHandle), gchTwo = default(GCHandle);
try {
gchOne = GCHandle.Alloc(one,GCHandleType.Pinned);
var ptrOne = gchOne.AddrOfPinnedObject();
gchTwo = GCHandle.Alloc(two,GCHandleType.Pinned);
var ptrTwo = gchTwo.AddrOfPinnedObject();
var l_image = new Image<Gray,short>((int)w,(int)h,1,ptrOne)
.Resize(0.25,Emgu.CV.CvEnum.INTER.CV_INTER_LINEAR);
var r_image = new Image<Gray,short>((int)w,(int)h,1,ptrTwo)
.Resize(0.25,Emgu.CV.CvEnum.INTER.CV_INTER_LINEAR);
var disparity = new Image<Gray, short>(l_image.Size);
using (StereoSGBM stereoSolver = new StereoSGBM(
Config.MinDisparity
,Config.NumDisparities
,Config.SADWindowSize
,Config.P1
,Config.P2
,Config.Disp12MaxDiff
,Config.PreFilterCap
,Config.UniquenessRatio
,Config.SpeckleWindowSize
,Config.SpeckleRange
,StereoSGBM.Mode.SGBM
)) {
stereoSolver.FindStereoCorrespondence(
l_image.Convert<Gray, byte>()
,r_image.Convert<Gray, byte>()
,disparity
);
}
//make it lazy so that it don't have to copy it twice
return () => disparity.Bitmap;
}
finally {
if (gchOne.IsAllocated) { gchOne.Free(); }
if (gchTwo.IsAllocated) { gchTwo.Free(); }
}
}
public static Image<Gray, byte> Compute(StereoSgbmModel model)
{
var disparity = new Image<Gray, short>(model.Image1.Size);
using (var stereoSolver = new StereoSGBM(
model.MinDisparity,
model.NumDisparity,
model.SadWindowSize,
model.P1,
model.P2,
model.Disparity12MaxDiff,
model.PreFilterCap,
model.UniquenessRatio,
model.SpeckleWindowSize,
model.SpeckleRange,
model.Mode))
{
stereoSolver.FindStereoCorrespondence(model.Image1, model.Image2, disparity);
}
return disparity.Convert<Gray, byte>();
}
public void TestStereoSGBMCorrespondence()
{
Image<Gray, Byte> left = new Image<Gray, byte>("left.jpg");
Image<Gray, Byte> right = new Image<Gray, byte>("right.jpg");
Size size = left.Size;
Image<Gray, Int16> disparity = new Image<Gray, Int16>(size);
StereoSGBM bm = new StereoSGBM(10, 64, 0, 0, 0, 0, 0, 0, 0, 0, false);
Stopwatch watch = Stopwatch.StartNew();
bm.FindStereoCorrespondence(left, right, disparity);
watch.Stop();
Trace.WriteLine(String.Format("Time used: {0} milliseconds", watch.ElapsedMilliseconds));
Matrix<double> q = new Matrix<double>(4, 4);
q.SetIdentity();
MCvPoint3D32f[] points = PointCollection.ReprojectImageTo3D(disparity * (-16), q);
float min = (float)1.0e10, max = 0;
foreach (MCvPoint3D32f p in points)
{
if (p.z < min) min = p.z;
else if (p.z > max) max = p.z;
}
Trace.WriteLine(String.Format("Min : {0}\r\nMax : {1}", min, max));
}
internal extern static IntPtr CvStereoSGBMCreate(
int minDisparity, int numDisparities, int blockSize,
int P1, int P2, int disp12MaxDiff,
int preFilterCap, int uniquenessRatio,
int speckleWindowSize, int speckleRange,
StereoSGBM.Mode mode, ref IntPtr stereoMatcher);
public void TestStereoSGBMCorrespondence()
{
Image<Gray, Byte> left = EmguAssert.LoadImage<Gray, byte>("aloeL.jpg");
Image<Gray, Byte> right = EmguAssert.LoadImage<Gray, byte>("aloeR.jpg");
Size size = left.Size;
Image<Gray, Int16> disparity = new Image<Gray, Int16>(size);
StereoSGBM bm = new StereoSGBM(10, 64, 0, 0, 0, 0, 0, 0, 0, 0, StereoSGBM.Mode.SGBM);
Stopwatch watch = Stopwatch.StartNew();
bm.Compute(left, right, disparity);
watch.Stop();
EmguAssert.WriteLine(String.Format("Time used: {0} milliseconds", watch.ElapsedMilliseconds));
Matrix<double> q = new Matrix<double>(4, 4);
q.SetIdentity();
Image<Gray, Int16> disparityScaled = disparity * (-16);
MCvPoint3D32f[] points = PointCollection.ReprojectImageTo3D(disparityScaled.Mat, q);
float min = (float) 1.0e10, max = 0;
foreach (MCvPoint3D32f p in points)
{
if (p.Z < min)
min = p.Z;
else if (p.Z > max)
max = p.Z;
}
EmguAssert.WriteLine(String.Format("Min : {0}\r\nMax : {1}", min, max));
}
/// <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 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);
int P1 = 8 * 1 * Calibration.SAD * Calibration.SAD;//GetSliderValue(P1_Slider);
int P2 = 32 * 1 * Calibration.SAD * Calibration.SAD;//GetSliderValue(P2_Slider);
using (StereoSGBM stereoSolver = new StereoSGBM(
Calibration.MinDisparities,
Calibration.NumDisparities,
Calibration.SAD,
P1,
P2,
Calibration.MaxDiff,
Calibration.PrefilterCap,
Calibration.UniquenessRatio,
Calibration.Speckle,
Calibration.SpeckleRange,
Calibration.DisparityMode))
//using (StereoBM stereoSolver = new StereoBM(Emgu.CV.CvEnum.STEREO_BM_TYPE.BASIC, 0))
{
stereoSolver.FindStereoCorrespondence(left, right, disparityMap);//Computes the disparity map using:
/*GC: graph cut-based algorithm
BM: block matching algorithm
SGBM: modified H. Hirschmuller algorithm HH08*/
points = PointCollection.ReprojectImageTo3D(disparityMap, Calibration.Q); //Reprojects disparity image to 3D space.
}
}
private void OnParametersChanged(object sender, System.EventArgs e)
{
algorithm = new StereoSGBM(configuration.MinDisparity, configuration.NumDisparities,
configuration.BlockSize, configuration.P1, configuration.P2, configuration.Disp12MaxDiff,
configuration.PreFilterCap, configuration.UniquenessRatio);
}
/// <summary>
/// Given the left and right image, computer the disparity map and the 3D point cloud.
/// </summary>
/// <param name="leftImage">Left image</param>
/// <param name="rightImage">Right image</param>
/// <param name="disparityMap">Left disparity map</param>
/// <param name="points">The 3D point cloud within a [-0.5, 0.5] cube</param>
private void Computer3DPointsFromStereoPair(Image<Gray, Byte> leftImage, Image<Gray, Byte> rightImage, out Image<Gray, short> disparityMap, out MCvPoint3D32f[] points)
{
// Create disparity map.
disparityMap = new Image<Gray, short>(leftImage.Size);
// This is maximum disparity minus minimum disparity.
// Always greater than 0. In the current implementation this parameter must be divisible by 16.
int numDisparities = this.GetSliderValue(this.trbDisparities);
// The minimum possible disparity value. Normally it is 0,
// but sometimes rectification algorithms can shift images,
// so this parameter needs to be adjusted accordingly.
int minDispatities = this.GetSliderValue(this.trbMinDisparities);
// The matched block size. Must be an odd number >=1.
// Normally, it should be somewhere in 3..11 range.
int SAD = this.GetSliderValue(this.trbSADWindow);
// П1, P2 – Parameters that control disparity smoothness. The larger the values, the smoother the disparity.
// P1 is the penalty on the disparity change by plus or minus 1 between neighbor pixels.
// P2 is the penalty on the disparity change by more than 1 between neighbor pixels.
// The algorithm requires P2 > P1 .
// See stereo_match.cpp sample where some reasonably good P1 and P2 values are shown
// (like 8 * number_of_image_channels * SADWindowSize * SADWindowSize and 32 * number_of_image_channels * SADWindowSize*SADWindowSize , respectively).
int P1 = 8 * 1 * SAD * SAD;
int P2 = 32 * 1 * SAD * SAD;
// Maximum allowed difference (in integer pixel units) in the left-right disparity check.
// Set it to non-positive value to disable the check.
int disp12MaxDiff = GetSliderValue(trbDisp12MaxDiff);
// Truncation value for the prefiltered image pixels.
// The algorithm first computes x-derivative at each pixel and clips its value by [-preFilterCap, preFilterCap] interval.
// The result values are passed to the Birchfield-Tomasi pixel cost function.
int PreFilterCap = GetSliderValue(trbPreFilterCap);
// The margin in percents by which the best (minimum) computed cost function value
// should “win” the second best value to consider the found match correct.
// Normally, some value within 5-15 range is good enough*/
int UniquenessRatio = GetSliderValue(trbUniquenessRatio);
// Maximum disparity variation within each connected component.
// If you do speckle filtering, set it to some positive value, multiple of 16.
// Normally, 16 or 32 is good enough*/
int Speckle = GetSliderValue(trbSpeckleWindow);
// Maximum disparity variation within each connected component.
// If you do speckle filtering, set it to some positive value,
// multiple of 16. Normally, 16 or 32 is good enough.
int SpeckleRange = GetSliderValue(trbSpeckleRange);
// Set it to true to run full-scale 2-pass dynamic programming algorithm.
// It will consume O(W*H*numDisparities) bytes, which is large for 640x480 stereo and huge for HD-size pictures.
// By default this is usually false. Set globally for ease
// bool fullDP = true;
using (StereoSGBM stereoSolver = new StereoSGBM(minDispatities, numDisparities, SAD, P1, P2, disp12MaxDiff, PreFilterCap, UniquenessRatio, Speckle, SpeckleRange, this.stereoMode))
{
// Computes the disparity map using:
stereoSolver.FindStereoCorrespondence(leftImage, rightImage, disparityMap);
// GC: Graph Cut-based algorithm
// BM: Block Matching algorithm
// SGBM: modified H. Hirschmuller algorithm HH08.
// Reprojects disparity image to 3D space.
points = PointCollection.ReprojectImageTo3D(disparityMap, this.Q);
}
}
private void GetDisparityMap()
{
minDisparity = TBminDisparity.Value; //Minimum possible disparity value. Normally, it is zero but sometimes rectification algorithms can shift images, so this parameter needs to be adjusted accordingly.
//Default is zero, should be set to a negative value, if negative disparities are possible (depends on the angle between the cameras views and the distance of the measured object to the cameras).
numDisparities = TBnumDisparities.Value; //Maximum disparity minus minimum disparity. The value is always greater than zero. In the current implementation, this parameter must be divisible by 16.
SADWindowSize = TBSADWindowSize.Value; //(= blockSize) Matched block size. It must be an odd number >=1 . Normally, it should be somewhere in the 3..11 range. Use 0 for default.
P1 = TBp1.Value; //The first parameter controlling the disparity smoothness. It is the penalty on the disparity change by plus or minus 1 between neighbor pixels.
//Reasonably good value is 8*number_of_image_channels*SADWindowSize*SADWindowSize. Use 0 for default
P2 = TBp2.Value; //The second parameter controlling the disparity smoothness. It is the penalty on the disparity change by more than 1 between neighbor pixels.
//The algorithm requires p2 > p1. Reasonably good value is 32*number_of_image_channels*SADWindowSize*SADWindowSize. Use 0 for default
disp12MaxDiff = TBdisp12MaxDiff.Value; //Maximum allowed difference (in integer pixel units) in the left-right disparity check. Set it to a non-positive value to disable the check.
preFilterCap = TBpreFilterCap.Value; //Truncation value for the prefiltered image pixels. The algorithm first computes x-derivative at each pixel and clips its value by [-preFilterCap, preFilterCap] interval.
//The result values are passed to the Birchfield-Tomasi pixel cost function.
uniquenessRatio = TBuniquenessRatio.Value; //Margin in percentage by which the best (minimum) computed cost function value should “win” the second best value to consider the found match correct.
//Normally, a value within the 5-15 range is good enough.
speckleWindowSize = TBspeckleWindowSize.Value; //Maximum size of smooth disparity regions to consider their noise speckles and invalidate. Set it to 0 to disable speckle filtering. Otherwise, set it somewhere in the 50-200 range
speckleRange = TBspeckleRange.Value; //Maximum disparity variation within each connected component. If you do speckle filtering, set the parameter to a positive value,
//it will be implicitly multiplied by 16. Normally, 1 or 2 is good enough.
StereoSGBM.Mode mode = StereoSGBM.Mode.SGBM;
//mode (Optional) : Set it to HH to run the full-scale two-pass dynamic programming algorithm. It will consume O(W*H*numDisparities) bytes,
//which is large for 640x480 stereo and huge for HD-size pictures. By default, it is set to false.
StereoSGBM sgbm = new StereoSGBM(minDisparity, numDisparities, SADWindowSize, P1, P2, disp12MaxDiff, preFilterCap, uniquenessRatio, speckleWindowSize, speckleRange, mode);
//Computes disparity map for the specified stereo pair
sgbm.Compute(imageLeft, imageRight, disparity);
//Since Disparity will be either CV_16S or CV_32F, it needs to be compressed and normalized to CV_8U
CvInvoke.Normalize(disparity, disp8, 0, 255, Emgu.CV.CvEnum.NormType.MinMax, Emgu.CV.CvEnum.DepthType.Cv8U);
}
