public Image<Gray, short> GetDispMapGPU(Image<Gray, byte> leftImg, Image<Gray, byte> rightImg, DispMapFounderParameters parameters)
{
var ap = (GpuStereoBMDispMapFounderParameters)parameters;
using(var leftGpuImg = new GpuImage<Gray, byte>(leftImg))
using(var rightGpuImg = new GpuImage<Gray, byte>(rightImg))
using (GpuStereoBM sbm = new GpuStereoBM(
numberOfDisparities: ap.NumberOfDisparities,
blockSize: ap.BlockSize))
{
var dispMap = new GpuImage<Gray, byte>(leftGpuImg.Size);
sbm.FindStereoCorrespondence(leftGpuImg, rightGpuImg, dispMap, null);
return dispMap.ToImage().Convert<Gray, short>();
}
}
private void OnFormMainLoad(object sender, EventArgs e)
{
try
{
_capture1 = new Capture(1);
_capture2 = new Capture(2);
OnResolutionMenuItemClick(resolutionToolStripMenuItem.DropDownItems[1], EventArgs.Empty);
}
catch (NullReferenceException excpt)
{
MessageBox.Show(excpt.Message);
}
var SADWindowSize = 3;
_stereoSolver = new GpuStereoBM(GpuStereoBM.PresetType.BasicPreset, 64, SADWindowSize);
_random = new Random();
_cameras = new List <Camera>(2)
{
new Camera(),
new Camera()
};
_rotateBackground = new Bgr(Color.Black);
Options.StereoCalibrationOptions = new StereoCalibrationOptions();
Options.StereoCalibrationOptions.Load("Calibration720p.sc");
_captureThread = new Thread(CaptureFrames)
{
IsBackground = false
};
_captureThread.Start();
_processThread = new Thread(ProcessFrame)
{
IsBackground = false
};
_processThread.Start();
}
public StereoSystem(string CalibrationMatFile, string CalibrationMatFile_Rectified)
{
MatFileReader mfr = new MatFileReader(CalibrationMatFile);
MatFileReader mfr2 = new MatFileReader(CalibrationMatFile_Rectified);
double[,] A1 = MLDoubleParser("KK_left_new", mfr2);
double[,] A2 = MLDoubleParser("KK_right_new", mfr2);
double[,] kc1 = MLDoubleParser("kc_left", mfr);
double[,] kc2 = MLDoubleParser("kc_right", mfr);
double[,] fc1 = MLDoubleParser("fc_left", mfr);
double[,] fc2 = MLDoubleParser("fc_right", mfr);
double[,] cc1 = MLDoubleParser("cc_left", mfr);
double[,] cc2 = MLDoubleParser("cc_right", mfr);
double[,] R = MLDoubleParser("R", mfr);
double[,] T = MLDoubleParser("T", mfr);
double[,] nx = MLDoubleParser("nx", mfr);
double[,] ny = MLDoubleParser("ny", mfr);
int ImageWidth = (int)nx[0, 0];
int ImageHeight = (int)ny[0, 0];
LeftCam = new CameraParameters(A1, kc1, fc1, cc1, ImageWidth, ImageHeight);
RightCam = new CameraParameters(A2, kc2, fc2, cc2, ImageWidth, ImageHeight);
TranslationVector = new Matrix<double>(T);
RotationMatrix = new Matrix<double>(R);
DisparityDepthMapMatrix = new Matrix<double>(4, 4);
ImageSize = new Size(ImageWidth, ImageHeight);
CvInvoke.cvStereoRectify(
LeftCam.CameraMatrix.Ptr,
RightCam.CameraMatrix.Ptr,
LeftCam.distCoeffs.Ptr,
RightCam.distCoeffs.Ptr,
ImageSize,
RotationMatrix.Ptr,
TranslationVector.Ptr,
LeftCam.RectificationTransform.Ptr,
RightCam.RectificationTransform.Ptr,
LeftCam.ProjectionMatrix.Ptr,
RightCam.ProjectionMatrix.Ptr,
DisparityDepthMapMatrix.Ptr,
Emgu.CV.CvEnum.STEREO_RECTIFY_TYPE.DEFAULT,
1,
Size.Empty,
ref LeftCam.ROI,
ref RightCam.ROI);
LeftCam.UndistortRectifyMap();
RightCam.UndistortRectifyMap();
var Variables = new List<MLArray>();
int[] Dims = {ImageHeight, ImageWidth};
Variables.Add(MLVariableCreator("LeftMapX", LeftCam.mapx));
Variables.Add(MLVariableCreator("RightMapX", RightCam.mapx));
Variables.Add(MLVariableCreator("LeftMapY", LeftCam.mapy));
Variables.Add(MLVariableCreator("RightMapY", RightCam.mapy));
var Writer = new MatFileWriter("ImageMap.mat", Variables, false);
DisparityMapGPU = new GpuImage<Gray, byte>(ImageHeight, ImageWidth);
DisparityMap = new Image<Gray, byte>(ImageWidth, ImageHeight);
GPU_Block_Matcher = new GpuStereoBM(NumDisparities, BlockSize);
}
private void OnFormMainLoad(object sender, EventArgs e)
{
try
{
_capture1 = new Capture(1);
_capture2 = new Capture(2);
OnResolutionMenuItemClick(resolutionToolStripMenuItem.DropDownItems[1], EventArgs.Empty);
}
catch (NullReferenceException excpt)
{
MessageBox.Show(excpt.Message);
}
var SADWindowSize = 3;
_stereoSolver = new GpuStereoBM(GpuStereoBM.PresetType.BasicPreset, 64, SADWindowSize);
_random = new Random();
_cameras = new List<Camera>(2)
{
new Camera(),
new Camera()
};
_rotateBackground = new Bgr(Color.Black);
Options.StereoCalibrationOptions = new StereoCalibrationOptions();
Options.StereoCalibrationOptions.Load("Calibration720p.sc");
_captureThread = new Thread(CaptureFrames) {IsBackground = false};
_captureThread.Start();
_processThread = new Thread(ProcessFrame) {IsBackground = false};
_processThread.Start();
}
