/// <summary>
/// Compute and return the disparity map based on the correspondences found in the "process" method.
/// </summary>
/// <returns>Mat containing a the disparity image in grayscale.</returns>
public Mat GetDisparity()
{
Mat disparity = new Mat();
StereoInvoke.cveQuasiDenseStereoGetDisparity(_ptr, disparity);
return(disparity);
}
/// <summary>
/// Compute and return the disparity map based on the correspondences found in the "process" method.
/// </summary>
/// <param name="disparityLvls">The level of detail in output disparity image.</param>
/// <returns>Mat containing a the disparity image in grayscale.</returns>
public Mat GetDisparity(byte disparityLvls = (byte)50)
{
Mat disparity = new Mat();
StereoInvoke.cveQuasiDenseStereoGetDisparity(_ptr, disparityLvls, disparity);
return(disparity);
}
/// <summary>
/// Release the unmanaged memory associated with this object
/// </summary>
protected override void DisposeObject()
{
if (_sharedPtr != IntPtr.Zero)
{
StereoInvoke.cveQuasiDenseStereoRelease(ref _sharedPtr);
_ptr = IntPtr.Zero;
}
}
/// <summary>
/// Create a new instance containing the methods needed for Quasi Dense Stereo computation.
/// </summary>
/// <param name="monoImgSize">Image size</param>
/// <param name="paramFilepath">The path for the parameters</param>
public QuasiDenseStereo(Size monoImgSize, String paramFilepath = "")
{
using (CvString csParamFilePath = new CvString(paramFilepath))
_ptr = StereoInvoke.cveQuasiDenseStereoCreate(
ref monoImgSize,
csParamFilePath,
ref _sharedPtr);
}
/// <summary>
/// Main process of the algorithm. This method computes the sparse seeds and then densifies them.
/// Initially input images are converted to gray-scale and then the sparseMatching method is called to obtain the sparse stereo. Finally quasiDenseMatching is called to densify the corresponding points.
/// </summary>
/// <param name="imgLeft">The left Channel of a stereo image pair.</param>
/// <param name="imgRight">The right Channel of a stereo image pair.</param>
/// <remarks>If input images are in color, the method assumes that are BGR and converts them to grayscale.</remarks>
public void Process(Mat imgLeft, Mat imgRight)
{
StereoInvoke.cveQuasiDenseStereoProcess(_ptr, imgLeft, imgRight);
}