/
ExampleStereoDisparity.java
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/
ExampleStereoDisparity.java
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/*
* Copyright (c) 2011-2012, Peter Abeles. All Rights Reserved.
*
* This file is part of BoofCV (http://boofcv.org).
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
package boofcv.examples;
import boofcv.abst.feature.disparity.StereoDisparity;
import boofcv.alg.distort.ImageDistort;
import boofcv.alg.geo.PerspectiveOps;
import boofcv.alg.geo.RectifyImageOps;
import boofcv.alg.geo.rectify.RectifyCalibrated;
import boofcv.core.image.ConvertBufferedImage;
import boofcv.factory.feature.disparity.DisparityAlgorithms;
import boofcv.factory.feature.disparity.FactoryStereoDisparity;
import boofcv.gui.image.ShowImages;
import boofcv.gui.image.VisualizeImageData;
import boofcv.io.image.UtilImageIO;
import boofcv.misc.BoofMiscOps;
import boofcv.struct.calib.StereoParameters;
import boofcv.struct.image.ImageUInt8;
import georegression.struct.se.Se3_F64;
import org.ejml.data.DenseMatrix64F;
import java.awt.image.BufferedImage;
/**
* The disparity between two stereo images is used to estimate the range of objects inside
* the camera's view. Disparity is the difference in position between the viewed location
* of a point in the left and right stereo images. Because input images are rectified,
* corresponding points can be found by only searching along image rows.
*
* Values in the disparity image specify how different the two images are. A value of X indicates
* that the corresponding point in the right image from the left is at "x' = x - X - minDisparity",
* where x' and x are the locations in the right and left images respectively. An invalid value
* with no correspondence is set to a value more than (max - min) disparity.
*
* @author Peter Abeles
*/
public class ExampleStereoDisparity {
/**
* Computes the dense disparity between between two stereo images. The input images
* must be rectified with lens distortion removed to work! Floating point images
* are also supported.
*
* @param rectLeft Rectified left camera image
* @param rectRight Rectified right camera image
* @param minDisparity Minimum disparity that is considered
* @param maxDisparity Maximum disparity that is considered
* @return Disparity image
*/
public static ImageUInt8 denseDisparity( ImageUInt8 rectLeft , ImageUInt8 rectRight ,
int minDisparity , int maxDisparity )
{
// A slower but more accuracy algorithm is selected
// All of these parameters should be turned
StereoDisparity<ImageUInt8,ImageUInt8> disparityAlg =
FactoryStereoDisparity.regionWta(DisparityAlgorithms.RECT_FIVE,
minDisparity, maxDisparity, 3, 3, 20, 1, 0.2, ImageUInt8.class);
// process and return the results
disparityAlg.process(rectLeft,rectRight);
return disparityAlg.getDisparity();
}
/**
* Rectified the input images using known calibration.
*/
public static void rectify( ImageUInt8 origLeft , ImageUInt8 origRight ,
StereoParameters param ,
ImageUInt8 rectLeft , ImageUInt8 rectRight )
{
// Compute rectification
RectifyCalibrated rectifyAlg = RectifyImageOps.createCalibrated();
Se3_F64 leftToRight = param.getRightToLeft().invert(null);
// original camera calibration matrices
DenseMatrix64F K1 = PerspectiveOps.calibrationMatrix(param.getLeft(), null);
DenseMatrix64F K2 = PerspectiveOps.calibrationMatrix(param.getRight(), null);
rectifyAlg.process(K1,new Se3_F64(),K2,leftToRight);
// rectification matrix for each image
DenseMatrix64F rect1 = rectifyAlg.getRect1();
DenseMatrix64F rect2 = rectifyAlg.getRect2();
// New calibration matrix,
DenseMatrix64F rectK = rectifyAlg.getCalibrationMatrix();
// Adjust the rectification to make the view area more useful
RectifyImageOps.fullViewLeft(param.left, rect1, rect2, rectK);
// undistorted and rectify images
ImageDistort<ImageUInt8> imageDistortLeft =
RectifyImageOps.rectifyImage(param.getLeft(), rect1, ImageUInt8.class);
ImageDistort<ImageUInt8> imageDistortRight =
RectifyImageOps.rectifyImage(param.getRight(), rect2, ImageUInt8.class);
imageDistortLeft.apply(origLeft, rectLeft);
imageDistortRight.apply(origRight, rectRight);
}
public static void main( String args[] ) {
String calibDir = "../data/applet/calibration/stereo/Bumblebee2_Chess/";
String imageDir = "../data/applet/stereo/";
StereoParameters param = BoofMiscOps.loadXML(calibDir + "stereo.xml");
// load and convert images into a BoofCV format
BufferedImage origLeft = UtilImageIO.loadImage(imageDir + "chair01_left.jpg");
BufferedImage origRight = UtilImageIO.loadImage(imageDir + "chair01_right.jpg");
ImageUInt8 distLeft = ConvertBufferedImage.convertFrom(origLeft,(ImageUInt8)null);
ImageUInt8 distRight = ConvertBufferedImage.convertFrom(origRight,(ImageUInt8)null);
// rectify images
ImageUInt8 rectLeft = new ImageUInt8(distLeft.width,distLeft.height);
ImageUInt8 rectRight = new ImageUInt8(distRight.width,distRight.height);
rectify(distLeft,distRight,param,rectLeft,rectRight);
// compute disparity
ImageUInt8 disparity = denseDisparity(rectLeft,rectRight,10,60);
// show results
BufferedImage visualized = VisualizeImageData.disparity(disparity, null,10,60,0);
ShowImages.showWindow(rectLeft,"Rectified");
ShowImages.showWindow(visualized,"Disparity");
}
}