mirror of
https://github.com/Laex/Delphi-OpenCV.git
synced 2024-11-16 00:05:52 +01:00
122 lines
4.2 KiB
ObjectPascal
122 lines
4.2 KiB
ObjectPascal
//*****************************************************************
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// Delphi-OpenCV Demo
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// Copyright (C) 2013 Project Delphi-OpenCV
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// ****************************************************************
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// Contributor:
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// Laentir Valetov
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// email:laex@bk.ru
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// ****************************************************************
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// You may retrieve the latest version of this file at the GitHub,
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// located at git://github.com/Laex/Delphi-OpenCV.git
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// ****************************************************************
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// The contents of this file are used with permission, subject to
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// the Mozilla Public License Version 1.1 (the "License"); you may
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// not use this file except in compliance with the License. You may
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// obtain a copy of the License at
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// http://www.mozilla.org/MPL/MPL-1_1Final.html
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//
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// Software distributed under the License is distributed on an
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// "AS IS" basis, WITHOUT WARRANTY OF ANY KIND, either express or
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// implied. See the License for the specific language governing
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// rights and limitations under the License.
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//*******************************************************************
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program Stereo;
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{$APPTYPE CONSOLE}
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{$R *.res}
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uses
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System.SysUtils,
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ocv.highgui_c,
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ocv.core_c,
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ocv.core.types_c,
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ocv.imgproc_c,
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ocv.imgproc.types_c,
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ocv.legacy,
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ocv.calib3d_c;
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const
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Image_Left = '..\..\resource\StereoSample\Aloe\view0.png';
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Image_Right = '..\..\resource\StereoSample\Aloe\view1.png';
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// Êîëè÷åcòâî ðàçëè÷èé
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ndisparity = 16;
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// Êîëè÷åcòâî èòåðàöèé
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mIter = 2;
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type
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TDoubleArray = array [0 .. 15] of Double;
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pDoubleArray = ^TDoubleArray;
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var
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image_: pIplImage = nil;
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image1_: pIplImage = nil;
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image_g: pIplImage = nil;
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image1_g: pIplImage = nil;
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disparity_left: pCvMat;
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disparity_right: pCvMat;
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size: TCvSize;
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state: pCvStereoGCState;
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disparity_left_visual: pCvMat;
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Q: pCvMat;
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_3dImage: pIplImage;
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begin
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try
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// çàãðóçêà òåcòîâûõ êàðòèíîê
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image_ := cvLoadImage(Image_Left, 1);
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image1_ := cvLoadImage(Image_Right, 1);
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// cîçäàíèå äîïîëíèòåëüíûõ èçîáðàæåíèé
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image_g := cvCreateImage(cvSize(image_^.width, image_^.height), 8, 1);
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image1_g := cvCreateImage(cvSize(image_^.width, image_^.height), 8, 1);
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size := cvGetSize(image_);
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// cîçäàíèå ìàòðèö
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disparity_left := cvCreateMat(size.height, size.width, CV_16S);
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disparity_right := cvCreateMat(size.height, size.width, CV_16S);
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// ïåðåâîä èçîáðàæåíèé ê ãðàäàöèÿì cåðîãî
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cvCvtColor(image_, image_g, CV_BGR2GRAY);
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cvCvtColor(image1_, image1_g, CV_BGR2GRAY);
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// çàäàíèå íà÷àëüíûõ ïàðàìåòðîâ còåðåîçðåíèÿ
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//
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state := cvCreateStereoGCState(ndisparity, mIter);
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// âûïîëíåíèå îcíîâíîé ôóíêöèè còåðåîçðåíèÿ, âîçâðàùàþùåé ìàòðèöó 3d
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cvFindStereoCorrespondenceGC(image_g, image1_g, disparity_left, disparity_right, state, 0);
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cvReleaseStereoGCState(state);
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// âûâîä ìàòðèöû â ôàéë
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disparity_left_visual := cvCreateMat(size.height, size.width, CV_8U);
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cvConvertScale(disparity_left, disparity_left_visual, -16);
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cvSave('..\..\resource\result\disparity.png', disparity_left_visual);
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cvSaveImage('..\..\resource\result\disparity.jpg', disparity_left_visual);
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Q := cvCreateMat(4, 4, CV_64F);
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pDoubleArray(Q^.data)[0] := 1;
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pDoubleArray(Q^.data)[1] := 0;
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pDoubleArray(Q^.data)[2] := 0;
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pDoubleArray(Q^.data)[3] := -327.73883438110352;
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pDoubleArray(Q^.data)[4] := 0;
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pDoubleArray(Q^.data)[5] := 1;
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pDoubleArray(Q^.data)[6] := 0;
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pDoubleArray(Q^.data)[7] := -239.84486865997314;
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pDoubleArray(Q^.data)[8] := 0;
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pDoubleArray(Q^.data)[9] := 0;
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pDoubleArray(Q^.data)[10] := 0;
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pDoubleArray(Q^.data)[11] := 524.04542174159019;
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pDoubleArray(Q^.data)[12] := 0;
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pDoubleArray(Q^.data)[13] := 0;
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pDoubleArray(Q^.data)[14] := -0.30009508961926923;
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pDoubleArray(Q^.data)[15] := 1.2438668093184739;
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_3dImage := cvCreateImage(size, IPL_DEPTH_32F, 3);
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cvReprojectImageTo3D(disparity_left_visual, _3dImage, Q);
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cvSave('..\..\resource\result\disparity1.png', _3dImage);
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cvSaveImage('..\..\resource\result\disparity1.jpg', _3dImage);
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except
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on E: Exception do
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Writeln(E.ClassName, ': ', E.Message);
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end;
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end.
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