mirror of
https://github.com/Laex/Delphi-OpenCV.git
synced 2024-11-16 08:15:52 +01:00
7b8c5d1a10
[*] Repository rebuilt [*] CameraCalibrate - now working [+] Improved cvSave [+] Implemented macro CV_MAT_ELEM [+] CvOpenFileStorage and more ... Signed-off-by: Laex <laex@bk.ru>
104 lines
3.4 KiB
ObjectPascal
104 lines
3.4 KiB
ObjectPascal
{$APPTYPE CONSOLE}
|
|
// JCL_DEBUG_EXPERT_GENERATEJDBG OFF
|
|
// JCL_DEBUG_EXPERT_INSERTJDBG OFF
|
|
// JCL_DEBUG_EXPERT_DELETEMAPFILE OFF
|
|
program Stereo;
|
|
|
|
{$R *.res}
|
|
|
|
uses
|
|
System.SysUtils,
|
|
uLibName in '..\..\..\include\uLibName.pas',
|
|
highgui_c in '..\..\..\include\highgui\highgui_c.pas',
|
|
core_c in '..\..\..\include\ñore\core_c.pas',
|
|
Core.types_c in '..\..\..\include\ñore\Core.types_c.pas',
|
|
imgproc.types_c in '..\..\..\include\imgproc\imgproc.types_c.pas',
|
|
imgproc_c in '..\..\..\include\imgproc\imgproc_c.pas',
|
|
legacy in '..\..\..\include\legacy\legacy.pas',
|
|
calib3d in '..\..\..\include\calib3d\calib3d.pas',
|
|
types_c in '..\..\..\include\ñore\types_c.pas';
|
|
|
|
Const
|
|
Image_Left = 'StereoSample\Aloe\view0.png';
|
|
Image_Right = 'StereoSample\Aloe\view1.png';
|
|
// Êîëè÷åñòâî ðàçëè÷èé
|
|
ndisparity = 16;
|
|
// Êîëè÷åñòâî èòåðàöèé
|
|
mIter = 2;
|
|
|
|
Type
|
|
TDoubleArray = array [0 .. 15] of Double;
|
|
pDoubleArray = ^TDoubleArray;
|
|
|
|
Var
|
|
image_: pIplImage = nil;
|
|
image1_: pIplImage = nil;
|
|
image_g: pIplImage = nil;
|
|
image1_g: pIplImage = nil;
|
|
disparity_left: pCvMat;
|
|
disparity_right: pCvMat;
|
|
size: TCvSize;
|
|
state: pCvStereoGCState;
|
|
disparity_left_visual: pCvMat;
|
|
Q: pCvMat;
|
|
_3dImage: pIplImage;
|
|
|
|
begin
|
|
try
|
|
// çàãðóçêà òåñòîâûõ êàðòèíîê
|
|
image_ := cvLoadImage(Image_Left, 1);
|
|
image1_ := cvLoadImage(Image_Right, 1);
|
|
// ñîçäàíèå äîïîëíèòåëüíûõ èçîáðàæåíèé
|
|
image_g := cvCreateImage(cvSize(image_^.width, image_^.height), 8, 1);
|
|
image1_g := cvCreateImage(cvSize(image_^.width, image_^.height), 8, 1);
|
|
size := cvGetSize(image_);
|
|
// ñîçäàíèå ìàòðèö
|
|
disparity_left := cvCreateMat(size.height, size.width, CV_16S);
|
|
disparity_right := cvCreateMat(size.height, size.width, CV_16S);
|
|
// ïåðåâîä èçîáðàæåíèé ê ãðàäàöèÿì ñåðîãî
|
|
cvCvtColor(image_, image_g, CV_BGR2GRAY);
|
|
cvCvtColor(image1_, image1_g, CV_BGR2GRAY);
|
|
// çàäàíèå íà÷àëüíûõ ïàðàìåòðîâ ñòåðåîçðåíèÿ
|
|
//
|
|
state := cvCreateStereoGCState(ndisparity, mIter);
|
|
// âûïîëíåíèå îñíîâíîé ôóíêöèè ñòåðåîçðåíèÿ, âîçâðàùàþùåé ìàòðèöó 3d
|
|
cvFindStereoCorrespondenceGC(image_g, image1_g, disparity_left, disparity_right, state, 0);
|
|
cvReleaseStereoGCState(state);
|
|
// âûâîä ìàòðèöû â ôàéë
|
|
disparity_left_visual := cvCreateMat(size.height, size.width, CV_8U);
|
|
cvConvertScale(disparity_left, disparity_left_visual, -16);
|
|
cvSave('result\disparity.png', disparity_left_visual);
|
|
cvSaveImage('result\disparity.jpg', disparity_left_visual);
|
|
|
|
Q := cvCreateMat(4, 4, CV_64F);
|
|
pDoubleArray(Q^.data)[0] := 1;
|
|
pDoubleArray(Q^.data)[1] := 0;
|
|
pDoubleArray(Q^.data)[2] := 0;
|
|
pDoubleArray(Q^.data)[3] := -327.73883438110352;
|
|
|
|
pDoubleArray(Q^.data)[4] := 0;
|
|
pDoubleArray(Q^.data)[5] := 1;
|
|
pDoubleArray(Q^.data)[6] := 0;
|
|
pDoubleArray(Q^.data)[7] := -239.84486865997314;
|
|
|
|
pDoubleArray(Q^.data)[8] := 0;
|
|
pDoubleArray(Q^.data)[9] := 0;
|
|
pDoubleArray(Q^.data)[10] := 0;
|
|
pDoubleArray(Q^.data)[11] := 524.04542174159019;
|
|
|
|
pDoubleArray(Q^.data)[12] := 0;
|
|
pDoubleArray(Q^.data)[13] := 0;
|
|
pDoubleArray(Q^.data)[14] := -0.30009508961926923;
|
|
pDoubleArray(Q^.data)[15] := 1.2438668093184739;
|
|
|
|
_3dImage := cvCreateImage(size, IPL_DEPTH_32F, 3);
|
|
cvReprojectImageTo3D(disparity_left_visual, _3dImage, Q);
|
|
cvSave('result\disparity1.png', _3dImage);
|
|
cvSaveImage('result\disparity1.jpg', _3dImage);
|
|
except
|
|
on E: Exception do
|
|
Writeln(E.ClassName, ': ', E.Message);
|
|
end;
|
|
|
|
end.
|