Emgu.CV 中的视差图

Question

我尝试在 C# 中使用视差图计算 Emgu.CV

我读了这个 article as bitmapLeft and bitmapRight. For reference I used the example code from here

中的图片

这是我的源代码：

bitmapLeft = (Bitmap) mainForm.pictureBoxLeft.Image;
bitmapRight = (Bitmap)mainForm.pictureBoxRight.Image;

Image<Gray, Byte> imageLeft = new Image<Gray, Byte>(bitmapLeft);
Image<Gray, Byte> imageRight = new Image<Gray, Byte>(bitmapRight);
Image<Gray, Byte> imageDisparity = new Image<Gray, Byte>(bitmapLeft.Width, bitmapLeft.Height);

StereoBM stereoBM = new StereoBM(16, 15);
StereoMatcherExtensions.Compute(stereoBM, imageLeft, imageRight, imageDisparity);

Image bitmapDisparity = imageDisparity.ToBitmap();

然而，生成的位图全黑。

Answer 1

我想你的问题已经解决了。调用 StereoMatcherExtentions.Comput 的结果是深度为 Cv16S 的 Mat/Image，我将其转换回 Cv8U 并能够显示它。这是我的例子。我使用了相同的两张图片。

    Mat leftImage = new Mat(@"C:\Users\jones_d\Desktop\Disparity\LeftImage.png", ImreadModes.Grayscale);
    Mat rightImage = new Mat(@"C:\Users\jones_d\Desktop\Disparity\RightImage.png", ImreadModes.Grayscale);

    CvInvoke.Imshow("Left", leftImage);
    CvInvoke.Imshow("Right", rightImage);

    Mat imageDisparity = new Mat();
    StereoBM stereoBM = new StereoBM(16, 15);
    StereoMatcherExtensions.Compute(stereoBM, leftImage, rightImage, imageDisparity);

    Mat show = new Mat();

    imageDisparity.ConvertTo(show, DepthType.Cv8U);
    CvInvoke.Imshow("Disparity", show);

    CvInvoke.WaitKey(0);

图片如下：

似乎与以下位置的结果匹配：Depth Map from Image

道格

Emgu.CV 中的视差图

Disparity Map in Emgu.CV

c#

opencv

emgucv