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| author | Sven Eisenhauer <sven@sven-eisenhauer.net> | 2023-11-10 15:11:48 +0100 |
|---|---|---|
| committer | Sven Eisenhauer <sven@sven-eisenhauer.net> | 2023-11-10 15:11:48 +0100 |
| commit | 33613a85afc4b1481367fbe92a17ee59c240250b (patch) | |
| tree | 670b842326116b376b505ec2263878912fca97e2 /Master/Computer Vision/Praktikum1/StereoVision.h | |
| download | Studium-master.tar.gz Studium-master.tar.bz2 | |
Diffstat (limited to 'Master/Computer Vision/Praktikum1/StereoVision.h')
| -rw-r--r-- | Master/Computer Vision/Praktikum1/StereoVision.h | 72 |
1 files changed, 72 insertions, 0 deletions
diff --git a/Master/Computer Vision/Praktikum1/StereoVision.h b/Master/Computer Vision/Praktikum1/StereoVision.h new file mode 100644 index 0000000..1ccb96a --- /dev/null +++ b/Master/Computer Vision/Praktikum1/StereoVision.h @@ -0,0 +1,72 @@ +#pragma once
+
+#include <vector>
+#include "abstring.h"
+#include "bvimagergb.h"
+#include "bvrgbpixel.h"
+#include "bvfilters.h"
+#include "vraibolabmodule.h"
+
+#define DISP_DIST_THRESHOLD 20
+#define MAX_DISP_GRADIENT 1.0
+#define ERROR_DISP_GRADIENT 1000.0
+#define MAX_COLOR_DIFF 5
+#define MAX_LUM_DIFF 10.0
+
+struct candidate {
+ unsigned xLeft;
+ unsigned xRight;
+ double propapilityCounter;
+ bool isAssigned;
+ bool operator== (const candidate& other) const {
+ return (xLeft == other.xLeft && xRight == other.xRight);
+ }
+ bool operator== (const candidate* other) const {
+ return (xLeft == other->xLeft && xRight == other->xRight);
+ }
+};
+
+struct candidatePair {
+ candidate* firstCand;
+ candidate* secondCand;
+ double disparityGradient;
+ bool isAssigned;
+ bool isDeleted;
+ //long pairNum;
+ double candidateDistance;
+ bool operator== (const candidatePair& other) const {
+ return ( (firstCand == other.firstCand) && (secondCand == other.secondCand) );
+ }
+ bool hasCandidate(const candidate& other) const {
+ return (*firstCand == other) || (*secondCand == other);
+ }
+ bool hasCandidate(const candidate* other) const {
+ return (*firstCand == *other) || (*secondCand == *other);
+ }
+ candidatePair() {}
+ candidatePair(const candidatePair& other) {
+ firstCand = other.firstCand;
+ secondCand = other.secondCand;
+ disparityGradient = other.disparityGradient;
+ isAssigned = other.isAssigned;
+ isDeleted = other.isDeleted;
+ //pairNum = other.pairNum;
+ candidateDistance = other.candidateDistance;
+ }
+};
+
+class StereoVision
+{
+public:
+ StereoVision(void);
+ ~StereoVision(void);
+ static std::vector<candidate*> findCorrespPointsPMF(BV::ImageRGB&,BV::ImageRGB&);
+ static std::vector<candidate*> findCorrespPointsPMF(BV::Image&,BV::Image&);
+ static long getDisparityDifference(const unsigned&,const unsigned&,const unsigned&,const unsigned&);
+private:
+ static void findEdges(BV::ImageRGB&,BV::ImageRGB&,std::vector<unsigned>&,std::vector<unsigned>&);
+ static void findEdges(BV::Image&,BV::Image&,std::vector<unsigned>&,std::vector<unsigned>&);
+ static double getCyclopDistanceEpipolar(const unsigned&,const unsigned&,const unsigned&,const unsigned&);
+ static double getDisparityGradient(const unsigned&,const unsigned&,const unsigned&,const unsigned&);
+ static bool arePixelSimilar(const BV::RGBPixel&,const BV::RGBPixel&);
+};
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