From 33613a85afc4b1481367fbe92a17ee59c240250b Mon Sep 17 00:00:00 2001
From: Sven Eisenhauer <sven@sven-eisenhauer.net>
Date: Fri, 10 Nov 2023 15:11:48 +0100
Subject: add new repo

---
 Master/Computer Vision/Praktikum1/StereoVision.h | 72 ++++++++++++++++++++++++
 1 file changed, 72 insertions(+)
 create mode 100644 Master/Computer Vision/Praktikum1/StereoVision.h

(limited to 'Master/Computer Vision/Praktikum1/StereoVision.h')

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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