OpenCV(EmguCV)2.1新特性介紹之圖像差異StereoSGBM與設置窗口屬性SetWindowProperty(StereoSGBM Of OpenCV 2.1)
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http://www.cnblogs.com/xrwang/archive/2010/04/29/StereoSGBMAndSetWindowProperty.html
作者:王先榮
上次介紹了OpenCV2.1中新增的圖像分割算法GrabCut,本文將介紹StereoSGBM與SetWindowProperty。其中StereoSGBM用於計算兩幅圖像間的差異圖,跟已有的StereoBM和StereoGC作用一樣,算法不同而已;SetWindowProperty用於設置窗口的屬性,目前僅可用於設置全屏屬性。
比較圖像間的差異StereoSGBM
StereoSGBM用於計算兩幅圖像間的差異圖,在OpenCV的在線文檔中有非常詳細的介紹,地址是:「http://opencv.willowgarage.com/documentation/cpp/camera_calibration_and_3d_reconstruction.html#stereosgbm」。參數非常多,如果不使用默認的參數,需要仔細查看每個參數的說明,以免出錯。OpenCV的具體實現在命名空間cv中的StereoSGBM類,目前還沒有對應的C風格封裝;EmguCV將其封裝在StereoSGBM類中。
StereoSGBM除了參數很多之外,使用起來蠻簡單的,如下所示:
//創建StereoSGBM對象
StereoSGBM sgbm = new StereoSGBM((int)nudMinDisparity.Value, (int)nudNumDisparities.Value, (int)nudSADWindowSize.Value, (int)nudP1.Value,
(int)nudP2.Value, (int)nudDisp12MaxDiff.Value, (int)nudPreFilterCap.Value, (int)nudUniquenessRatio.Value,
(int)nudSpeckleWindowSize.Value, (int)nudSpeckleRange.Value, chkFullDP.Checked);
//查找兩幅圖像間的相關性(差異)
sgbm.FindStereoCorrespondence(leftImage, rightImage, disparityImage);
//顯示結果
pbDisparity.Image = disparityImage.Bitmap;
//釋放資源
sgbm.Dispose();
完整的示例(附帶了StereoBM和StereoGC的示例)請看:
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Windows.Forms;
using System.Diagnostics;
using System.Runtime.InteropServices;
using Emgu.CV;
using Emgu.CV.CvEnum;
using Emgu.CV.Structure;
namespace NewFeaturesOfOpenCV2._1
{
public partial class FormStereoCorrespondence : Form
{
//私有成員
private string leftImageFileName = "wky_sls_2272x1704.jpg"; //左邊的圖像文件名
private string rightImageFileName = "wky_sls_2272x1704_2.jpg"; //右邊的圖像文件名
private Image<Gray, Byte> leftImage = null; //左邊的灰度圖像
private Image<Gray, Byte> rightImage = null; //右邊的灰度圖像
private Image<Gray, Int16> disparityImage = null; //差異圖像
private Stopwatch sw = new Stopwatch(); //計時器
public FormStereoCorrespondence()
{
InitializeComponent();
}
//設置SGBM的默認參數
private void btnFillDefaultParameters_Click(object sender, EventArgs e)
{
nudSADWindowSize.Value = 3;
nudP1.Value = 0;
nudP2.Value = 0;
nudDisp12MaxDiff.Value = 0;
nudPreFilterCap.Value = 0;
nudUniquenessRatio.Value = 0;
nudSpeckleWindowSize.Value = 0;
nudSpeckleRange.Value = 0;
chkFullDP.Checked = false;
}
//設置SGBM的推薦參數
private void btnFillRecommendedParameters_Click(object sender, EventArgs e)
{
nudUniquenessRatio.Value = 5;
nudSpeckleWindowSize.Value = 50;
nudSpeckleRange.Value = 16;
}
//窗體加載時
private void FormStereoCorrespondence_Load(object sender, EventArgs e)
{
//設置提示
toolTip.SetToolTip(nudNumDisparities, "必須大於0,且能被16除盡");
toolTip.SetToolTip(nudSADWindowSize, "缺省為0;如果指定則必須是正奇數,推薦值為3~11");
toolTip.SetToolTip(nudP1, "缺省為0;推薦值為8*number_of_image_channels*SADWindowSize*SADWindowSize");
toolTip.SetToolTip(nudP2, "缺省為0;如果指定則P2>P1,推薦值為32*number_of_image_channels*SADWindowSize*SADWindowSize");
toolTip.SetToolTip(nudDisp12MaxDiff, "如果設置為負值,則跳過左右差異檢查");
toolTip.SetToolTip(nudUniquenessRatio, "缺省為0,推薦值為5~15");
toolTip.SetToolTip(nudSpeckleWindowSize, "缺省為0,推薦值為50~200");
toolTip.SetToolTip(nudSpeckleRange, "缺省為0;如果指定則必須是能被16整除的正數,推薦值為16或者32");
//初始化圖像
InitImage(true);
InitImage(false);
}
//加載圖像1
private void btnLoadLeftImage_Click(object sender, EventArgs e)
{
LoadImage(true);
}
//加載圖像2
private void btnLoadRightImage_Click(object sender, EventArgs e)
{
LoadImage(false);
}
/// <summary>
/// 加載圖像
/// </summary>
/// <param name="isLeft">是左邊的圖像嗎?</param>
private void LoadImage(bool isLeft)
{
OpenFileDialog ofd = new OpenFileDialog();
ofd.CheckFileExists = true;
ofd.DefaultExt = "jpg";
ofd.Filter = "圖片文件|*.jpg;*.png;*.bmp|所有文件|*.*";
if (ofd.ShowDialog(this) == DialogResult.OK)
{
if (ofd.FileName != "")
{
if (isLeft)
leftImageFileName = ofd.FileName;
else
rightImageFileName = ofd.FileName;
InitImage(isLeft);
}
}
ofd.Dispose();
}
/// <summary>
/// 初始化圖像
/// </summary>
/// <param name="isLeft">是左邊的圖像嗎?</param>
private void InitImage(bool isLeft)
{
if (isLeft)
{
Image<Bgr, Byte> image = new Image<Bgr, byte>(leftImageFileName);
pbLeft.Image = image.Bitmap;
if (leftImage != null)
leftImage.Dispose();
leftImage = image.Convert<Gray, Byte>();
if (disparityImage != null)
disparityImage.Dispose();
disparityImage = new Image<Gray, short>(leftImage.Size);
image.Dispose();
}
else
{
Image<Bgr, Byte> image = new Image<Bgr, byte>(rightImageFileName);
pbRight.Image = image.Bitmap;
if (rightImage != null)
rightImage.Dispose();
rightImage = image.Convert<Gray, Byte>();
image.Dispose();
}
}
//開始計算
private void btnCalc_Click(object sender, EventArgs e)
{
if (leftImage.Size != rightImage.Size)
{
MessageBox.Show(this, "兩幅圖像的尺寸不一致,不能比較。", "錯誤提示");
return;
}
if (tcStereo.SelectedTab == tpStereoSGBM)
{
StereoSGBM sgbm = new StereoSGBM((int)nudMinDisparity.Value, (int)nudNumDisparities.Value, (int)nudSADWindowSize.Value, (int)nudP1.Value,
(int)nudP2.Value, (int)nudDisp12MaxDiff.Value, (int)nudPreFilterCap.Value, (int)nudUniquenessRatio.Value,
(int)nudSpeckleWindowSize.Value, (int)nudSpeckleRange.Value, chkFullDP.Checked);
sw.Stop();
sw.Start();
sgbm.FindStereoCorrespondence(leftImage, rightImage, disparityImage);
sw.Stop();
pbDisparity.Image = disparityImage.Bitmap;
sgbm.Dispose();
lblStatus.Text = string.Format("SGBM比較耗時{0:F04}毫秒。", sw.ElapsedMilliseconds);
}
else if (tcStereo.SelectedTab == tpStereoBM)
{
STEREO_BM_TYPE type = cbBMType.Text == "BASIC" ? STEREO_BM_TYPE.BASIC : (cbBMType.Text == "FISH_EYE" ? STEREO_BM_TYPE.FISH_EYE : STEREO_BM_TYPE.NARROW);
StereoBM bm = new StereoBM(type, (int)nudBMNumberOfDisparities.Value);
sw.Stop();
sw.Start();
bm.FindStereoCorrespondence(leftImage, rightImage, disparityImage);
sw.Stop();
pbDisparity.Image = disparityImage.Bitmap;
bm.Dispose();
lblStatus.Text = string.Format("BM比較耗時{0:F04}毫秒。", sw.ElapsedMilliseconds);
}
else if (tcStereo.SelectedTab == tpStereoGC)
{
StereoGC gc = new StereoGC((int)nudGCNumberOfDisparities.Value, (int)nudGCMaxIters.Value);
Image<Gray, Int16> rightDisparityImage = new Image<Gray, short>(leftImage.Size);
sw.Stop();
sw.Start();
gc.FindStereoCorrespondence(leftImage, rightImage, disparityImage, rightDisparityImage);
sw.Stop();
CvInvoke.cvConvertScale(rightDisparityImage.Ptr, rightDisparityImage.Ptr, 16d, 0d);
CvInvoke.cvConvertScale(disparityImage.Ptr, disparityImage.Ptr, -16d, 0d);
pbDisparity.Image = rightDisparityImage.Bitmap;
rightDisparityImage.Dispose();
gc.Dispose();
lblStatus.Text = string.Format("GC比較耗時{0:F04}毫秒。", sw.ElapsedMilliseconds);
}
}
//關閉窗口時
private void FormStereoCorrespondence_FormClosed(object sender, FormClosedEventArgs e)
{
//釋放資源
if (leftImage != null)
leftImage.Dispose();
if (rightImage != null)
rightImage.Dispose();
if (disparityImage != null)
disparityImage.Dispose();
}
}
}
設置窗口屬性SetWindowProperty
目前只能用SetWindowProperty來設置窗口的全屏屬性——全屏或者普通窗口。其實OpenCV2.1中還增加了一個名為cvGetWindowProperty的函數,用於獲取窗口的屬性,更新說明中沒有提到而已。由於目前還沒有這個函數的相關文檔,我就詳細點說說。
1.函數原型、參數說明及提示
void cvSetWindowProperty(const char* name, int prop_id, double prop_value)
作用:設置窗口的屬性
返回值:無
參數:
name——窗口名稱,對應於用cvNamedWindow創建窗口時使用的名稱;
prop_id——屬性id,目前有兩種屬性:CV_WND_PROP_FULLSCREEN (=0)和CV_WND_PROP_AUTOSIZE(=1),但是僅CV_WND_PROP_FULLSCREEN有用;
prop_value——屬性值,如果設置全屏屬性,則該值可能有:CV_WINDOW_NORMAL(=0)和CV_WINDOW_FULLSCREEN (=1)。
備注:(1)cvSetWindowProperty目前只能用於設置窗口的全屏屬性;(2)在設置該屬性前,要求窗口不能是AUTOSIZE的,否則設置無效;(3)基於第2點原因,在創建窗口時不能省略flag參數(即不能使用其默認值CV_WINDOW_AUTOSIZE);(4)由於EmguCV封裝的CvInvoke.cvNamedWindow強制使用了AUTOSIZE參數,因此不能使用它來創建窗口,需要自行進行P/Invoke調用;(5)OpenCV2.1更新文檔中的使用示例是錯誤的,不要模仿。
double cvGetWindowProperty(const char* name, int prop_id)
作用:獲取窗口的屬性
返回值:返回窗口的屬性值
參數:同cvSetWindowProperty
2.示例
您可以按如下所示使用cvSetWindowProperty:
cvSetWindowProperty(windowName, CV_WND_PROP_FULLSCREEN, CV_WINDOW_FULLSCREEN);
完整的示例請看:
//全屏窗口
private void btnSetWindowProperty_Click(object sender, EventArgs e)
{
Image<Bgr, Byte> image = new Image<Bgr, byte>("wky_qiao_2272x1704.jpg");
string windowName = "stereoGC left disparity";
cvNamedWindow(windowName, 0);
cvResizeWindow(windowName, 640, 480);
cvMoveWindow(windowName, 100, 100);
cvSetWindowProperty(windowName, CV_WND_PROP_FULLSCREEN, CV_WINDOW_FULLSCREEN);
CvInvoke.cvShowImage(windowName, image.Ptr);
CvInvoke.cvWaitKey(0);
CvInvoke.cvDestroyWindow(windowName);
image.Dispose();
}
//定義跟窗口相關的常量
public const int CV_WND_PROP_FULLSCREEN = 0;
public const int CV_WND_PROP_AUTOSIZE = 1;
public const double CV_WINDOW_NORMAL = 0;
public const double CV_WINDOW_FULLSCREEN = 1;
public const int CV_WINDOW_AUTOSIZE = 1;
//跟窗口有關的P/Invoke調用
//設置窗口屬性,目前只能設置CV_WND_PROP_FULLSCREEN
[System.Runtime.InteropServices.DllImportAttribute("highgui210.dll", EntryPoint = "cvSetWindowProperty")]
public static extern void cvSetWindowProperty([System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string name, int prop_id, double prop_value);
//調整窗口的尺寸
[System.Runtime.InteropServices.DllImportAttribute("highgui210.dll", EntryPoint = "cvResizeWindow")]
public static extern void cvResizeWindow([System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string name, int width, int height);
//移動窗口
[System.Runtime.InteropServices.DllImportAttribute("highgui210.dll", EntryPoint = "cvMoveWindow")]
public static extern void cvMoveWindow([System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string name, int x, int y);
//創建指定名稱的窗口
[System.Runtime.InteropServices.DllImportAttribute("highgui210.dll", EntryPoint = "cvNamedWindow")]
public static extern int cvNamedWindow([System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string name, int flags);
//獲取窗口對應的句柄HWnd
[System.Runtime.InteropServices.DllImportAttribute("highgui210.dll", EntryPoint = "cvGetWindowHandle")]
public static extern System.IntPtr cvGetWindowHandle([System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string name);
//獲取指定句柄對應的窗口名稱
[System.Runtime.InteropServices.DllImportAttribute("highgui210.dll", EntryPoint = "cvGetWindowName")]
public static extern System.IntPtr cvGetWindowName(System.IntPtr windowHandle);
//獲取窗口的屬性
[System.Runtime.InteropServices.DllImportAttribute("highgui210.dll", EntryPoint = "cvGetWindowProperty")]
public static extern double cvGetWindowProperty([System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string name, int prop_id);
}
感謝您耐心看完本文,希望對您有所幫助。
歡迎轉載,但是請注明出處,保留作者。
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