■ 입체 사진을 만드는 방법을 보여준다.
▶ MainForm.cs
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using System; using System.Drawing; using System.Windows.Forms; using Emgu.CV; using Emgu.CV.Structure; using OpenTK.Graphics; using OpenTK.Graphics.OpenGL; namespace TestProject { /// <summary> /// 메인 폼 /// </summary> public partial class MainForm : Form { //////////////////////////////////////////////////////////////////////////////////////////////////// Field ////////////////////////////////////////////////////////////////////////////////////////// Private #region Field /// <summary> /// 왼쪽 이미지 /// </summary> private Image<Bgr, Byte> leftImage; /// <summary> /// 오른쪽 이미지 /// </summary> private Image<Bgr, byte> rightImage; /// <summary> /// 3D 포인트 배열 /// </summary> private MCvPoint3D32f[] point3DArray; /// <summary> /// GL 로드 여부 /// </summary> private bool giLoaded = false; /// <summary> /// 텍스처 배열 /// </summary> private int[] textureArray; /// <summary> /// 텍스처 이미지 /// </summary> private Image<Bgr, Byte> textureImage; /// <summary> /// 각도 /// </summary> private double angle = 0.0; /// <summary> /// 각도 증가치 /// </summary> private double angleIncrement = 0.2; #endregion //////////////////////////////////////////////////////////////////////////////////////////////////// Constructor ////////////////////////////////////////////////////////////////////////////////////////// Public #region 생성자 - MainForm() /// <summary> /// 생성자 /// </summary> public MainForm() { InitializeComponent(); this.leftImage = new Image<Bgr, byte>("imageLeft.png" ); this.rightImage = new Image<Bgr, byte>("imageRight.png"); Image<Gray, short> disparityMapImage; Computer3DPointArray ( leftImage.Convert<Gray, Byte>(), rightImage.Convert<Gray, Byte>(), out disparityMapImage, out this.point3DArray ); this.disparityMapImageBox.Image = disparityMapImage; FormClosed += Form_FormClosed; this.resultGlControl.Load += resultGlControl_Load; this.resultGlControl.Paint += resultGlControl_Paint; this.resultGlControl.Resize += resultGlControl_Resize; } #endregion //////////////////////////////////////////////////////////////////////////////////////////////////// Method ////////////////////////////////////////////////////////////////////////////////////////// Private //////////////////////////////////////////////////////////////////////////////// Event #region 폼 닫은 경우 처리하기 - Form_FormClosed(sender, e) /// <summary> /// 폼 닫은 경우 처리하기 /// </summary> /// <param name="sender">이벤트 발생자</param> /// <param name="e">이벤트 인자</param> private void Form_FormClosed(object sender, FormClosedEventArgs e) { this.resultGlControl.Dispose(); } #endregion #region 결과 GL 컨트롤 로드시 처리하기 - resultGlControl_Load(sender, e) /// <summary> /// 결과 GL 컨트롤 로드시 처리하기 /// </summary> /// <param name="sender">이벤트 발생자</param> /// <param name="e">이벤트 인자</param> private void resultGlControl_Load(object sender, EventArgs e) { this.giLoaded = true; GL.ClearColor(0.0f, 0.0f, 0.0f, 0.0f); SetupViewport(); #region 3D 포인트 클라아두를 위한 텍스처를 생성한다. int repeat = (int)All.Repeat; int linear = (int)All.Linear; GL.Enable(EnableCap.CullFace); GL.Enable(EnableCap.Texture2D); this.textureArray = new int[1]; GL.GenTextures(1, this.textureArray); GL.BindTexture(TextureTarget.Texture2D, this.textureArray[0]); GL.TexParameterI(TextureTarget.Texture2D, TextureParameterName.TextureWrapS , ref repeat); GL.TexParameterI(TextureTarget.Texture2D, TextureParameterName.TextureWrapT , ref repeat); GL.TexParameterI(TextureTarget.Texture2D, TextureParameterName.TextureMagFilter, ref linear); GL.TexParameterI(TextureTarget.Texture2D, TextureParameterName.TextureMinFilter, ref linear); GL.TexEnv(TextureEnvTarget.TextureEnv, TextureEnvParameter.TextureEnvMode, (int)All.Decal); GL.ShadeModel(ShadingModel.Smooth); GL.Hint(HintTarget.PerspectiveCorrectionHint, HintMode.Nicest); GL.BindTexture(TextureTarget.Texture2D, 1); Size imageSize = leftImage.Size; int maximumDimension = Math.Max(imageSize.Width, imageSize.Height); using(Image<Bgr, Byte> squareImage = new Image<Bgr, byte>(maximumDimension, maximumDimension)) { Rectangle roiRectangle = new Rectangle ( maximumDimension / 2 - imageSize.Width / 2, maximumDimension / 2 - imageSize.Height / 2, imageSize.Width, imageSize.Height ); squareImage.ROI = roiRectangle; CvInvoke.cvCopy(leftImage, squareImage, IntPtr.Zero); squareImage.ROI = Rectangle.Empty; this.textureImage = squareImage.Resize(512, 512, Emgu.CV.CvEnum.INTER.CV_INTER_CUBIC, true); this.textureImage._Flip(Emgu.CV.CvEnum.FLIP.VERTICAL); GL.TexImage2D ( TextureTarget.Texture2D, 0, PixelInternalFormat.Rgb8, this.textureImage.Width, this.textureImage.Height, 0, PixelFormat.Bgr, PixelType.UnsignedByte, this.textureImage.MIplImage.imageData ); } #endregion } #endregion #region 결과 GL 컨트롤 크기 변경시 처리하기 - resultGlControl_Resize(sender, e) /// <summary> /// 결과 GL 컨트롤 크기 변경시 처리하기 /// </summary> /// <param name="sender">이벤트 발생자</param> /// <param name="e">이벤트 인자</param> private void resultGlControl_Resize(object sender, EventArgs e) { if(!this.giLoaded) { return; } SetupViewport(); } #endregion #region 결과 GL 컨트롤 PAINT 처리하기 - resultGlControl_Paint(sender, e) /// <summary> /// 결과 GL 컨트롤 PAINT 처리하기 /// </summary> /// <param name="sender">이벤트 발생자</param> /// <param name="e">이벤트 인자</param> private void resultGlControl_Paint(object sender, PaintEventArgs e) { if(!this.giLoaded) { return; } GL.Clear(ClearBufferMask.ColorBufferBit | ClearBufferMask.DepthBufferBit); GL.Enable(EnableCap.Texture2D); GL.PushMatrix(); GL.Rotate(10.0, 0.0, 1.0, 0.0); GL.Rotate(this.angle, 0.0, 1.0, 0.0); GL.Begin(BeginMode.Points); GL.Color4(1.0, 1.0, 1.0, 1.0); foreach(MCvPoint3D32f point3D in this.point3DArray) { GL.TexCoord2(point3D.x + 0.5f, point3D.y + 0.5f); GL.Vertex3(point3D.x, point3D.y, point3D.z); } GL.End(); GL.PopMatrix(); if(this.angle >= 30.0 || this.angle <= -30.0) { this.angleIncrement = -this.angleIncrement; } this.angle += this.angleIncrement; GraphicsContext.CurrentContext.SwapBuffers(); this.resultGlControl.Invalidate(); } #endregion //////////////////////////////////////////////////////////////////////////////// Function #region 3D 포인트 배열 계산하기 - Computer3DPointArray(leftImage, rightImage, disparityMapImage, point3DArray) /// <summary> /// 3D 포인트 배열 계산하기 /// </summary> /// <param name="leftImage">왼쪽 이미지</param> /// <param name="rightImage">오른쪽 이미지</param> /// <param name="disparityMapImage">차이 맵 이미지</param> /// <param name="point3DArray">3D 포인트 배열</param> private static void Computer3DPointArray(Image<Gray, Byte> leftImage, Image<Gray, Byte> rightImage, out Image<Gray, short> disparityMapImage, out MCvPoint3D32f[] point3DArray) { Size imageSize = leftImage.Size; disparityMapImage = new Image<Gray, short>(imageSize); //using(StereoSGBM stereoSolver = new StereoSGBM(5, 64, 0, 0, 0, 0, 0, 0, 0, 0, StereoSGBM.Mode.SGBM)) using(StereoBM stereoSolver = new StereoBM(Emgu.CV.CvEnum.STEREO_BM_TYPE.BASIC, 0)) { stereoSolver.FindStereoCorrespondence(leftImage, rightImage, disparityMapImage); float scale = Math.Max(imageSize.Width, imageSize.Height); using ( Matrix<double> qMartix = new Matrix<double> ( new double[,] { { 1.0, 0.0, 0.0, -imageSize.Width / 2 }, { 0.0, -1.0, 0.0, imageSize.Height / 2 }, { 0.0, 0.0, -1.0, 0.0 }, { 0.0, 0.0, 0.0, scale } } ) ) { point3DArray = PointCollection.ReprojectImageTo3D(disparityMapImage, qMartix); } } } #endregion #region 뷰포트 셋업하기 - SetupViewport() /// <summary> /// 뷰포트 셋업하기 /// </summary> private void SetupViewport() { int width = this.resultGlControl.Width; int height = this.resultGlControl.Height; GL.MatrixMode(MatrixMode.Projection); GL.LoadIdentity(); GL.Ortho(-1.5, 1.5, -1.5, 1.5, -1.5, 1.5); GL.Viewport(0, 0, width, height); } #endregion } } |
