Changeset 64 in pacpussensors for trunk/StereoVisionDisparity

Timestamp:

Sep 4, 2014, 11:19:05 AM (11 years ago)

Author:

phudelai

Message:

Programme détection d'obstacles amélioré

Location:

trunk/StereoVisionDisparity

Files:

• CMakeLists.txt (modified) (2 diffs)
• DisparityMap.h (modified) (1 diff)
• ObstacleDetectionComponent.cpp (modified) (3 diffs)
• ObstacleDetectionComponent.h (modified) (3 diffs)
• UDisparity.cpp (deleted)
• UDisparity.h (deleted)
• VDisparity.cpp (deleted)
• VDisparity.h (deleted)

trunk/StereoVisionDisparity/CMakeLists.txt

@@ -52 +52 @@
 set(
         PROJECT_SRCS
-        VDisparity.cpp    
-        VDisparity.h
-        UDisparity.cpp    
-        UDisparity.h
         DisparityMap.cpp
         DisparityMap.h
@@ -69 +65 @@
 set(
         FILES_TO_MOC
-        VDisparity.h
-        UDisparity.h    
         DisparityMap.h
         ObstacleDetectionComponent.h

trunk/StereoVisionDisparity/DisparityMap.h

@@ -31 +31 @@
 
 #include <QThread>
-#include <QMutex>
 
 namespace pacpus {

trunk/StereoVisionDisparity/ObstacleDetectionComponent.cpp

@@ -504 +504 @@
                                 cv::waitKey(1);
                         }
-
+                
                         // Remap the v-disparity point in the original image and create binary masks
                         //std::pair<cv::Mat, cv::Mat> masks = this->MaskSurface2(Disp_map, color_v_disp_map1, color_uv_disp_map.first, this->min_disp, this->max_disp, 1);
@@ -599 +599 @@
                                 cv::imshow("ObstacleDetectionComponent - Final Classification", reference);
                         }
+
                         //---------------------------------------------------------------------------
 
@@ -622 +623 @@
                 cvDestroyAllWindows();
 }
+
+/*      PointTriangulate
+Description:
+Calculate the point triangulation in the world
+Parameters:
+row,col = row and column in the image
+x,y,z = world coordinates
+disparity = disparity value
+
+bool ObstacleDetectionComponent::PointTriangulate(int row, int col, double &x, double &y, double &z, double disparity)
+{
+                bool valid_point = false;
+
+        if(disparity > 0.0 && disparity < 255.0)
+        {
+                z = this->cam_width * this->cam_fx * this->cam_baseline / disparity;
+                double u = col / (this->cam_width - 1.0) - this->cam_cx;
+                double v = row / (this->cam_height - 1.0) - this->cam_cy;
+
+                x = u * z / this->cam_fx;
+
+                y = v * z / this->cam_fy;
+
+                valid_point = true;
+        }
+
+        return valid_point;
+}*/
+
 
 // Function to calculate the U/V disparity map

trunk/StereoVisionDisparity/ObstacleDetectionComponent.h

@@ -31 +31 @@
 
 #include <QThread>
-#include <QMutex>
 
 namespace pacpus {
@@ -71 +70 @@
         int cam_height;                 // image height
         int cam_channels;               // number of channels
+        double cam_ref_cx;              // cx camera divide by x image size
+        double cam_ref_cy;              // cy camera divide by y image size
+        double cam_ref_fx;              // fx camera divide by x image size
+        double cam_ref_fy;              // fy camera divide by y image size
         bool showdebug;                 // Show frame acquired
         int min_disp;                   // Minimum disparity value to detect obstacles in the u/v-disp map
@@ -191 +194 @@
         A CalcMedian(std::vector<A> vetor) const;
 
+        //bool PointTriangulate(int row, int col, double &x, double &y, double &z, double disparity);
 };