void App::run()
{
// Load images
left_src = imread(p.left);
right_src = imread(p.right);
if (left_src.empty()) throw runtime_error("can't open file \"" + p.left + "\"");
if (right_src.empty()) throw runtime_error("can't open file \"" + p.right + "\"");
cvtColor(left_src, left, COLOR_BGR2GRAY);
cvtColor(right_src, right, COLOR_BGR2GRAY);
d_left.upload(left);
d_right.upload(right);
imshow("left", left);
imshow("right", right);
// Set common parameters
bm.ndisp = p.ndisp;
bp.ndisp = p.ndisp;
csbp.ndisp = p.ndisp;
// Prepare disparity map of specified type
Mat disp(left.size(), CV_8U);
gpu::GpuMat d_disp(left.size(), CV_8U);
cout << endl;
printParams();
running = true;
while (running)
{
workBegin();
switch (p.method)
{
case Params::BM:
if (d_left.channels() > 1 || d_right.channels() > 1)
{
cout << "BM doesn't support color images\n";
cvtColor(left_src, left, COLOR_BGR2GRAY);
cvtColor(right_src, right, COLOR_BGR2GRAY);
cout << "image_channels: " << left.channels() << endl;
d_left.upload(left);
d_right.upload(right);
imshow("left", left);
imshow("right", right);
}
bm(d_left, d_right, d_disp);
break;
case Params::BP: bp(d_left, d_right, d_disp); break;
case Params::CSBP: csbp(d_left, d_right, d_disp); break;
}
workEnd();
// Show results
d_disp.download(disp);
putText(disp, text(), Point(5, 25), FONT_HERSHEY_SIMPLEX, 1.0, Scalar::all(255));
imshow("disparity", disp);
handleKey((char)waitKey(3));
}
}
void xyVision::GetTarget::binarizeTarget_gpu(const gpu::GpuMat img, gpu::GpuMat & bi)
{
CV_Assert(img.channels() == 3);
gpu::GpuMat img2 = img.clone();
std::vector<gpu::GpuMat> chs;
gpu::split(img2, chs);
Mat tmp;
//gpu::GpuMat img_t = chs[2] - chs[0] - chs[1];
gpu::GpuMat img_t, img_tmp;
gpu::subtract(chs[2], chs[0], img_tmp);
gpu::subtract(img_tmp, chs[1], img_t);
gpu::threshold(img_t, bi, 40, 255, THRESH_BINARY);
bi.convertTo(bi, CV_8UC1);
}
void xyVision::GetTarget::adjustImg_gpu(gpu::GpuMat& img)
{
CV_Assert(img.channels() == 3);
Size sz = img.size();
float scaleFactor = this->proInfo.scale;
gpu::GpuMat img2;
gpu::resize(img, img2, Size(int(sz.width*scaleFactor), int(sz.height*scaleFactor)));
img = img2.clone();
gpu::getCudaEnabledDeviceCount();
gpu::setDevice(0);
vector<gpu::GpuMat> chs;
gpu::split(img, chs);
gpu::GpuMat out;
// b g r
//imadjust(chs[2], out);
gpu::equalizeHist(chs[2], out);
chs[2] = out;
gpu::merge(chs, img);
}