void App::v_disparityCall()
{
if (source != NULL)
{
v_disparityImage = new QImage(256, source->height(),QImage::Format_RGB888);
v_disparityImage->fill(0);
v_disparity_N_Image = new QImage(256, source->height(), QImage::Format_RGB888);
v_disparity_N_Image->fill(0);
std::chrono::duration<double> elapsed_seconds;
if (mask == NULL)
{
v_disparity(*source, *v_disparityImage, elapsed_seconds);
char txt[32];
sprintf(txt, "V-Disparity: %f", elapsed_seconds.count());
elapsedTimeLabel->setText(QString(txt).append(" s"));
v_disparity_N(*source, *v_disparity_N_Image, elapsed_seconds);
}
else
{
v_disparity(*source, *mask, *v_disparityImage, elapsed_seconds);
char txt[32];
sprintf(txt, "V-Disparity: %f", elapsed_seconds.count());
elapsedTimeLabel->setText(QString(txt).append(" s"));
v_disparity_N(*source, *mask, *v_disparity_N_Image, elapsed_seconds);
}
v_disparityLabel->setPixmap(QPixmap::fromImage(*v_disparityImage));
v_disparityLabel->adjustSize();
v_disparity_N_Label->setPixmap(QPixmap::fromImage(*v_disparity_N_Image));
v_disparity_N_Label->adjustSize();
}
}
//#include "ransacLine.h"
int DispWay(Mat ImgL, Mat ImgR, String outputPath, int ID, Vec4i &line, cv::Mat &Result, cv::Mat &Disp, cv::Mat &Mask)
{
int Height = ImgL.rows;
int Width = ImgL.cols;
Mat Obst;
int hl;
ImgL.copyTo(Obst);
ImgL.copyTo(Result);
cvtColor(ImgL, ImgL, CV_BGR2GRAY);
cvtColor(ImgR, ImgR, CV_BGR2GRAY);
image<uchar> *I1 = nullptr;
mat2image(ImgL, I1);
image<uchar> *I2 = nullptr;
mat2image(ImgR, I2);
// process
image<uchar> *D1;
image<uchar> *D2;
computeDisparity(I1, I2, D1, D2);
//Mat imgDisp1, imgDisp2;
//computeDisparity(ImgL, ImgR, imgDisp1, imgDisp2);
image<uchar> *vdipa;
int threshold = 5;
vdipa = v_disparity(D1, threshold);
Mat VDisp;
VDisp.create(vdipa->height(), vdipa->width(), CV_8UC1);
for (int i = 0; i < vdipa->height(); i++)
for (int j = 0; j < vdipa->width(); j++)
VDisp.at<uchar>(i, j) = vdipa->data[i*vdipa->width() + j];
//imshow("VDisp", VDisp);
//operate_vdisparity(VDisp, line);
//cv::line(VDisp, Point(line[0], line[1]), Point(line[2], line[3]), Scalar(0, 0, 255), 1, CV_AA);
//imshow("VDisp",VDisp);
/*line = detectline(vdipa, outputPath, ID);*/
line = detectline_in_vdisparity(vdipa, outputPath, ID); //by ransac
float t = (line[3] - line[1]);
float k = (line[2] - line[0]) / t;
float b = line[0] - k*line[1];
hl = -b / k;
for (int j = 0; j < Width; j++)
{
Result.at<cv::Vec3b>(hl, j)[2] = 255;
}
for (int i = 0; i < Height; i++)
{
for (int j = 0; j < Width; j++)
{
int d_value = D1->data[i*Width + j];
Disp.at<uchar>(i, j) = d_value;
int v_value = k*i + b;
//if (abs(d_value - v_value)<5 + v_value / 20)
if (abs(d_value - v_value) < (float)v_value*0.2)
{
Result.at<cv::Vec3b>(i, j)[2] = 255;
}
if (abs(d_value - v_value) > (float)v_value*0.4 && d_value)
{
Mask.at<uchar>(i, j) = 0;
Obst.at<cv::Vec3b>(i, j)[1] = 0;
//Obst.at<cv::Vec3b>(i, j)[2] = 255;
}
else
{
Mask.at<uchar>(i, j) = 1;
}
}
}
stringstream ss;
ss << ID;
//imshow("Disp", Disp);
imwrite(outputPath + ss.str() + "_Disp.png", Disp);
imwrite(outputPath + "disparity\\" + ss.str() + "_Disp.png", Disp);
//imshow("Obst", Obst);
//imwrite(outputPath + ss.str() + "_DispRoad.png", Result);
return hl;
}
