69 lines
2.6 KiB
C#
69 lines
2.6 KiB
C#
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using UnityEngine;
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using UnityEngine.SceneManagement;
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using System.Collections;
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using OpenCVForUnity.CoreModule;
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using OpenCVForUnity.Calib3dModule;
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using OpenCVForUnity.UnityUtils;
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using OpenCVForUnity.ImgcodecsModule;
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namespace OpenCVForUnityExample
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{
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/// <summary>
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/// StereoBM Example
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/// An example of stereo correspondence using the block matching algorithm.
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/// Referring to http://docs.opencv.org/trunk/tutorial_py_depthmap.html#gsc.tab=0.
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/// </summary>
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public class StereoBMExample : MonoBehaviour
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{
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// Use this for initialization
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void Start ()
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{
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//Read the left and right images
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Texture2D texLeft = Resources.Load ("tsukuba_l") as Texture2D;
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Texture2D texRight = Resources.Load ("tsukuba_r") as Texture2D;
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Mat imgLeft = new Mat (texLeft.height, texLeft.width, CvType.CV_8UC1);
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Mat imgRight = new Mat (texRight.height, texRight.width, CvType.CV_8UC1);
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Utils.texture2DToMat (texLeft, imgLeft);
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Utils.texture2DToMat (texRight, imgRight);
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//or
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//Mat imgLeft = Imgcodecs.imread (Utils.getFilePath ("tsukuba_l.png"), Imgcodecs.IMREAD_GRAYSCALE);
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//Mat imgRight = Imgcodecs.imread (Utils.getFilePath ("tsukuba_r.png"), Imgcodecs.IMREAD_GRAYSCALE);
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Mat imgDisparity16S = new Mat (imgLeft.rows (), imgLeft.cols (), CvType.CV_16S);
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Mat imgDisparity8U = new Mat (imgLeft.rows (), imgLeft.cols (), CvType.CV_8UC1);
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// if (imgLeft.empty () || imgRight.empty ()) {
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// Debug.Log ("Error reading images ");
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// }
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StereoBM sbm = StereoBM.create (16, 15);
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sbm.compute (imgLeft, imgRight, imgDisparity16S);
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//normalize to CvType.CV_8U
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Core.normalize (imgDisparity16S, imgDisparity8U, 0, 255, Core.NORM_MINMAX, CvType.CV_8U);
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Texture2D texture = new Texture2D (imgDisparity8U.cols (), imgDisparity8U.rows (), TextureFormat.RGBA32, false);
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Utils.matToTexture2D (imgDisparity8U, texture);
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gameObject.GetComponent<Renderer> ().material.mainTexture = texture;
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}
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// Update is called once per frame
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void Update ()
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{
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}
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/// <summary>
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/// Raises the back button click event.
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/// </summary>
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public void OnBackButtonClick ()
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{
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SceneManager.LoadScene ("OpenCVForUnityExample");
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}
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}
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}
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