evan/OpenDepthMap
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lots of filtering

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This commit is contained in:
Evan Pratten 2021-05-29 17:03:29 -04:00
parent 1adfcba942
commit 6390f22957
1 changed files with 26 additions and 4 deletions
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30
odm/__main__.py
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@ -9,26 +9,48 @@ FORMAT = '%(levelname)s %(name)s %(asctime)-15s %(filename)s:%(lineno)d %(messag
logging.basicConfig(format=FORMAT)
logging.getLogger().setLevel(logging.DEBUG)
# Config
BLUR_KERNEL_SIZE = 15
THRESH_MIN_PIXEL = 32
BLOB_MIN_AREA = 40
# Load in libodm
sys.path.append(os.getcwd() + "/target/debug")
import libpylibodm as pylibodm
def handle_image_data(stereo, left_image, right_image):
# Convert images to something opencv can use
# Convert images to something opencv can use
left_image_cv = np.frombuffer(bytes(left_image.buffer), np.uint8).reshape(
left_image.height, left_image.width)
right_image_cv = np.frombuffer(bytes(right_image.buffer), np.uint8).reshape(
left_image.height, left_image.width)
# Smooth out the raw images
kernel = np.ones((BLUR_KERNEL_SIZE,BLUR_KERNEL_SIZE),np.float32)/(BLUR_KERNEL_SIZE * BLUR_KERNEL_SIZE)
left_image_cv_smooth = cv2.filter2D(left_image_cv,-1,kernel)
right_image_cv_smooth = cv2.filter2D(right_image_cv,-1,kernel)
# Compute a disparity map
disparity = stereo.compute(left_image_cv, right_image_cv)
disparity = stereo.compute(left_image_cv_smooth, right_image_cv_smooth)
disparity = cv2.convertScaleAbs(disparity, alpha=1.5)
# Contour filtering
ret, threshold = cv2.threshold(disparity, THRESH_MIN_PIXEL, 255, cv2.THRESH_BINARY)
contours, hierarchy = cv2.findContours(threshold,
cv2.RETR_TREE, cv2.CHAIN_APPROX_NONE)
filtered_contours = [cnt for cnt in contours if cv2.contourArea(cnt) > BLOB_MIN_AREA]
mask = np.zeros(disparity.shape, np.uint8)
cv2.drawContours(mask, filtered_contours, -1, (255), thickness=cv2.FILLED)
# Mask out the disparity map
masked_disparity = cv2.bitwise_and(disparity, disparity, mask=mask)
cv2.imshow("Left", left_image_cv)
cv2.imshow("Right", right_image_cv)
cv2.imshow("Disparity", disparity)
cv2.imshow("Disparity (masked)", masked_disparity)
# cv2.imshow("Mask", mask)
def main() -> int:
# Handle program arguments
@ -41,7 +63,7 @@ def main() -> int:
pylibodm.connect(4)
# Set up depth mapping
stereo = cv2.StereoBM_create(numDisparities=32, blockSize=11)
stereo = cv2.StereoBM_create(numDisparities=32, blockSize=15)
# Handle data
while True: