I'm working on detection of distance from two image streams (stereo vision) using Emgu. I took the disparity map and then I did the 3D reconstruction, but I can't see the results in real time (display for image reconstruction and not video). I pulled the Q matrix that contains the coordinates of the image away, but I can not shoot the Z-most proche. this is my code:
Computer3DPointsFromStereoPair(left.Convert(), right.Convert(), out disparityMap, out _points);
stereoSolver.FindStereoCorrespondence(left, right, disparityMap);
using (Matrix q = new Matrix(
new double[,] {
{1.0, 0.0, 0.0, -size.Width/2}, //shift the x origin to image center
{0.0, 1.0, 0.0, -size.Height/2}, //shift the y origin to image center
{0.0, 0.0, 1.0, 0.0}, //Multiply the z value by 1.0,
{0.0, 0.0, 0.0, 1.0}}))
points = PointCollection.ReprojectImageTo3D(disparityMap, q);
http://photon07.pd.infn.it:5210/users/dazzi/Thesis_doctorate/Info/Chapter_6/Stereoscopy_(Mrovlje).pdf
As shown here:
http://www.emgu.com/forum/viewtopic.php?f=7&t=502
perhaps in EMGU u may not get the answer yet, but many other places u can get similar answers:
http://stackoverflow.com/questions/14038002/how-to-calculate-distance-between-camera-and-object-in-open-cv-using-image
http://stackoverflow.com/questions/6714069/finding-distance-from-camera-to-object-of-known-size
etc.
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