mirror of https://github.com/opencv/opencv.git
Open Source Computer Vision Library
https://opencv.org/
You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
290 lines
9.1 KiB
290 lines
9.1 KiB
/* |
|
* stereo_match.cpp |
|
* calibration |
|
* |
|
* Created by Victor Eruhimov on 1/18/10. |
|
* Copyright 2010 Argus Corp. All rights reserved. |
|
* |
|
*/ |
|
|
|
#include "opencv2/calib3d/calib3d.hpp" |
|
#include "opencv2/imgproc.hpp" |
|
#include "opencv2/imgcodecs.hpp" |
|
#include "opencv2/highgui.hpp" |
|
#include "opencv2/core/utility.hpp" |
|
|
|
#include <stdio.h> |
|
|
|
using namespace cv; |
|
|
|
static void print_help() |
|
{ |
|
printf("\nDemo stereo matching converting L and R images into disparity and point clouds\n"); |
|
printf("\nUsage: stereo_match <left_image> <right_image> [--algorithm=bm|sgbm|hh|sgbm3way] [--blocksize=<block_size>]\n" |
|
"[--max-disparity=<max_disparity>] [--scale=scale_factor>] [-i=<intrinsic_filename>] [-e=<extrinsic_filename>]\n" |
|
"[--no-display] [-o=<disparity_image>] [-p=<point_cloud_file>]\n"); |
|
} |
|
|
|
static void saveXYZ(const char* filename, const Mat& mat) |
|
{ |
|
const double max_z = 1.0e4; |
|
FILE* fp = fopen(filename, "wt"); |
|
for(int y = 0; y < mat.rows; y++) |
|
{ |
|
for(int x = 0; x < mat.cols; x++) |
|
{ |
|
Vec3f point = mat.at<Vec3f>(y, x); |
|
if(fabs(point[2] - max_z) < FLT_EPSILON || fabs(point[2]) > max_z) continue; |
|
fprintf(fp, "%f %f %f\n", point[0], point[1], point[2]); |
|
} |
|
} |
|
fclose(fp); |
|
} |
|
|
|
int main(int argc, char** argv) |
|
{ |
|
std::string img1_filename = ""; |
|
std::string img2_filename = ""; |
|
std::string intrinsic_filename = ""; |
|
std::string extrinsic_filename = ""; |
|
std::string disparity_filename = ""; |
|
std::string point_cloud_filename = ""; |
|
|
|
enum { STEREO_BM=0, STEREO_SGBM=1, STEREO_HH=2, STEREO_VAR=3, STEREO_3WAY=4 }; |
|
int alg = STEREO_SGBM; |
|
int SADWindowSize, numberOfDisparities; |
|
bool no_display; |
|
float scale; |
|
|
|
Ptr<StereoBM> bm = StereoBM::create(16,9); |
|
Ptr<StereoSGBM> sgbm = StereoSGBM::create(0,16,3); |
|
cv::CommandLineParser parser(argc, argv, |
|
"{@arg1||}{@arg2||}{help h||}{algorithm||}{max-disparity|0|}{blocksize|0|}{no-display||}{scale|1|}{i||}{e||}{o||}{p||}"); |
|
if(parser.has("help")) |
|
{ |
|
print_help(); |
|
return 0; |
|
} |
|
img1_filename = parser.get<std::string>(0); |
|
img2_filename = parser.get<std::string>(1); |
|
if (parser.has("algorithm")) |
|
{ |
|
std::string _alg = parser.get<std::string>("algorithm"); |
|
alg = _alg == "bm" ? STEREO_BM : |
|
_alg == "sgbm" ? STEREO_SGBM : |
|
_alg == "hh" ? STEREO_HH : |
|
_alg == "var" ? STEREO_VAR : |
|
_alg == "sgbm3way" ? STEREO_3WAY : -1; |
|
} |
|
numberOfDisparities = parser.get<int>("max-disparity"); |
|
SADWindowSize = parser.get<int>("blocksize"); |
|
scale = parser.get<float>("scale"); |
|
no_display = parser.has("no-display"); |
|
if( parser.has("i") ) |
|
intrinsic_filename = parser.get<std::string>("i"); |
|
if( parser.has("e") ) |
|
extrinsic_filename = parser.get<std::string>("e"); |
|
if( parser.has("o") ) |
|
disparity_filename = parser.get<std::string>("o"); |
|
if( parser.has("p") ) |
|
point_cloud_filename = parser.get<std::string>("p"); |
|
if (!parser.check()) |
|
{ |
|
parser.printErrors(); |
|
return 1; |
|
} |
|
if( alg < 0 ) |
|
{ |
|
printf("Command-line parameter error: Unknown stereo algorithm\n\n"); |
|
print_help(); |
|
return -1; |
|
} |
|
if ( numberOfDisparities < 1 || numberOfDisparities % 16 != 0 ) |
|
{ |
|
printf("Command-line parameter error: The max disparity (--maxdisparity=<...>) must be a positive integer divisible by 16\n"); |
|
print_help(); |
|
return -1; |
|
} |
|
if (scale < 0) |
|
{ |
|
printf("Command-line parameter error: The scale factor (--scale=<...>) must be a positive floating-point number\n"); |
|
return -1; |
|
} |
|
if (SADWindowSize < 1 || SADWindowSize % 2 != 1) |
|
{ |
|
printf("Command-line parameter error: The block size (--blocksize=<...>) must be a positive odd number\n"); |
|
return -1; |
|
} |
|
if( img1_filename.empty() || img2_filename.empty() ) |
|
{ |
|
printf("Command-line parameter error: both left and right images must be specified\n"); |
|
return -1; |
|
} |
|
if( (!intrinsic_filename.empty()) ^ (!extrinsic_filename.empty()) ) |
|
{ |
|
printf("Command-line parameter error: either both intrinsic and extrinsic parameters must be specified, or none of them (when the stereo pair is already rectified)\n"); |
|
return -1; |
|
} |
|
|
|
if( extrinsic_filename.empty() && !point_cloud_filename.empty() ) |
|
{ |
|
printf("Command-line parameter error: extrinsic and intrinsic parameters must be specified to compute the point cloud\n"); |
|
return -1; |
|
} |
|
|
|
int color_mode = alg == STEREO_BM ? 0 : -1; |
|
Mat img1 = imread(img1_filename, color_mode); |
|
Mat img2 = imread(img2_filename, color_mode); |
|
|
|
if (img1.empty()) |
|
{ |
|
printf("Command-line parameter error: could not load the first input image file\n"); |
|
return -1; |
|
} |
|
if (img2.empty()) |
|
{ |
|
printf("Command-line parameter error: could not load the second input image file\n"); |
|
return -1; |
|
} |
|
|
|
if (scale != 1.f) |
|
{ |
|
Mat temp1, temp2; |
|
int method = scale < 1 ? INTER_AREA : INTER_CUBIC; |
|
resize(img1, temp1, Size(), scale, scale, method); |
|
img1 = temp1; |
|
resize(img2, temp2, Size(), scale, scale, method); |
|
img2 = temp2; |
|
} |
|
|
|
Size img_size = img1.size(); |
|
|
|
Rect roi1, roi2; |
|
Mat Q; |
|
|
|
if( !intrinsic_filename.empty() ) |
|
{ |
|
// reading intrinsic parameters |
|
FileStorage fs(intrinsic_filename, FileStorage::READ); |
|
if(!fs.isOpened()) |
|
{ |
|
printf("Failed to open file %s\n", intrinsic_filename.c_str()); |
|
return -1; |
|
} |
|
|
|
Mat M1, D1, M2, D2; |
|
fs["M1"] >> M1; |
|
fs["D1"] >> D1; |
|
fs["M2"] >> M2; |
|
fs["D2"] >> D2; |
|
|
|
M1 *= scale; |
|
M2 *= scale; |
|
|
|
fs.open(extrinsic_filename, FileStorage::READ); |
|
if(!fs.isOpened()) |
|
{ |
|
printf("Failed to open file %s\n", extrinsic_filename.c_str()); |
|
return -1; |
|
} |
|
|
|
Mat R, T, R1, P1, R2, P2; |
|
fs["R"] >> R; |
|
fs["T"] >> T; |
|
|
|
stereoRectify( M1, D1, M2, D2, img_size, R, T, R1, R2, P1, P2, Q, CALIB_ZERO_DISPARITY, -1, img_size, &roi1, &roi2 ); |
|
|
|
Mat map11, map12, map21, map22; |
|
initUndistortRectifyMap(M1, D1, R1, P1, img_size, CV_16SC2, map11, map12); |
|
initUndistortRectifyMap(M2, D2, R2, P2, img_size, CV_16SC2, map21, map22); |
|
|
|
Mat img1r, img2r; |
|
remap(img1, img1r, map11, map12, INTER_LINEAR); |
|
remap(img2, img2r, map21, map22, INTER_LINEAR); |
|
|
|
img1 = img1r; |
|
img2 = img2r; |
|
} |
|
|
|
numberOfDisparities = numberOfDisparities > 0 ? numberOfDisparities : ((img_size.width/8) + 15) & -16; |
|
|
|
bm->setROI1(roi1); |
|
bm->setROI2(roi2); |
|
bm->setPreFilterCap(31); |
|
bm->setBlockSize(SADWindowSize > 0 ? SADWindowSize : 9); |
|
bm->setMinDisparity(0); |
|
bm->setNumDisparities(numberOfDisparities); |
|
bm->setTextureThreshold(10); |
|
bm->setUniquenessRatio(15); |
|
bm->setSpeckleWindowSize(100); |
|
bm->setSpeckleRange(32); |
|
bm->setDisp12MaxDiff(1); |
|
|
|
sgbm->setPreFilterCap(63); |
|
int sgbmWinSize = SADWindowSize > 0 ? SADWindowSize : 3; |
|
sgbm->setBlockSize(sgbmWinSize); |
|
|
|
int cn = img1.channels(); |
|
|
|
sgbm->setP1(8*cn*sgbmWinSize*sgbmWinSize); |
|
sgbm->setP2(32*cn*sgbmWinSize*sgbmWinSize); |
|
sgbm->setMinDisparity(0); |
|
sgbm->setNumDisparities(numberOfDisparities); |
|
sgbm->setUniquenessRatio(10); |
|
sgbm->setSpeckleWindowSize(100); |
|
sgbm->setSpeckleRange(32); |
|
sgbm->setDisp12MaxDiff(1); |
|
if(alg==STEREO_HH) |
|
sgbm->setMode(StereoSGBM::MODE_HH); |
|
else if(alg==STEREO_SGBM) |
|
sgbm->setMode(StereoSGBM::MODE_SGBM); |
|
else if(alg==STEREO_3WAY) |
|
sgbm->setMode(StereoSGBM::MODE_SGBM_3WAY); |
|
|
|
Mat disp, disp8; |
|
//Mat img1p, img2p, dispp; |
|
//copyMakeBorder(img1, img1p, 0, 0, numberOfDisparities, 0, IPL_BORDER_REPLICATE); |
|
//copyMakeBorder(img2, img2p, 0, 0, numberOfDisparities, 0, IPL_BORDER_REPLICATE); |
|
|
|
int64 t = getTickCount(); |
|
if( alg == STEREO_BM ) |
|
bm->compute(img1, img2, disp); |
|
else if( alg == STEREO_SGBM || alg == STEREO_HH || alg == STEREO_3WAY ) |
|
sgbm->compute(img1, img2, disp); |
|
t = getTickCount() - t; |
|
printf("Time elapsed: %fms\n", t*1000/getTickFrequency()); |
|
|
|
//disp = dispp.colRange(numberOfDisparities, img1p.cols); |
|
if( alg != STEREO_VAR ) |
|
disp.convertTo(disp8, CV_8U, 255/(numberOfDisparities*16.)); |
|
else |
|
disp.convertTo(disp8, CV_8U); |
|
if( !no_display ) |
|
{ |
|
namedWindow("left", 1); |
|
imshow("left", img1); |
|
namedWindow("right", 1); |
|
imshow("right", img2); |
|
namedWindow("disparity", 0); |
|
imshow("disparity", disp8); |
|
printf("press any key to continue..."); |
|
fflush(stdout); |
|
waitKey(); |
|
printf("\n"); |
|
} |
|
|
|
if(!disparity_filename.empty()) |
|
imwrite(disparity_filename, disp8); |
|
|
|
if(!point_cloud_filename.empty()) |
|
{ |
|
printf("storing the point cloud..."); |
|
fflush(stdout); |
|
Mat xyz; |
|
reprojectImageTo3D(disp, xyz, Q, true); |
|
saveXYZ(point_cloud_filename.c_str(), xyz); |
|
printf("\n"); |
|
} |
|
|
|
return 0; |
|
}
|
|
|