Opencv立体视觉深度图，代码不工作

Question

我正在学习立体视觉深度图，我使用的是opencv库。自己写了一个程序来获取深度图。但是当程序运行时，我得到了一个空的深度图帧。谁能帮帮我，怎么了?代码如下所示;

#include <opencv/highgui.h>
#include <opencv/cv.h>
#include <stdio.h>
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <math.h>
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/contrib/contrib.hpp>
int main()
{
IplImage* img1 = cvLoadImage("/home/sezen/Masaüstü/imR.png");
IplImage* img2 = cvLoadImage("/home/sezen/Masaüstü/imL.png");
IplImage *rimage = cvCreateImage(
cvSize( img1->width, img1->height ), IPL_DEPTH_8U, 1 );
cvCvtColor( img1, rimage, CV_RGB2GRAY );
IplImage *limage = cvCreateImage(
cvSize( img2->width, img2->height ), IPL_DEPTH_8U, 1 );
cvCvtColor( img2, limage, CV_RGB2GRAY );
cvNamedWindow( "Right", CV_WINDOW_AUTOSIZE );
cvShowImage( "Right", rimage );
cvNamedWindow( "Left", CV_WINDOW_AUTOSIZE );
cvShowImage("Left", limage);
CvMat *matr = cvCreateMat(rimage->height,rimage->width,CV_8UC1 );
CvMat *matl = cvCreateMat(limage->height,limage->width,CV_8UC1 );
CvMat* disp = cvCreateMat(rimage->height,rimage->width,CV_16S);
CvMat* vdisp = cvCreateMat(rimage->height,rimage->width,CV_16S);
cvConvert( rimage, matr );
cvConvert( limage, matl );
CvStereoBMState *BMState = cvCreateStereoBMState();
assert(BMState != 0);
BMState->preFilterSize=21;
BMState->preFilterCap=31;
BMState->SADWindowSize=21;
BMState->minDisparity=0;
BMState->numberOfDisparities=128;
BMState->textureThreshold=10;
BMState->uniquenessRatio=15;

cvFindStereoCorrespondenceBM( matr, matl, disp, BMState);
cvNormalize(disp, vdisp, 0, 255, CV_MINMAX);
cvShowImage("depthmap", vdisp);
cvWaitKey(0);
return 0;
}

Answer 1

这是一个使用c++ API的视差图代码。你归一化的最终图像的类型应该是CV_8UC1。

Mat img1, img2, g1, g2;
Mat disp, disp8;
img1 = imread("leftImage.jpg");
img2 = imread("rightImage.jpg");
cvtColor(img1, g1, CV_BGR2GRAY);
cvtColor(img2, g2, CV_BGR2GRAY);
StereoBM sbm;
sbm.state->SADWindowSize = 9;
sbm.state->numberOfDisparities = 112;
sbm.state->preFilterSize = 5;
sbm.state->preFilterCap = 61;
sbm.state->minDisparity = -39;
sbm.state->textureThreshold = 507;
sbm.state->uniquenessRatio = 0;
sbm.state->speckleWindowSize = 0;
sbm.state->speckleRange = 8;
sbm.state->disp12MaxDiff = 1;
sbm(g1, g2, disp);
normalize(disp, disp8, 0, 255, CV_MINMAX, CV_8U);
imshow("left", img1);
imshow("right", img2);
imshow("disp", disp8);

Answer 2

我只能补充说，OpenCV名称空间和类的结构每年都在变化。我在下面放置了OpenCV 3.4.0的工作源代码

#include <Windows.h>
#include <Vfw.h>
#include <string>
#include <iostream>

#include "opencv2corecore.hpp"
#include "opencv2imgprocimgproc.hpp"
#include "opencv2imgcodecsimgcodecs.hpp"
#include "opencv2highguihighgui.hpp"
#include "opencv2calib3dcalib3d.hpp"
using namespace std;
using namespace cv;

int _tmain(int argc, _TCHAR* argv[])
{
    Mat im_left=imread("right.png");
    Mat im_right=imread("left.png");
    cv::Size imagesize = im_left.size();
    cv::Mat disparity_left=cv::Mat(imagesize.height,imagesize.width,CV_16S);
    cv::Mat disparity_right=cv::Mat(imagesize.height,imagesize.width,CV_16S);
    cv::Mat g1,g2,disp,disp8;
    cv::cvtColor(im_left,g1,cv::COLOR_BGR2GRAY);
    cv::cvtColor(im_right,g2,cv::COLOR_BGR2GRAY);
    cv::Ptr<cv::StereoBM> sbm = cv::StereoBM::create(0,21);
    sbm->setDisp12MaxDiff(1);
    sbm->setSpeckleRange(8);
    sbm->setSpeckleWindowSize(9);
    sbm->setUniquenessRatio(0);
    sbm->setTextureThreshold(507);
    sbm->setMinDisparity(-39);
    sbm->setPreFilterCap(61);
    sbm->setPreFilterSize(5);
    sbm->compute(g1,g2,disparity_left);
    normalize(disparity_left, disp8, 0, 255, CV_MINMAX, CV_8U);
    cv::namedWindow("Left",CV_WINDOW_FREERATIO);
    cv::imshow("Left", im_left);
    cv::namedWindow("Right",CV_WINDOW_FREERATIO);
    cv::imshow("Right", im_right);
    cv::namedWindow("Depth map",CV_WINDOW_FREERATIO);
    cv::imshow("Depth map", disp8);
    cv::waitKey(0);
    return 0;
}

Answer 3

对于我来说，它与stereoBM对象的初始化略有不同

Ptr<StereoBM> sbm = cv::StereoBM::create(16, 5);
  sbm->setDisp12MaxDiff(1);
  sbm->setSpeckleRange(8);
  sbm->setSpeckleWindowSize(0);
  sbm->setUniquenessRatio(0);
  sbm->setTextureThreshold(507);
  sbm->setMinDisparity(-39);
  sbm->setPreFilterCap(61);
  sbm->setPreFilterSize(5);
  sbm->compute(src1, src2, disp);

Answer 4

我根据需要编辑了代码，我添加了相机1和2，并从中读取。然后，制作深度图。谢谢，希望这对你有帮助。

#include <string>
#include <iostream>
#include <opencv2/opencv.hpp>
#include "opencv2/core/core.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/imgcodecs/imgcodecs.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/calib3d/calib3d.hpp"
using namespace std;
using namespace cv;
int main()
{
    VideoCapture leftCam(0);      //lets say 0 is left, 1 is right
    if (leftCam.isOpened() == false){cout << "error: Webcam connect unsuccessfuln";    return(0);    }
    VideoCapture rightCam(1);     //lets say 0 is left, 1 is right
    if (rightCam.isOpened() == false){cout << "error: Webcam connect unsuccessfuln";   return(0);    }
    Mat left, right;    
    Mat leftClone, rightClone;
char charCheckForEscKey = 0;
while (    charCheckForEscKey != 27 && leftCam.isOpened()  )
{
    leftCam.read(left);
    if (left.empty()){cout << "No frame to read" << endl;  break;}      
    leftClone = left.clone();               //copy from the left camera 
    imwrite("left.png", leftClone);         // write it to screenshot.png in this directory
    rightCam.read(right);
    if (right.empty()){cout << "No frame to read" << endl;  break;}     
    rightClone = right.clone();             //copy from the left camera 
    imwrite("right.png", rightClone);           // write it to screenshot.png in this directory
        Mat im_left = imread("left.png"); //left cam picture
        Mat im_right = imread("right.png"); // right cam  picture 
        Size imagesize = im_left.size();
        Mat disparity_left= Mat(imagesize.height,imagesize.width,CV_16S);
        Mat disparity_right=Mat(imagesize.height,imagesize.width,CV_16S);
        Mat g1,g2,disp,disp8;
        cvtColor(im_left,g1, COLOR_BGR2GRAY);
        cvtColor(im_right,g2, COLOR_BGR2GRAY);
        Ptr<cv::StereoBM> sbm =  StereoBM::create(0,21);
        sbm->setDisp12MaxDiff(1);
        sbm->setSpeckleRange(8);
        sbm->setSpeckleWindowSize(9);
        sbm->setUniquenessRatio(0);
        sbm->setTextureThreshold(507);
        sbm->setMinDisparity(-39);
        sbm->setPreFilterCap(61);
        sbm->setPreFilterSize(5);
        sbm->compute(g1,g2,disparity_left);
        normalize(disparity_left, disp8, 0, 255, NORM_MINMAX, CV_8U);
        namedWindow("Left", WINDOW_AUTOSIZE);
        imshow("Left", im_left);
        namedWindow("Right", WINDOW_AUTOSIZE);
        imshow("Right", im_right);
        namedWindow("Depth map", WINDOW_AUTOSIZE);
        imshow("Depth map", disp8);
        namedWindow("Left Cloned", WINDOW_FREERATIO);
        imshow("Left Cloned", leftClone);   // left is the left pic taken from camera 0
        charCheckForEscKey = waitKey(1);    
}
return(0);

}

Answer 5

#include <opencv2/opencv.hpp>
#include <opencv2/highgui.hpp>
#include<opencv2/calib3d.hpp>
int main()
{
cv::Mat leftimg =cv::imread("leftimage.jpg");
cv::Mat rightimg = cv::imread("rightimage.jpg");
cv::Mat disparity_left=cv::Mat(leftimg.size(),leftimg.type());
cv::Mat disparity_right=cv::Mat(rightimg.size(),rightimg .type());
cv::Mat g1,g2,disp,disp8;
cv::cvtColor(leftimg,g1,cv::COLOR_BGR2GRAY);
cv::cvtColor(rightimg,g2,cv::COLOR_BGR2GRAY);
cv::Ptr<cv::StereoBM> sbm = cv::createStereoBM(16,21);

sbm->setDisp12MaxDiff(1);
sbm->setSpeckleRange(8);
sbm->setSpeckleWindowSize(9);
sbm->setUniquenessRatio(0);
sbm->setTextureThreshold(507);
sbm->setMinDisparity(-39);
sbm->setPreFilterCap(61);
sbm->setPreFilterSize(5);
sbm->compute(g1,g2,disparity_left);
normalize(disparity_left, disp8, 0, 255, CV_MINMAX, CV_8U);
}