我无法从视差中获取正常的深度图。 这里是我的代码:获取深度图
#include "opencv2/core/core.hpp"
#include "opencv2/calib3d/calib3d.hpp"
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include "opencv2/contrib/contrib.hpp"
#include <cstdio>
#include <iostream>
#include <fstream>
using namespace cv;
using namespace std;
ofstream out("points.txt");
int main()
{
Mat img1, img2;
img1 = imread("images/im7rect.bmp");
img2 = imread("images/im8rect.bmp");
//resize(img1, img1, Size(320, 280));
//resize(img2, img2, Size(320, 280));
Mat g1,g2, disp, disp8;
cvtColor(img1, g1, CV_BGR2GRAY);
cvtColor(img2, g2, CV_BGR2GRAY);
int sadSize = 3;
StereoSGBM sbm;
sbm.SADWindowSize = sadSize;
sbm.numberOfDisparities = 144;//144; 128
sbm.preFilterCap = 10; //63
sbm.minDisparity = 0; //-39; 0
sbm.uniquenessRatio = 10;
sbm.speckleWindowSize = 100;
sbm.speckleRange = 32;
sbm.disp12MaxDiff = 1;
sbm.fullDP = true;
sbm.P1 = sadSize*sadSize*4;
sbm.P2 = sadSize*sadSize*32;
sbm(g1, g2, disp);
normalize(disp, disp8, 0, 255, CV_MINMAX, CV_8U);
Mat dispSGBMscale;
disp.convertTo(dispSGBMscale,CV_32F, 1./16);
imshow("image", img1);
imshow("disparity", disp8);
Mat Q;
FileStorage fs("Q.txt", FileStorage::READ);
fs["Q"] >> Q;
fs.release();
Mat points, points1;
//reprojectImageTo3D(disp, points, Q, true);
reprojectImageTo3D(disp, points, Q, false, CV_32F);
imshow("points", points);
ofstream point_cloud_file;
point_cloud_file.open ("point_cloud.xyz");
for(int i = 0; i < points.rows; i++) {
for(int j = 0; j < points.cols; j++) {
Vec3f point = points.at<Vec3f>(i,j);
if(point[2] < 10) {
point_cloud_file << point[0] << " " << point[1] << " " << point[2]
<< " " << static_cast<unsigned>(img1.at<uchar>(i,j)) << " " << static_cast<unsigned>(img1.at<uchar>(i,j)) << " " << static_cast<unsigned>(img1.at<uchar>(i,j)) << endl;
}
}
}
point_cloud_file.close();
waitKey(0);
return 0;
}
我的图片:
视差图:
我得到水木清华这样的点云:
Q等于: [1,0,0,-3.2883545303344727e + 02,0,1,0, -2.3697290992736816e + 02,0.1,0.1,0.1, 5.4497170185417110e + 02,0.0,0.,-1.4446083962336606e-02,0]
我尝试了很多其他的东西。我尝试了不同的图像,但没有人能够获得正常的深度图。
我在做什么错?我应该使用reprojectImageTo3D还是使用其他方法来代替它?什么是深度图的最佳方式? (我试过了point_cloud库) 或者你能否给我提供数据集和校准信息的工作示例,我可以运行它并获取深度图。或者如何从Middlebury立体声数据库(http://vision.middlebury.edu/stereo/data/)获得depth_map,我认为没有足够的校准信息。
编辑: 现在,我得到水木清华这样的:
这当然是好,但仍不正常。
Edited2: 我想你说的话:
Mat disp;
disp = imread("disparity-image.pgm", CV_LOAD_IMAGE_GRAYSCALE);
Mat disp64;
disp.convertTo(disp64,CV_64F, 1.0/16.0);
imshow("disp", disp);
我得到这个结果与线CV :: minMaxIdx(...):
这时候我评论这行:
ps:也请你能告诉我怎么才能计算深度只知道基准线和焦距以像素为单位。
这一切都取决于您的校准。如果你有超过0.5的重投影错误,你会得到一个不好的Q矩阵 – berak
@berak:我知道它,并且因为我无法获得良好的校准,所以我尝试使用来自Internet(https:// code)的数据集。 google.com/p/tjpstereovision/source/browse/),我认为这是正常的Q矩阵。如何从middleburry数据集获取深度图? –