OpenCV双目标定
2017-06-07 00:00
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首先我们看看双目测距原理的算法
learnOpenCV资料库
参考blog
公式如下
摄像机俯视图
计算原理效应如下
learnOpenCV资料库
参考blog
公式如下
摄像机俯视图
计算原理效应如下
#include "opencv2/video/tracking.hpp" #include "opencv2/imgproc/imgproc.hpp" #include "opencv2/highgui/highgui.hpp" //#include <cv.h> #include <cxmisc.h> #include <highgui.h> #include <cvaux.h> #include <iostream> #include <ctype.h> #include <stdlib.h> #include <vector> #include <string> #include <algorithm> #include <ctype.h> #include <stdarg.h> #include <string.h> #include <stdio.h> using namespace cv; using namespace std; //vector<Point2f> point1, point2; bool left_mouse = false; Point2f point; int pic_info[4]; Mat gray, prevGray, image, image1; const Scalar GREEN = Scalar(0, 255, 0); int rect_width = 0, rect_height = 0; Point tmpPoint; int num = 0; int m_frameWidth = 640; int m_frameHeight = 480; bool m_Calib_Data_Loaded; // 是否成功载入定标参数 cv::Mat m_Calib_Mat_Q; // Q 矩阵 cv::Mat m_Calib_Mat_Remap_X_L; // 左视图畸变校正像素坐标映射矩阵 X cv::Mat m_Calib_Mat_Remap_Y_L; // 左视图畸变校正像素坐标映射矩阵 Y cv::Mat m_Calib_Mat_Remap_X_R; // 右视图畸变校正像素坐标映射矩阵 X cv::Mat m_Calib_Mat_Remap_Y_R; // 右视图畸变校正像素坐标映射矩阵 Y cv::Mat m_Calib_Mat_Mask_Roi; // 左视图校正后的有效区域 cv::Rect m_Calib_Roi_L; // 左视图校正后的有效区域矩形 cv::Rect m_Calib_Roi_R; // 右视图校正后的有效区域矩形 double m_FL; //CvStereoBMState *BMState = cvCreateStereoBMState(); int m_numberOfDisparies; // 视差变化范围 cv::StereoBM m_BM; CvMat* vdisp = cvCreateMat(480, 640, CV_8U); cv::Mat img1, img2, img1p, img2p, disp, disp8u, pointClouds, imageLeft, imageRight, disparityImage, imaget1; static IplImage *framet1 = NULL; static IplImage *framet2 = NULL; static IplImage *framet3 = NULL; static IplImage *framet = NULL; static void onMouse(int event, int x, int y, int /*flags*/, void* /*param*/){ Mat mouse_show; image.copyTo(mouse_show); //char buffer[100]; //sprintf(buffer, "D:\\l%d.jpg", num); //string t1(buffer); //sprintf(buffer, "D:\\r%d.jpg", num); //string t(buffer); if (event == CV_EVENT_LBUTTONDOWN) { pic_info[0] = x; pic_info[1] = y; cout << "x:" << pic_info[0] << "y:" << pic_info[1] << endl; left_mouse = true; //用于存储打印图片 //imwrite(t, image); // imwrite(t1, image1); // num = num++; } else if (event == CV_EVENT_LBUTTONUP) { left_mouse = false; } else if ((event == CV_EVENT_MOUSEMOVE) && (left_mouse == true)) { } } int loadCalibData() { // 读入摄像头定标参数 Q roi1 roi2 mapx1 mapy1 mapx2 mapy2 try { cv::FileStorage fs("calib_paras.xml", cv::FileStorage::READ); cout << fs.isOpened() << endl; if (!fs.isOpened()) { return (0); } cv::Size imageSize; cv::FileNodeIterator it = fs["imageSize"].begin(); it >> imageSize.width >> imageSize.height; // if (imageSize.width != m_frameWidth || imageSize.height != m_frameHeight) { return (-1); } vector<int> roiVal1; vector<int> roiVal2; fs["leftValidArea"] >> roiVal1; m_Calib_Roi_L.x = roiVal1[0]; m_Calib_Roi_L.y = roiVal1[1]; m_Calib_Roi_L.width = roiVal1[2]; m_Calib_Roi_L.height = roiVal1[3]; fs["rightValidArea"] >> roiVal2; m_Calib_Roi_R.x = roiVal2[0]; m_Calib_Roi_R.y = roiVal2[1]; m_Calib_Roi_R.width = roiVal2[2]; m_Calib_Roi_R.height = roiVal2[3]; fs["QMatrix"] >> m_Calib_Mat_Q; fs["remapX1"] >> m_Calib_Mat_Remap_X_L; fs["remapY1"] >> m_Calib_Mat_Remap_Y_L; fs["remapX2"] >> m_Calib_Mat_Remap_X_R; fs["remapY2"] >> m_Calib_Mat_Remap_Y_R; cv::Mat lfCamMat; fs["leftCameraMatrix"] >> lfCamMat; m_FL = lfCamMat.at<double>(0, 0); m_Calib_Mat_Q.at<double>(3, 2) = -m_Calib_Mat_Q.at<double>(3, 2); m_Calib_Mat_Mask_Roi = cv::Mat::zeros(m_frameHeight, m_frameWidth, CV_8UC1); cv::rectangle(m_Calib_Mat_Mask_Roi, m_Calib_Roi_L, cv::Scalar(255), -1); m_BM.state->roi1 = m_Calib_Roi_L; m_BM.state->roi2 = m_Calib_Roi_R; m_Calib_Data_Loaded = true; string method; fs["rectifyMethod"] >> method; if (method != "BOUGUET") { return (-2); } } catch (std::exception& e) { m_Calib_Data_Loaded = false; return (-99); } return 1; } void updatebm() { m_BM.state->preFilterCap = 31; m_BM.state->SADWindowSize = 19; m_BM.state->minDisparity = 0; m_BM.state->numberOfDisparities = 96; m_BM.state->textureThreshold = 10; m_BM.state->uniquenessRatio = 25; m_BM.state->speckleWindowSize = 100; m_BM.state->speckleRange = 32; m_BM.state->disp12MaxDiff = -1; } int bmMatch(cv::Mat& frameLeft, cv::Mat& frameRight, cv::Mat& disparity, cv::Mat& imageLeft, cv::Mat& imageRight) { // 输入检查 if (frameLeft.empty() || frameRight.empty()) { disparity = cv::Scalar(0); return 0; } if (m_frameWidth == 0 || m_frameHeight == 0) { //if (init(frameLeft.cols, frameLeft.rows, "calib_paras.xml"/*待改为由本地设置文件确定*/) == 0) //执行类初始化 // { return 0; //} } // 转换为灰度图 cv::Mat img1proc, img2proc; cvtColor(frameLeft, img1proc, CV_BGR2GRAY); cvtColor(frameRight, img2proc, CV_BGR2GRAY); // 校正图像,使左右视图行对齐 cv::Mat img1remap, img2remap; //cout << m_Calib_Data_Loaded << endl; if (m_Calib_Data_Loaded) { remap(img1proc, img1remap, m_Calib_Mat_Remap_X_L, m_Calib_Mat_Remap_Y_L, cv::INTER_LINEAR); // 对用于视差计算的画面进行校正 remap(img2proc, img2remap, m_Calib_Mat_Remap_X_R, m_Calib_Mat_Remap_Y_R, cv::INTER_LINEAR); } else { img1remap = img1proc; img2remap = img2proc; } // 对左右视图的左边进行边界延拓,以获取与原始视图相同大小的有效视差区域 cv::Mat img1border, img2border; if (m_numberOfDisparies != m_BM.state->numberOfDisparities) m_numberOfDisparies = m_BM.state->numberOfDisparities; copyMakeBorder(img1remap, img1border, 0, 0, m_BM.state->numberOfDisparities, 0, IPL_BORDER_REPLICATE); copyMakeBorder(img2remap, img2border, 0, 0, m_BM.state->numberOfDisparities, 0, IPL_BORDER_REPLICATE); // 计算视差 cv::Mat dispBorder; m_BM(img1border, img2border, dispBorder); //cvFindStereoCorrespondenceBM(img1border, img2border, dispBorder,BMState); // 截取与原始画面对应的视差区域(舍去加宽的部分) cv::Mat disp; disp = dispBorder.colRange(m_BM.state->numberOfDisparities, img1border.cols); disp.copyTo(disparity, m_Calib_Mat_Mask_Roi); //reprojectImageTo3D(dispBorder, pointClouds, m_Calib_Mat_Q, true); // 输出处理后的图像 //cout << m_Calib_Data_Loaded << endl; if (m_Calib_Data_Loaded) { remap(frameLeft, imageLeft, m_Calib_Mat_Remap_X_L, m_Calib_Mat_Remap_Y_L, cv::INTER_LINEAR); rectangle(imageLeft, m_Calib_Roi_L, CV_RGB(0, 0, 255), 3); } else frameLeft.copyTo(imageLeft); if (m_Calib_Data_Loaded) remap(frameRight, imageRight, m_Calib_Mat_Remap_X_R, m_Calib_Mat_Remap_Y_R, cv::INTER_LINEAR); else frameRight.copyTo(imageRight); rectangle(imageRight, m_Calib_Roi_R, CV_RGB(0, 0, 255), 3); return 1; } int getDisparityImage(cv::Mat& disparity, cv::Mat& disparityImage, bool isColor) { // 将原始视差数据的位深转换为 8 位 cv::Mat disp8u; if (disparity.depth() != CV_8U) { if (disparity.depth() == CV_8S) { disparity.convertTo(disp8u, CV_8U); } else { disparity.convertTo(disp8u, CV_8U, 255 / (m_numberOfDisparies*16.)); } } else { disp8u = disparity; } // 转换为伪彩色图像 或 灰度图像 if (isColor) { if (disparityImage.empty() || disparityImage.type() != CV_8UC3 || disparityImage.size() != disparity.size()) { disparityImage = cv::Mat::zeros(disparity.rows, disparity.cols, CV_8UC3); } for (int y = 0; y<disparity.rows; y++) { for (int x = 0; x<disparity.cols; x++) { uchar val = disp8u.at<uchar>(y, x); uchar r, g, b; if (val == 0) r = g = b = 0; else { r = 255 - val; g = val < 128 ? val * 2 : (uchar)((255 - val) * 2); b = val; } disparityImage.at<cv::Vec3b>(y, x) = cv::Vec3b(r, g, b); } } } else { disp8u.copyTo(disparityImage); } return 1; } int getPointClouds(cv::Mat& disparity, cv::Mat& pointClouds) { if (disparity.empty()) { return 0; } //计算生成三维点云 // cv::reprojectImageTo3D(disparity, pointClouds, m_Calib_Mat_Q, true); reprojectImageTo3D(disparity, pointClouds, m_Calib_Mat_Q, true); pointClouds *= 1.6; for (int y = 0; y < pointClouds.rows; ++y) { for (int x = 0; x < pointClouds.cols; ++x) { cv::Point3f point = pointClouds.at<cv::Point3f>(y, x); point.y = -point.y; pointClouds.at<cv::Point3f>(y, x) = point; } } return 1; } void detectDistance(cv::Mat& pointCloud) { if (pointCloud.empty()) { return; } // 提取深度图像 vector<cv::Mat> xyzSet; split(pointCloud, xyzSet); cv::Mat depth; xyzSet[2].copyTo(depth); // 根据深度阈值进行二值化处理 double maxVal = 0, minVal = 0; cv::Mat depthThresh = cv::Mat::zeros(depth.rows, depth.cols, CV_8UC1); cv::minMaxLoc(depth, &minVal, &maxVal); double thrVal = minVal * 1.5; threshold(depth, depthThresh, thrVal, 255, CV_THRESH_BINARY_INV); depthThresh.convertTo(depthThresh, CV_8UC1); //imageDenoising(depthThresh, 3); double distance = depth.at<float>(pic_info[0], pic_info[1]); cout << "distance:" << distance << endl; } int main(int argc, char** argv) { //读取摄像头 VideoCapture cap(0); VideoCapture cap1(1); if (!cap.isOpened()) { cout << "error happened while open cam 1"<<endl; return -1; } if (!cap1.isOpened()) { cout << "error happened while open cam 2" << endl; return -1; } namedWindow("left", 1); namedWindow("right", 1); namedWindow("disparitycolor", 1); setMouseCallback("disparitycolor", onMouse, 0); loadCalibData(); cout << m_Calib_Data_Loaded << endl; while (true) { Mat frame; Mat frame1; cap.read(frame); cap1.read(frame1); if (frame.empty()) break; if (frame1.empty()) break; frame.copyTo(image); frame1.copyTo(image1); updatebm(); bmMatch(frame, frame1, disp, imageLeft, imageRight); imshow("left", imageLeft); imshow("right", imageRight); getDisparityImage(disp, disparityImage, true); // framet2 = &IplImage(disparityImage); // cvShowImage("disparitycolor", framet2); getPointClouds(disp, pointClouds); imshow("disparitycolor", disparityImage); detectDistance(pointClouds); waitKey(100); } //std::swap(point2, point1); // cv::swap(prevGray, gray); return 0; }
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