4.结构光：遇到的问题

折腾了结构光视觉已有一个月之久了，代码不易，且调且珍惜啊！遇到的主要问题如下：

1.OpenCV的速度真心慢，无论是相移还是格雷码，开源的要慎重啊！
2.立体矫正之后的图片进行三维重建，Failed！这个问题很致命，目前一直没搞懂，问题出在哪，继续摸索吧！

核心代码如下，参考OpenCV3.1的例子：

        // 初始化
	size_t numberOfPatternImages = graycode_Decoder->getNumberOfPatternImages();//42
	vector<vector<Mat>> captured_pattern;
	captured_pattern.resize(2);
	captured_pattern[0].resize(numberOfPatternImages);
	captured_pattern[1].resize(numberOfPatternImages);
	 
	// 全白图像，白色图案编码
	Mat color = imread(imagelist[numberOfPatternImages], IMREAD_COLOR);
	Size imagesSize = color.size();

	// 立体校正
	Mat R1, R2, P1, P2, Q;
	Rect validRoi[2];
	stereoRectify(cam1intrinsics, cam1distCoeffs, cam2intrinsics, cam2distCoeffs, imagesSize, R, T, R1, R2, P1, P2, Q,
		0, -1, imagesSize, &validRoi[0], &validRoi[1]);
	Mat map1x, map1y, map2x, map2y;
	initUndistortRectifyMap(cam1intrinsics, cam1distCoeffs, R1, P1, imagesSize, CV_32FC1, map1x, map1y);
	initUndistortRectifyMap(cam2intrinsics, cam2distCoeffs, R2, P2, imagesSize, CV_32FC1, map2x, map2y);


	// 导入图像
	for (size_t i = 0; i < numberOfPatternImages; i++)
	{
		// 0-41
		captured_pattern[0][i] = imread(imagelist[i], IMREAD_GRAYSCALE);
		// 44-87
		captured_pattern[1][i] = imread(imagelist[i + numberOfPatternImages + 2], IMREAD_GRAYSCALE);
		if ((!captured_pattern[0][i].data) || (!captured_pattern[1][i].data))
		{
			return;
		}
		remap(captured_pattern[1][i], captured_pattern[1][i], map1x, map1y, CV_INTER_LINEAR, BORDER_CONSTANT, Scalar(0, 0, 0));
		remap(captured_pattern[0][i], captured_pattern[0][i], map2x, map2y, CV_INTER_LINEAR, BORDER_CONSTANT, Scalar(0, 0, 0));
	}

	// 导入全白全黑背景图案
	vector<Mat> blackImages;
	vector<Mat> whiteImages;
	blackImages.resize(2);
	whiteImages.resize(2);
	whiteImages[0] = imread(imagelist[numberOfPatternImages], IMREAD_GRAYSCALE);//42	
	blackImages[0] = imread(imagelist[numberOfPatternImages + 1], IMREAD_GRAYSCALE);//43
	whiteImages[1] = imread(imagelist[2 * numberOfPatternImages + 2], IMREAD_GRAYSCALE);//86
	blackImages[1] = imread(imagelist[2 * numberOfPatternImages + 2 + 1], IMREAD_GRAYSCALE);//87

	//INTER_NEAREST, BORDER_CONSTANT, Scalar()); 
	remap(color, color, map2x, map2y, INTER_NEAREST, BORDER_CONSTANT, Scalar());
	remap(whiteImages[0], whiteImages[0], map2x, map2y, CV_INTER_LINEAR, BORDER_CONSTANT, Scalar(0, 0, 0));
	remap(whiteImages[1], whiteImages[1], map1x, map1y, CV_INTER_LINEAR, BORDER_CONSTANT, Scalar(0, 0, 0));
	remap(blackImages[0], blackImages[0], map2x, map2y, CV_INTER_LINEAR, BORDER_CONSTANT, Scalar(0, 0, 0));
	remap(blackImages[1], blackImages[1], map1x, map1y, CV_INTER_LINEAR, BORDER_CONSTANT, Scalar(0, 0, 0));

	// 解码
	Mat disparityMap;
	bool decoded = graycode_Decoder->decode(captured_pattern, disparityMap, blackImages, whiteImages, structured_light::DECODE_3D_UNDERWORLD);