在原来的视差图基础上改进的,去掉黑白色的和伪彩色的,不为什么,彩虹图好看,任性。
之前测试过几次,感觉还是SGBM的算法在动态摄像头视差图匹配效果最好。
然后想办法加上摄像机内外畸变参数,还有匹配算法。贴个效果图:
可以看到匹配效果有点粗糙,是因为没加上标定后摄像头的畸变参数,加上去效果会好很多。
#include <highgui.h>
#include <cv.h>
#include <cxcore.h>
#include <iostream>
using namespace std;
using namespace cv;
int main(int argc, char** argv[])
{
cvNamedWindow("left", CV_WINDOW_AUTOSIZE);
cvNamedWindow("right", CV_WINDOW_AUTOSIZE);
CvCapture* capture1;
CvCapture* capture2;
if (argc==1)
{
capture1 = cvCreateCameraCapture( 1 );
capture2 = cvCreateCameraCapture( 0 );
}
IplImage* img1;
IplImage* img2;
while(1)
{
img1 = cvQueryFrame( capture1 );
img2 = cvQueryFrame( capture2 );
if( !(img1&&img2) )
break;
cvShowImage( "left", img1 );
cvShowImage( "right", img2 );
cv::StereoSGBM sgbm;
int SADWindowSize = 5;
sgbm.preFilterCap = 63;
sgbm.SADWindowSize = SADWindowSize > 0 ? SADWindowSize : 3;
int cn = img1->nChannels;
int numberOfDisparities=128;
sgbm.P1 = 8*cn*sgbm.SADWindowSize*sgbm.SADWindowSize;
sgbm.P2 = 32*cn*sgbm.SADWindowSize*sgbm.SADWindowSize;
sgbm.minDisparity = 0;
sgbm.numberOfDisparities = numberOfDisparities;
sgbm.uniquenessRatio = 10;
sgbm.speckleWindowSize = 100;
sgbm.speckleRange = 10;
sgbm.disp12MaxDiff = 1;
Mat disp, img;
int64 t = getTickCount();
sgbm((Mat)img1, (Mat)img2, disp);
disp.convertTo(img, CV_8U, 255/(numberOfDisparities*16.));
Mat img_color(img.rows, img.cols, CV_8UC3);//构造RGB图像
#define IMG_B(img,y,x) img.at<Vec3b>(y,x)[0]
#define IMG_G(img,y,x) img.at<Vec3b>(y,x)[1]
#define IMG_R(img,y,x) img.at<Vec3b>(y,x)[2]
uchar tmp2=0;
for (int y=0;y<img.rows;y++)//转为彩虹图的具体算法,主要思路是把灰度图对应的0~255的数值分别转换成彩虹色:红、橙、黄、绿、青、蓝。
{
for (int x=0;x<img.cols;x++)
{
tmp2 = img.at<uchar>(y,x);
if (tmp2 <= 51)
{
IMG_B(img_color,y,x) = 255;
IMG_G(img_color,y,x) = tmp2*5;
IMG_R(img_color,y,x) = 0;
}
else if (tmp2 <= 102)
{
tmp2-=51;
IMG_B(img_color,y,x) = 255-tmp2*5;
IMG_G(img_color,y,x) = 255;
IMG_R(img_color,y,x) = 0;
}
else if (tmp2 <= 153)
{
tmp2-=102;
IMG_B(img_color,y,x) = 0;
IMG_G(img_color,y,x) = 255;
IMG_R(img_color,y,x) = tmp2*5;
}
else if (tmp2 <= 204)
{
tmp2-=153;
IMG_B(img_color,y,x) = 0;
IMG_G(img_color,y,x) = 255-uchar(128.0*tmp2/51.0+0.5);
IMG_R(img_color,y,x) = 255;
}
else
{
tmp2-=204;
IMG_B(img_color,y,x) = 0;
IMG_G(img_color,y,x) = 127-uchar(127.0*tmp2/51.0+0.5);
IMG_R(img_color,y,x) = 255;
}
}
}
namedWindow("img_ rainbowcolor");
imshow("img_ rainbowcolor", img_color);
waitKey(30);
}
cvReleaseCapture( &capture1 );
cvReleaseCapture( &capture2 );
cvDestroyWindow( "left" );
cvDestroyWindow( "right" );
cvDestroyWindow( "disparity" );
}