git代码下载地址:GitHub - liuanqi-libra7/stereoVision: stereoVision
原始数据
输出优化后的视差结果
核心代码
#include <stdio.h>
#include <iostream>
#include <string>
#include <vector>
#include "opencv2/opencv.hpp"
#include "opencv2/ximgproc.hpp"
using namespace cv;
using namespace std;
using namespace ximgproc;
bool get_calib(std::string intrinsic_filename, std::string extrinsic_filename, Size img_size, vector<Mat>& matrixs) {
FileStorage fs(intrinsic_filename, FileStorage::READ);
if (!fs.isOpened())
{
printf("Failed to open file %s\n", intrinsic_filename.c_str());
return false;
}
Mat M1, D1, M2, D2;
fs["M1"] >> M1;
fs["D1"] >> D1;
fs["M2"] >> M2;
fs["D2"] >> D2;
fs.open(extrinsic_filename, FileStorage::READ);
if (!fs.isOpened())
{
printf("Failed to open file %s\n", extrinsic_filename.c_str());
return false;
}
Mat R, T, R1, P1, R2, P2;
fs["R"] >> R;
fs["T"] >> T;
Rect roi1, roi2;
Mat Q;
stereoRectify(M1, D1, M2, D2, img_size, R, T, R1, R2, P1, P2, Q, CALIB_ZERO_DISPARITY, -1, img_size, &roi1, &roi2);
Mat map11, map12, map21, map22;
initUndistortRectifyMap(M1, D1, R1, P1, img_size, CV_16SC2, map11, map12);
initUndistortRectifyMap(M2, D2, R2, P2, img_size, CV_16SC2, map21, map22);
matrixs.push_back(map11);
matrixs.push_back(map12);
matrixs.push_back(map21);
matrixs.push_back(map22);
matrixs.push_back(Q);
return true;
}
int main(int argc, char** argv){
std::string intrinsic_filename = "1280_720_intrinsics.yml";
std::string extrinsic_filename = "1280_720_extrinsics.yml";
Size img_size(1280, 720);
//读取内外参数
vector<Mat> matrixs;
if (!get_calib(intrinsic_filename, extrinsic_filename, img_size, matrixs)) {
printf("get_calib fail\n");
return -1;
};
//SGBM/BM参数初始化,依据自己场景做调整
int window_size = 5;
int blockSize = 5;
int minDisparity = 128;
int numDisparities = 128 * 2;
int P1 = 8 * 3 * window_size*window_size;
int P2 = 32 * 3 * window_size*window_size;
int disp12MaxDiff = 1;
int preFilterCap = 63;
int uniquenessRatio = 15;
int speckleWindowSize = 0;
int speckleRange = 2;
#if 1 //SGBM
Ptr<StereoSGBM> left_matcher = StereoSGBM::create();
//Ptr<StereoBM>left_matcher = StereoBM::create(16, 9);
left_matcher->setMinDisparity(-minDisparity);
left_matcher->setNumDisparities(numDisparities);
left_matcher->setBlockSize(blockSize);
left_matcher->setP1(P1);
left_matcher->setP2(P2);
left_matcher->setDisp12MaxDiff(disp12MaxDiff);
left_matcher->setPreFilterCap(preFilterCap);
left_matcher->setUniquenessRatio(uniquenessRatio);
left_matcher->setSpeckleWindowSize(speckleWindowSize);
left_matcher->setSpeckleRange(speckleRange);
left_matcher->setMode(StereoSGBM::MODE_SGBM_3WAY);
#else //BM
Ptr<StereoBM>left_matcher = StereoBM::create(16, 9);
left_matcher->setMinDisparity(-minDisparity);
left_matcher->setNumDisparities(numDisparities);
left_matcher->setBlockSize(blockSize);
left_matcher->setDisp12MaxDiff(disp12MaxDiff);
left_matcher->setPreFilterCap(preFilterCap);
left_matcher->setUniquenessRatio(uniquenessRatio);
left_matcher->setSpeckleWindowSize(speckleWindowSize);
left_matcher->setSpeckleRange(speckleRange);
#endif
//RightMatcher 初始化
int lmbda = 8000;
int sigma = 1.5;
Ptr<StereoMatcher> right_matcher = cv::ximgproc::createRightMatcher(left_matcher);
auto wls_filter = cv::ximgproc::createDisparityWLSFilter(left_matcher);
wls_filter->setLambda(lmbda);
wls_filter->setSigmaColor(sigma);
Mat img_full, left_img, right_img, left_img_remap, right_img_remap;
Mat disp_left, disp_right, disp_end, disp_show;
Mat threeD3;
img_full = imread("20220804154537.jpg");
if (img_full.empty()) {
cout << "No img Data" << endl;
return -1;
}
left_img = img_full(Rect(0, 0, 1280, 720));
right_img = img_full(Rect(1280, 0, 1280, 720));
cvtColor(left_img, left_img, CV_BGR2GRAY);
cvtColor(right_img, right_img, CV_BGR2GRAY);
remap(left_img, left_img_remap, matrixs[0], matrixs[1], INTER_LINEAR);
remap(right_img, right_img_remap, matrixs[2], matrixs[3], INTER_LINEAR);
#if 1 //显示极线矫正后的结果
Mat remap_full(Size(2560, 720), CV_8UC1);
left_img_remap.copyTo(remap_full(Rect(0, 0, 1280, 720)));// = left_img_remap.clone();
right_img_remap.copyTo(remap_full(Rect(1280, 0, 1280, 720)));// = right_img_remap.clone();
for (int kk = 0; kk < 720; kk+=50){
line(remap_full, Point(0, kk), Point(2560, kk), Scalar(255), 2);
}
#endif
left_matcher->compute(left_img_remap, right_img_remap, disp_left);
right_matcher->compute(right_img_remap, left_img_remap, disp_right);
wls_filter->filter(disp_left, left_img, disp_end, disp_right);
disp_end.setTo(0, disp_end < 0);
cv::normalize(disp_end, disp_show, 0, 255, CV_MINMAX, CV_8U);
reprojectImageTo3D(disp_end, threeD3, matrixs[4], true);
threeD3 *= 16;
threeD3 /= 1000.; //以米为单位
vector<Mat> split_vec;
split(threeD3, split_vec);
auto x = split_vec[0].clone();
auto y = split_vec[1].clone();
auto z = split_vec[2].clone();
cv::imshow("left_img", left_img);
cv::imshow("disp_show", disp_show);
cv::waitKey();
}
极线矫正结果图
左视差效果图
右视差效果图
视差空洞填充后效果图
(ximgproc::createRightMatcher依据左右视差,类似双边滤波操作)
该工程用到了opencv contrib中的ximgproc模块,所以需要对opencv进行重编译,把Contrib库编译进去,编译步骤如下:
Opencv Contrib 库安装
系统要求:ubuntu18.04
软件要求:vscode, opencv 3.4.9, opencv_contrib 3.4.9, mingw-w64, cmake-gui工具
opencv下载地址:https://github.com/opencv/opencv/archive/3.4.9.zip
contrib 下载地址: https://github.com/opencv/opencv_contrib/releases/tag/3.4.9
下载cmake-gui工具和mingw-w64,运行以下命令即可
$ sudo apt install cmake-qt-gui
$ sudo apt install mingw-w64
安装opencv依赖
$ sudo apt install cmake
$ sudo apt install build-essential libgtk2.0-dev libavcodec-dev libavformat-dev libjpeg.dev libtiff4.dev libswscale-dev libjasper-dev
编译安装opencv
打开cmake-gui,设置opencv源文件路径,以及Build的路径
CmakeSetup窗口默认选择,随后点击Configure按钮
1. 在搜索栏搜索EXTRA
,将OPENCV_EXTRA_MODULE_PATH
的值改成/path/to/opencv_contrib-3.4.9/modules
。
2. 修改install的路径,以防和其他opencv版本冲突
然后再点击Configure
--> Generate
。
Cmake过程中遇到问题解决
Q:fatal error: boostdesc_bgm.i无法下载
A:执行以下脚本,下载好放到指定目录opencv_contrib-3.4.9/modules/xfeatures2d/cmake/cache
#!/bin/bash
cd ./cache/xfeatures2d/
cd boostdesc
curl https://raw.githubusercontent.com/opencv/opencv_3rdparty/34e4206aef44d50e6bbcd0ab06354b52e7466d26/boostdesc_lbgm.i > 0ae0675534aa318d9668f2a179c2a052-boostdesc_lbgm.i
curl https://raw.githubusercontent.com/opencv/opencv_3rdparty/34e4206aef44d50e6bbcd0ab06354b52e7466d26/boostdesc_binboost_256.i > e6dcfa9f647779eb1ce446a8d759b6ea-boostdesc_binboost_256.i
curl https://raw.githubusercontent.com/opencv/opencv_3rdparty/34e4206aef44d50e6bbcd0ab06354b52e7466d26/boostdesc_binboost_128.i > 98ea99d399965c03d555cef3ea502a0b-boostdesc_binboost_128.i
curl https://raw.githubusercontent.com/opencv/opencv_3rdparty/34e4206aef44d50e6bbcd0ab06354b52e7466d26/boostdesc_binboost_064.i > 202e1b3e9fec871b04da31f7f016679f-boostdesc_binboost_064.i
curl https://raw.githubusercontent.com/opencv/opencv_3rdparty/34e4206aef44d50e6bbcd0ab06354b52e7466d26/boostdesc_bgm_hd.i > 324426a24fa56ad9c5b8e3e0b3e5303e-boostdesc_bgm_hd.i
curl https://raw.githubusercontent.com/opencv/opencv_3rdparty/34e4206aef44d50e6bbcd0ab06354b52e7466d26/boostdesc_bgm_bi.i > 232c966b13651bd0e46a1497b0852191-boostdesc_bgm_bi.i
curl https://raw.githubusercontent.com/opencv/opencv_3rdparty/34e4206aef44d50e6bbcd0ab06354b52e7466d26/boostdesc_bgm.i > 0ea90e7a8f3f7876d450e4149c97c74f-boostdesc_bgm.i
cd ../vgg
curl https://raw.githubusercontent.com/opencv/opencv_3rdparty/fccf7cd6a4b12079f73bbfb21745f9babcd4eb1d/vgg_generated_120.i > 151805e03568c9f490a5e3a872777b75-vgg_generated_120.i
curl https://raw.githubusercontent.com/opencv/opencv_3rdparty/fccf7cd6a4b12079f73bbfb21745f9babcd4eb1d/vgg_generated_64.i > 7126a5d9a8884ebca5aea5d63d677225-vgg_generated_64.i
curl https://raw.githubusercontent.com/opencv/opencv_3rdparty/fccf7cd6a4b12079f73bbfb21745f9babcd4eb1d/vgg_generated_48.i > e8d0dcd54d1bcfdc29203d011a797179-vgg_generated_48.i
curl https://raw.githubusercontent.com/opencv/opencv_3rdparty/fccf7cd6a4b12079f73bbfb21745f9babcd4eb1d/vgg_generated_80.i > 7cd47228edec52b6d82f46511af325c5-vgg_generated_80.i
Q:face_landmark_model.dat无法下载
A:按照下方链接下载好放到指定目录,并修改对应face模块makefile,修改方式如下图
$ cd /cmake时候你指定的opencv build path/
$ sudo make -j32
$ sudo make install