불일치 매핑에서 스테레오 비전

나는 O'reilly 서적의 opencv 텍스트 북에서 예와 같이 스테레오 비전 깊이 매핑을 구현 중입니다.불일치 매핑에서 스테레오 비전

이 코드를 구현하는 동안 카메라는 수평이며 둘 다 동일하지 않습니다. 코드를 실행 한 후에 나는 매우 이상한 결과를 얻고 있습니다. 이 이상한 결과가 카메라의 방향이 틀렸거나 코드 내에 문제가 있는지 확인하고 싶습니다. 제발 도와주세요.

#include "cv.h" 
#include "cxmisc.h" 
#include "highgui.h" 
//#include "cvaux.h" 
#include &lt;vector&gt; 
#include &lt;string&gt; 
#include &lt;algorithm&gt; 
#include &lt;stdio.h&gt; 
#include &lt;ctype.h&gt; 
#define WIDTH 426 
#define HEIGHT 320 


using namespace std; 
int main() 
{ 
    //---------Initial-------- 
    int nx=7, ny=7, frame = 0, n_boards =20, N; 
    int count1 = 0,count2 = 0, result1=0, result2=0; 
    int showUndistorted = 1, successes1 = 0,successes2 = 0 ; 
    const int maxScale = 1; 
    const float squareSize = 2.f;  //Set this to your actual square size 
    CvSize imageSize = {WIDTH,HEIGHT}; 
    CvCapture *capture1= NULL, *capture2= NULL; 
    CvSize board_sz = cvSize(nx,ny); 

    int i, j, n = nx*ny, N1 = 0, N2 = 0; 
    vector&lt;CvPoint2D32f&gt; points[2]; 
    vector&lt;int&gt; npoints; 
    vector&lt;CvPoint3D32f&gt; objectPoints; 
    vector&lt;CvPoint2D32f&gt; temp1(n); 
    vector&lt;CvPoint2D32f&gt; temp2(n); 

    double M1[3][3], M2[3][3], D1[5], D2[5]; 
    double R[3][3], T[3], E[3][3], F[3][3]; 
    double Q[4][4]; 
    CvMat _Q = cvMat(4,4, CV_64F, Q); 
    CvMat _M1 = cvMat(3, 3, CV_64F, M1); 
    CvMat _M2 = cvMat(3, 3, CV_64F, M2); 
    CvMat _D1 = cvMat(1, 5, CV_64F, D1); 
    CvMat _D2 = cvMat(1, 5, CV_64F, D2); 
    CvMat _R = cvMat(3, 3, CV_64F, R); 
    CvMat _T = cvMat(3, 1, CV_64F, T); 
    CvMat _E = cvMat(3, 3, CV_64F, E); 
    CvMat _F = cvMat(3, 3, CV_64F, F); 

    //---------Starting WebCam---------- 
    capture1= cvCaptureFromCAM(0); 
    assert(capture1!=NULL); cvWaitKey(0); 
    capture2= cvCaptureFromCAM(1); 
    assert(capture2!=NULL); 

    //assure capture size is correct... 
    int res=cvSetCaptureProperty(capture1,CV_CAP_PROP_FRAME_WIDTH,WIDTH); 
    printf("%d",res); 
    res=cvSetCaptureProperty(capture1,CV_CAP_PROP_FRAME_HEIGHT,HEIGHT); 
    printf("%d",res); 
    res=cvSetCaptureProperty(capture2,CV_CAP_PROP_FRAME_WIDTH,WIDTH); 
    printf("%d",res); 
    res=cvSetCaptureProperty(capture2,CV_CAP_PROP_FRAME_HEIGHT,HEIGHT); 
    printf("%d",res); fflush(stdout); 


    IplImage *frame1 = cvQueryFrame(capture1); 
    IplImage* gray_fr1 = cvCreateImage(cvGetSize(frame1), 8, 1); 
    IplImage *frame2 = cvQueryFrame(capture2); 
    IplImage* gray_fr2 = cvCreateImage(cvGetSize(frame1), 8, 1); 
    //imageSize = cvGetSize(frame1); 

    //Show Window 
    cvNamedWindow("camera2", 1); 
    cvNamedWindow("camera1", 1); 
    cvNamedWindow("corners camera1",1); 
    cvNamedWindow("corners camera2",1); 
    while((successes1&lt;n_boards)||(successes2&lt;n_boards)) 
    { 

     //--------Find chessboard corner-------------------------------------------------- 

     if((frame++ % 20) == 0) 
     { 
      //----------------CAM1------------------------------------------------------------------------------------------------------- 
      result1 = cvFindChessboardCorners(frame1, board_sz,&temp1[0], &count1,CV_CALIB_CB_ADAPTIVE_THRESH|CV_CALIB_CB_FILTER_QUADS); 
      cvCvtColor(frame1, gray_fr1, CV_BGR2GRAY); 


      //----------------CAM2-------------------------------------------------------------------------------------------------------- 
      result2 = cvFindChessboardCorners(frame2, board_sz,&temp2[0], &count2,CV_CALIB_CB_ADAPTIVE_THRESH|CV_CALIB_CB_FILTER_QUADS); 
      cvCvtColor(frame2, gray_fr2, CV_BGR2GRAY); 


      if(count1==n&&count2==n&&result1&&result2) 
      { 
       cvFindCornerSubPix(gray_fr1, &temp1[0], count1,cvSize(11, 11), cvSize(-1,-1),cvTermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30, 0.01)); 
       cvDrawChessboardCorners(frame1, board_sz, &temp1[0], count1, result1); 
       cvShowImage("corners camera1", frame1); 
       N1 = points[0].size(); 
       points[0].resize(N1 + n, cvPoint2D32f(0,0)); 
       copy(temp1.begin(), temp1.end(), points[0].begin() + N1); 
       ++successes1; 

       cvFindCornerSubPix(gray_fr2, &temp2[0], count2,cvSize(11, 11), cvSize(-1,-1),cvTermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30, 0.01)); 
       cvDrawChessboardCorners(frame2, board_sz, &temp2[0], count2, result2); 
       cvShowImage("corners camera2", frame2); 
       N2 = points[1].size(); 
       points[1].resize(N2 + n, cvPoint2D32f(0,0)); 
       copy(temp2.begin(), temp2.end(), points[1].begin() + N2); 
       ++successes2; 

       putchar('$'); 
      } 

      else 
      {  cvShowImage("corners camera2", gray_fr2); 
       cvShowImage("corners camera1", gray_fr1); 
      } 

      frame1 = cvQueryFrame(capture1); 
      cvShowImage("camera1", frame1); 
      frame2 = cvQueryFrame(capture2); 
      cvShowImage("camera2", frame2); 

      if(cvWaitKey(15)==27) break; 
     } 
    } 
    cvReleaseCapture(&capture1); 
    cvReleaseCapture(&capture2); 
    cvDestroyWindow("camera1"); 
    cvDestroyWindow("camera2"); 
    cvDestroyWindow("corners camera1"); 
    cvDestroyWindow("corners camera2"); 
    printf("\n"); 


    //--------------Calibaration------------------- 
    N = n_boards*n; 
    objectPoints.resize(N); 
    for(i = 0; i &lt; ny; i++) 
    for(j = 0; j &lt; nx; j++) objectPoints[i*nx + j] = cvPoint3D32f(i*squareSize, j*squareSize, 0); 
    for(i = 1; i &lt; n_boards; i++) copy(objectPoints.begin(), objectPoints.begin() + n, objectPoints.begin() + i*n); 
    npoints.resize(n_boards,n); 

    CvMat _objectPoints = cvMat(1, N, CV_32FC3, &objectPoints[0]); 
    CvMat _imagePoints1 = cvMat(1, N, CV_32FC2, &points[0][0]); 
    CvMat _imagePoints2 = cvMat(1, N, CV_32FC2, &points[1][0]); 
    CvMat _npoints = cvMat(1, npoints.size(), CV_32S, &npoints[0]); 
    cvSetIdentity(&_M1); 
    cvSetIdentity(&_M2); 
    cvZero(&_D1); 
    cvZero(&_D2); 

    printf("Running stereo calibration ..."); 
    fflush(stdout); 
    cvStereoCalibrate(&_objectPoints, &_imagePoints1, &_imagePoints2, &_npoints,&_M1, &_D1, &_M2, &_D2,imageSize, &_R, &_T, &_E, &_F, 
    cvTermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS, 100, 1e-5), 
    CV_CALIB_FIX_ASPECT_RATIO+CV_CALIB_ZERO_TANGENT_DIST + CV_CALIB_SAME_FOCAL_LENGTH); 
    printf("done\n"); 
    //-------------Undistort------------------------------------------ 
    cvUndistortPoints(&_imagePoints1, &_imagePoints1,&_M1, &_D1, 0, &_M1); 
    cvUndistortPoints(&_imagePoints2, &_imagePoints2,&_M2, &_D2, 0, &_M2); 

    //--------Using bouguet algorithm------------------- 
    CvMat* mx1 = cvCreateMat(imageSize.height,imageSize.width, CV_32F); 
    CvMat* my1 = cvCreateMat(imageSize.height,imageSize.width, CV_32F); 
    CvMat* mx2 = cvCreateMat(imageSize.height,imageSize.width, CV_32F); 
    CvMat* my2 = cvCreateMat(imageSize.height,imageSize.width, CV_32F); 
    CvMat* frame1r = cvCreateMat(imageSize.height,imageSize.width, CV_8U); 
    CvMat* frame2r = cvCreateMat(imageSize.height,imageSize.width, CV_8U); 
    CvMat* disp = cvCreateMat(imageSize.height, imageSize.width, CV_16S); 
    CvMat* vdisp = cvCreateMat(imageSize.height,imageSize.width, CV_8U); 
    CvMat* Image3D = cvCreateMat(imageSize.height, imageSize.width, CV_32FC3); 
    CvMat* pair; 
    double R1[3][3], R2[3][3], P1[3][4], P2[3][4]; 
    CvMat _R1 = cvMat(3, 3, CV_64F, R1); 
    CvMat _R2 = cvMat(3, 3, CV_64F, R2); 
    //Calib with Bouguet algrithm 
    CvMat _P1 = cvMat(3, 4, CV_64F, P1); 
    CvMat _P2 = cvMat(3, 4, CV_64F, P2); 
    cvStereoRectify(&_M1, &_M2, &_D1, &_D2, imageSize,&_R, &_T,&_R1, &_R2, &_P1, &_P2, &_Q,0/*CV_CALIB_ZERO_DISPARITY*/); 
    //Find matrix for cvRemap() 
    cvInitUndistortRectifyMap(&_M1,&_D1,&_R1,&_P1,mx1,my1); 
    cvInitUndistortRectifyMap(&_M2,&_D2,&_R2,&_P2,mx2,my2); 


    pair = cvCreateMat(imageSize.height, imageSize.width*2,CV_8UC3); 
    //Paramater for stereo corrrespondences 
    CvStereoBMState *BMState = cvCreateStereoBMState(); 
    assert(BMState != 0); 
    BMState-&gt;preFilterSize=31; 
    BMState-&gt;preFilterCap=31; 
    BMState-&gt;SADWindowSize=35; 
    BMState-&gt;minDisparity= 0; 
    BMState-&gt;numberOfDisparities=48; 
    BMState-&gt;textureThreshold=20;  //reduce noise 
    BMState-&gt;uniquenessRatio=15;  // uniquenessRatio &gt; (match_val–min_match)/min_match. 
    /* CvStereoBMState *state = cvCreateStereoBMState(CV_STEREO_BM_BASIC); 
    BMState-&gt;speckleRange = 50; 
    BMState-&gt;textureThreshold = 400;*/ 

    //Bat camera va hien thi 
    //cvNamedWindow("camera2", 1); 
    //cvNamedWindow("camera1", 1); 
    cvNamedWindow("rectified",1); 
    cvNamedWindow("disparity",1); 
    cvNamedWindow("depthmap",1); 

    capture1= cvCaptureFromCAM(0); 
    assert(capture1!=NULL); cvWaitKey(10); 
    capture2= cvCaptureFromCAM(1); 
    assert(capture2!=NULL); 
    res=cvSetCaptureProperty(capture1,CV_CAP_PROP_FRAME_WIDTH,WIDTH); 
    printf("%d",res); 
    res=cvSetCaptureProperty(capture1,CV_CAP_PROP_FRAME_HEIGHT,HEIGHT); 
    printf("%d",res); 
    res=cvSetCaptureProperty(capture2,CV_CAP_PROP_FRAME_WIDTH,WIDTH); 
    printf("%d",res); 
    res=cvSetCaptureProperty(capture2,CV_CAP_PROP_FRAME_HEIGHT,HEIGHT); 
    printf("%d",res); fflush(stdout); 

    frame1 = cvQueryFrame(capture1); 
    frame2 = cvQueryFrame(capture2); 


    while(1) 
    { 
     CvMat part; 
     cvCvtColor(frame1, gray_fr1, CV_BGR2GRAY); 
     cvCvtColor(frame2, gray_fr2, CV_BGR2GRAY); 
     cvRemap(gray_fr1, frame1r, mx1, my1); 
     cvRemap(gray_fr2, frame2r, mx2, my2); 
     cvFindStereoCorrespondenceBM(frame1r, frame2r, disp, BMState); 

     /*  cvShowImage("camera1", frame1); 
     cvShowImage("camera2", frame2);   */ 
     //  cvConvertScale(disp, disp, 16, 0); 
     cvNormalize(disp, vdisp, 0, 256, CV_MINMAX); 
     cvShowImage("disparity", vdisp); 
     cvReprojectImageTo3D(disp, Image3D, &_Q); 
     cvShowImage("depthmap",Image3D); 




     //Hien thi anh da rectify 
     cvGetCols(pair, &part, 0, imageSize.width); 
     cvCvtColor(frame1r, &part, CV_GRAY2BGR); 
     cvGetCols(pair, &part, imageSize.width, imageSize.width*2); 
     cvCvtColor(frame2r, &part, CV_GRAY2BGR); //CV_GRAY2BGR 
     for(j = 0; j &lt; imageSize.height; j += 16) 
     cvLine(pair, cvPoint(0,j), cvPoint(imageSize.width*2,j), CV_RGB(0,255,0)); 
     cvShowImage("rectified", pair); 
     frame1 = cvQueryFrame(capture1); 
     frame2 = cvQueryFrame(capture2); 
     if(cvWaitKey(15) == 27) break; 
    } 
    while(1) { if((cvWaitKey(10)&0x7f) == 27) break; } 
    cvReleaseStereoBMState(&BMState); 
    cvReleaseMat(&mx1); 
    cvReleaseMat(&my1); 
    cvReleaseMat(&mx2); 
    cvReleaseMat(&my2); 
    cvReleaseCapture(&capture1); 
    cvReleaseCapture(&capture2); 
    cvReleaseMat(&frame1r); 
    cvReleaseMat(&frame2r); 
    cvReleaseMat(&disp); 
    cvReleaseMat(&Image3D); 

}

와 격차지도의 사진이 link 하나에 주어진다는 또 다른 USB 캠

출처

2012-05-22 nbsrujan

다른 카메라를 갖는 것은 당신의 삶을 더 어렵게 만들려고에게 있습니다 웹캠입니다. 먼저, 카메라의 초점 거리가 같지 않으므로 CV_CALIB_SAME_FOCAL_LENGTH 매개 변수를 설정하면 쌍에 대한 잘못된 보정이 발생하게됩니다 (고정 매개 변수로 제거하는 것이 거의 틀림 없음).

또한 관련 매개 변수 노트에서 고정 알고리즘이 없기 때문에 교정 알고리즘에 방사형 왜곡 매개 변수 k1 - k6에 많은 유연성을 제공합니다. 우선적으로 적절한 수의 매개 변수를 사용하여 시작하십시오. 예를 들어, k1 및 k2를 제외한 모든 수정 (즉, CV_CALIB_FIX_K3 + CV_CALIB_FIX_K4 + CV_CALIB_FIX_K5 + CV_CALIB_FIX_K6 사용). 그래도 문제가 해결되지 않으면 ... K3는 등의 변수가 될 수

편집 : 또 한가지는 별도로 각 카메라 교정을 고려하고 검색 공간을 좁히기 위해 두 개의 카메라 고유 행렬과 함께 CV_CALIB_FIX_INTRINSIC 통과 알고리즘은 로컬 교정 최소값 대신에 전역 적으로 수렴 할 수 있기를 희망한다.

희망 하시겠습니까?

출처

2012-05-22 15:57:27 mevatron

이것은 정말 많은 도움이되었습니다. 고마워요. – nbsrujan

문제 없습니다! 도움이 되셨다면 다행입니다! – mevatron

불일치 매핑에서 스테레오 비전

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