329 lines
11 KiB
C++
329 lines
11 KiB
C++
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/*
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* stereo_match.cpp
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* calibration
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*
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* Created by Victor Eruhimov on 1/18/10.
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* Copyright 2010 Argus Corp. All rights reserved.
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*
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*/
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#include "opencv2/calib3d/calib3d.hpp"
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#include "opencv2/imgproc.hpp"
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#include "opencv2/imgcodecs.hpp"
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#include "opencv2/highgui.hpp"
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#include "opencv2/core/utility.hpp"
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#include <stdio.h>
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#include <sstream>
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using namespace cv;
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static void print_help(char** argv)
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{
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printf("\nDemo stereo matching converting L and R images into disparity and point clouds\n");
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printf("\nUsage: %s <left_image> <right_image> [--algorithm=bm|sgbm|hh|hh4|sgbm3way] [--blocksize=<block_size>]\n"
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"[--max-disparity=<max_disparity>] [--scale=scale_factor>] [-i=<intrinsic_filename>] [-e=<extrinsic_filename>]\n"
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"[--no-display] [--color] [-o=<disparity_image>] [-p=<point_cloud_file>]\n", argv[0]);
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}
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static void saveXYZ(const char* filename, const Mat& mat)
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{
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const double max_z = 1.0e4;
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FILE* fp = fopen(filename, "wt");
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for(int y = 0; y < mat.rows; y++)
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{
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for(int x = 0; x < mat.cols; x++)
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{
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Vec3f point = mat.at<Vec3f>(y, x);
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if(fabs(point[2] - max_z) < FLT_EPSILON || fabs(point[2]) > max_z) continue;
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fprintf(fp, "%f %f %f\n", point[0], point[1], point[2]);
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}
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}
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fclose(fp);
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}
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int main(int argc, char** argv)
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{
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std::string img1_filename = "";
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std::string img2_filename = "";
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std::string intrinsic_filename = "";
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std::string extrinsic_filename = "";
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std::string disparity_filename = "";
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std::string point_cloud_filename = "";
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enum { STEREO_BM=0, STEREO_SGBM=1, STEREO_HH=2, STEREO_VAR=3, STEREO_3WAY=4, STEREO_HH4=5 };
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int alg = STEREO_SGBM;
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int SADWindowSize, numberOfDisparities;
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bool no_display;
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bool color_display;
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float scale;
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Ptr<StereoBM> bm = StereoBM::create(16,9);
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Ptr<StereoSGBM> sgbm = StereoSGBM::create(0,16,3);
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cv::CommandLineParser parser(argc, argv,
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"{@arg1||}{@arg2||}{help h||}{algorithm||}{max-disparity|0|}{blocksize|0|}{no-display||}{color||}{scale|1|}{i||}{e||}{o||}{p||}");
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if(parser.has("help"))
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{
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print_help(argv);
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return 0;
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}
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img1_filename = samples::findFile(parser.get<std::string>(0));
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img2_filename = samples::findFile(parser.get<std::string>(1));
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if (parser.has("algorithm"))
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{
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std::string _alg = parser.get<std::string>("algorithm");
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alg = _alg == "bm" ? STEREO_BM :
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_alg == "sgbm" ? STEREO_SGBM :
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_alg == "hh" ? STEREO_HH :
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_alg == "var" ? STEREO_VAR :
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_alg == "hh4" ? STEREO_HH4 :
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_alg == "sgbm3way" ? STEREO_3WAY : -1;
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}
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numberOfDisparities = parser.get<int>("max-disparity");
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SADWindowSize = parser.get<int>("blocksize");
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scale = parser.get<float>("scale");
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no_display = parser.has("no-display");
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color_display = parser.has("color");
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if( parser.has("i") )
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intrinsic_filename = parser.get<std::string>("i");
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if( parser.has("e") )
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extrinsic_filename = parser.get<std::string>("e");
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if( parser.has("o") )
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disparity_filename = parser.get<std::string>("o");
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if( parser.has("p") )
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point_cloud_filename = parser.get<std::string>("p");
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if (!parser.check())
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{
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parser.printErrors();
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return 1;
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}
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if( alg < 0 )
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{
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printf("Command-line parameter error: Unknown stereo algorithm\n\n");
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print_help(argv);
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return -1;
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}
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if ( numberOfDisparities < 1 || numberOfDisparities % 16 != 0 )
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{
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printf("Command-line parameter error: The max disparity (--maxdisparity=<...>) must be a positive integer divisible by 16\n");
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print_help(argv);
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return -1;
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}
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if (scale < 0)
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{
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printf("Command-line parameter error: The scale factor (--scale=<...>) must be a positive floating-point number\n");
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return -1;
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}
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if (SADWindowSize < 1 || SADWindowSize % 2 != 1)
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{
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printf("Command-line parameter error: The block size (--blocksize=<...>) must be a positive odd number\n");
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return -1;
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}
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if( img1_filename.empty() || img2_filename.empty() )
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{
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printf("Command-line parameter error: both left and right images must be specified\n");
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return -1;
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}
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if( (!intrinsic_filename.empty()) ^ (!extrinsic_filename.empty()) )
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{
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printf("Command-line parameter error: either both intrinsic and extrinsic parameters must be specified, or none of them (when the stereo pair is already rectified)\n");
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return -1;
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}
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if( extrinsic_filename.empty() && !point_cloud_filename.empty() )
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{
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printf("Command-line parameter error: extrinsic and intrinsic parameters must be specified to compute the point cloud\n");
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return -1;
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}
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int color_mode = alg == STEREO_BM ? 0 : -1;
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Mat img1 = imread(img1_filename, color_mode);
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Mat img2 = imread(img2_filename, color_mode);
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if (img1.empty())
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{
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printf("Command-line parameter error: could not load the first input image file\n");
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return -1;
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}
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if (img2.empty())
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{
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printf("Command-line parameter error: could not load the second input image file\n");
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return -1;
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}
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if (scale != 1.f)
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{
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Mat temp1, temp2;
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int method = scale < 1 ? INTER_AREA : INTER_CUBIC;
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resize(img1, temp1, Size(), scale, scale, method);
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img1 = temp1;
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resize(img2, temp2, Size(), scale, scale, method);
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img2 = temp2;
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}
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Size img_size = img1.size();
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Rect roi1, roi2;
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Mat Q;
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if( !intrinsic_filename.empty() )
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{
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// reading intrinsic parameters
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FileStorage fs(intrinsic_filename, FileStorage::READ);
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if(!fs.isOpened())
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{
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printf("Failed to open file %s\n", intrinsic_filename.c_str());
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return -1;
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}
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Mat M1, D1, M2, D2;
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fs["M1"] >> M1;
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fs["D1"] >> D1;
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fs["M2"] >> M2;
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fs["D2"] >> D2;
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M1 *= scale;
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M2 *= scale;
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fs.open(extrinsic_filename, FileStorage::READ);
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if(!fs.isOpened())
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{
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printf("Failed to open file %s\n", extrinsic_filename.c_str());
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return -1;
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}
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Mat R, T, R1, P1, R2, P2;
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fs["R"] >> R;
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fs["T"] >> T;
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stereoRectify( M1, D1, M2, D2, img_size, R, T, R1, R2, P1, P2, Q, CALIB_ZERO_DISPARITY, -1, img_size, &roi1, &roi2 );
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Mat map11, map12, map21, map22;
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initUndistortRectifyMap(M1, D1, R1, P1, img_size, CV_16SC2, map11, map12);
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initUndistortRectifyMap(M2, D2, R2, P2, img_size, CV_16SC2, map21, map22);
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Mat img1r, img2r;
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remap(img1, img1r, map11, map12, INTER_LINEAR);
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remap(img2, img2r, map21, map22, INTER_LINEAR);
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img1 = img1r;
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img2 = img2r;
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}
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numberOfDisparities = numberOfDisparities > 0 ? numberOfDisparities : ((img_size.width/8) + 15) & -16;
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bm->setROI1(roi1);
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bm->setROI2(roi2);
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bm->setPreFilterCap(31);
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bm->setBlockSize(SADWindowSize > 0 ? SADWindowSize : 9);
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bm->setMinDisparity(0);
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bm->setNumDisparities(numberOfDisparities);
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bm->setTextureThreshold(10);
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bm->setUniquenessRatio(15);
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bm->setSpeckleWindowSize(100);
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bm->setSpeckleRange(32);
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bm->setDisp12MaxDiff(1);
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sgbm->setPreFilterCap(63);
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int sgbmWinSize = SADWindowSize > 0 ? SADWindowSize : 3;
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sgbm->setBlockSize(sgbmWinSize);
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int cn = img1.channels();
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sgbm->setP1(8*cn*sgbmWinSize*sgbmWinSize);
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sgbm->setP2(32*cn*sgbmWinSize*sgbmWinSize);
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sgbm->setMinDisparity(0);
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sgbm->setNumDisparities(numberOfDisparities);
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sgbm->setUniquenessRatio(10);
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sgbm->setSpeckleWindowSize(100);
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sgbm->setSpeckleRange(32);
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sgbm->setDisp12MaxDiff(1);
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if(alg==STEREO_HH)
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sgbm->setMode(StereoSGBM::MODE_HH);
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else if(alg==STEREO_SGBM)
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sgbm->setMode(StereoSGBM::MODE_SGBM);
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else if(alg==STEREO_HH4)
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sgbm->setMode(StereoSGBM::MODE_HH4);
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else if(alg==STEREO_3WAY)
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sgbm->setMode(StereoSGBM::MODE_SGBM_3WAY);
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Mat disp, disp8;
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//Mat img1p, img2p, dispp;
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//copyMakeBorder(img1, img1p, 0, 0, numberOfDisparities, 0, IPL_BORDER_REPLICATE);
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//copyMakeBorder(img2, img2p, 0, 0, numberOfDisparities, 0, IPL_BORDER_REPLICATE);
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int64 t = getTickCount();
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float disparity_multiplier = 1.0f;
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if( alg == STEREO_BM )
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{
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bm->compute(img1, img2, disp);
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if (disp.type() == CV_16S)
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disparity_multiplier = 16.0f;
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}
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else if( alg == STEREO_SGBM || alg == STEREO_HH || alg == STEREO_HH4 || alg == STEREO_3WAY )
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{
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sgbm->compute(img1, img2, disp);
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if (disp.type() == CV_16S)
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disparity_multiplier = 16.0f;
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}
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t = getTickCount() - t;
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printf("Time elapsed: %fms\n", t*1000/getTickFrequency());
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//disp = dispp.colRange(numberOfDisparities, img1p.cols);
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if( alg != STEREO_VAR )
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disp.convertTo(disp8, CV_8U, 255/(numberOfDisparities*16.));
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else
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disp.convertTo(disp8, CV_8U);
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Mat disp8_3c;
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if (color_display)
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cv::applyColorMap(disp8, disp8_3c, COLORMAP_TURBO);
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if(!disparity_filename.empty())
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imwrite(disparity_filename, color_display ? disp8_3c : disp8);
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if(!point_cloud_filename.empty())
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{
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printf("storing the point cloud...");
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fflush(stdout);
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Mat xyz;
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Mat floatDisp;
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disp.convertTo(floatDisp, CV_32F, 1.0f / disparity_multiplier);
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reprojectImageTo3D(floatDisp, xyz, Q, true);
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saveXYZ(point_cloud_filename.c_str(), xyz);
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printf("\n");
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}
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if( !no_display )
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{
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std::ostringstream oss;
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oss << "disparity " << (alg==STEREO_BM ? "bm" :
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alg==STEREO_SGBM ? "sgbm" :
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alg==STEREO_HH ? "hh" :
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alg==STEREO_VAR ? "var" :
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alg==STEREO_HH4 ? "hh4" :
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alg==STEREO_3WAY ? "sgbm3way" : "");
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oss << " blocksize:" << (alg==STEREO_BM ? SADWindowSize : sgbmWinSize);
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oss << " max-disparity:" << numberOfDisparities;
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std::string disp_name = oss.str();
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namedWindow("left", cv::WINDOW_NORMAL);
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imshow("left", img1);
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namedWindow("right", cv::WINDOW_NORMAL);
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imshow("right", img2);
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namedWindow(disp_name, cv::WINDOW_AUTOSIZE);
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imshow(disp_name, color_display ? disp8_3c : disp8);
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printf("press ESC key or CTRL+C to close...");
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fflush(stdout);
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printf("\n");
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while(1)
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{
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if(waitKey() == 27) //ESC (prevents closing on actions like taking screenshots)
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break;
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}
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}
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return 0;
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}
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