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289 lines
9.2 KiB
C++
289 lines
9.2 KiB
C++
/*
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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/imgproc.hpp"
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#include "opencv2/highgui/highgui.hpp"
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#include "opencv2/contrib/contrib.hpp"
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#include <stdio.h>
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using namespace cv;
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void print_help()
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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: stereo_match <left_image> <right_image> [--algorithm=bm|sgbm|hh|var] [--blocksize=<block_size>]\n"
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"[--max-disparity=<max_disparity>] [-i <intrinsic_filename>] [-e <extrinsic_filename>]\n"
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"[--no-display] [-o <disparity_image>] [-p <point_cloud_file>]\n");
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}
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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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const char* algorithm_opt = "--algorithm=";
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const char* maxdisp_opt = "--max-disparity=";
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const char* blocksize_opt = "--blocksize=";
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const char* nodisplay_opt = "--no-display=";
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if(argc < 3)
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{
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print_help();
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return 0;
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}
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const char* img1_filename = 0;
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const char* img2_filename = 0;
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const char* intrinsic_filename = 0;
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const char* extrinsic_filename = 0;
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const char* disparity_filename = 0;
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const char* point_cloud_filename = 0;
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enum { STEREO_BM=0, STEREO_SGBM=1, STEREO_HH=2, STEREO_VAR=3 };
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int alg = STEREO_SGBM;
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int SADWindowSize = 0, numberOfDisparities = 0;
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bool no_display = false;
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StereoBM bm;
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StereoSGBM sgbm;
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StereoVar var;
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for( int i = 1; i < argc; i++ )
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{
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if( argv[i][0] != '-' )
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{
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if( !img1_filename )
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img1_filename = argv[i];
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else
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img2_filename = argv[i];
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}
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else if( strncmp(argv[i], algorithm_opt, strlen(algorithm_opt)) == 0 )
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{
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char* _alg = argv[i] + strlen(algorithm_opt);
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alg = strcmp(_alg, "bm") == 0 ? STEREO_BM :
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strcmp(_alg, "sgbm") == 0 ? STEREO_SGBM :
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strcmp(_alg, "hh") == 0 ? STEREO_HH :
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strcmp(_alg, "var") == 0 ? STEREO_VAR : -1;
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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();
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return -1;
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}
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}
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else if( strncmp(argv[i], maxdisp_opt, strlen(maxdisp_opt)) == 0 )
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{
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if( sscanf( argv[i] + strlen(maxdisp_opt), "%d", &numberOfDisparities ) != 1 ||
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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();
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return -1;
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}
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}
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else if( strncmp(argv[i], blocksize_opt, strlen(blocksize_opt)) == 0 )
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{
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if( sscanf( argv[i] + strlen(blocksize_opt), "%d", &SADWindowSize ) != 1 ||
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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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}
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else if( strcmp(argv[i], nodisplay_opt) == 0 )
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no_display = true;
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else if( strcmp(argv[i], "-i" ) == 0 )
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intrinsic_filename = argv[++i];
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else if( strcmp(argv[i], "-e" ) == 0 )
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extrinsic_filename = argv[++i];
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else if( strcmp(argv[i], "-o" ) == 0 )
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disparity_filename = argv[++i];
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else if( strcmp(argv[i], "-p" ) == 0 )
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point_cloud_filename = argv[++i];
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else
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{
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printf("Command-line parameter error: unknown option %s\n", argv[i]);
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return -1;
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}
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}
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if( !img1_filename || !img2_filename )
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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 != 0) ^ (extrinsic_filename != 0) )
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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 == 0 && point_cloud_filename )
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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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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 )
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{
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// reading intrinsic parameters
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FileStorage fs(intrinsic_filename, CV_STORAGE_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);
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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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fs.open(extrinsic_filename, CV_STORAGE_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);
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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.state->roi1 = roi1;
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bm.state->roi2 = roi2;
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bm.state->preFilterCap = 31;
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bm.state->SADWindowSize = SADWindowSize > 0 ? SADWindowSize : 9;
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bm.state->minDisparity = 0;
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bm.state->numberOfDisparities = numberOfDisparities;
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bm.state->textureThreshold = 10;
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bm.state->uniquenessRatio = 15;
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bm.state->speckleWindowSize = 100;
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bm.state->speckleRange = 32;
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bm.state->disp12MaxDiff = 1;
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sgbm.preFilterCap = 63;
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sgbm.SADWindowSize = SADWindowSize > 0 ? SADWindowSize : 3;
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int cn = img1.channels();
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sgbm.P1 = 8*cn*sgbm.SADWindowSize*sgbm.SADWindowSize;
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sgbm.P2 = 32*cn*sgbm.SADWindowSize*sgbm.SADWindowSize;
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sgbm.minDisparity = 0;
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sgbm.numberOfDisparities = numberOfDisparities;
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sgbm.uniquenessRatio = 10;
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sgbm.speckleWindowSize = bm.state->speckleWindowSize;
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sgbm.speckleRange = bm.state->speckleRange;
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sgbm.disp12MaxDiff = 1;
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sgbm.fullDP = alg == STEREO_HH;
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var.levels = 6;
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var.pyrScale = 0.6;
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var.nIt = 3;
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var.minDisp = -numberOfDisparities;
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var.maxDisp = 0;
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var.poly_n = 3;
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var.poly_sigma = 0.0;
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var.fi = 5.0f;
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var.lambda = 0.1;
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var.penalization = var.PENALIZATION_TICHONOV;
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var.cycle = var.CYCLE_V;
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var.flags = var.USE_SMART_ID | var.USE_INITIAL_DISPARITY | 1 * var.USE_MEDIAN_FILTERING ;
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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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if( alg == STEREO_BM )
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bm(img1, img2, disp);
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else if( alg == STEREO_VAR )
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var(img1, img2, disp);
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else if( alg == STEREO_SGBM || alg == STEREO_HH )
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sgbm(img1, img2, disp);
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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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if( !no_display )
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{
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namedWindow("left", 1);
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imshow("left", img1);
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namedWindow("right", 1);
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imshow("right", img2);
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namedWindow("disparity", 0);
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imshow("disparity", disp8);
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printf("press any key to continue...");
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fflush(stdout);
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waitKey();
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printf("\n");
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}
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if(disparity_filename)
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imwrite(disparity_filename, disp8);
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if(point_cloud_filename)
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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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reprojectImageTo3D(disp, xyz, Q, true);
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saveXYZ(point_cloud_filename, xyz);
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printf("\n");
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}
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return 0;
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}
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