双目测距立体匹配BM post filter方法

#include "opencv2/calib3d.hpp" #include "opencv2/imgproc.hpp" #include "opencv2/imgcodecs.hpp" #include "opencv2/highgui.hpp" #include "opencv2/core/utility.hpp" #include "opencv2/ximgproc/disparity_filter.hpp" #include <iostream> #include <string> using namespace cv; using namespace cv::ximgproc; using namespace std; Point origin; //鼠标按下的起始点 Rect selection; //定义矩形选框 bool selectObject = false; //是否选择对象 Mat xyz; Rect computeROI(Size2i src_sz, Ptr<StereoMatcher> matcher_instance); void color_balance(Mat &input) { vector<Mat> imageRGB; //RGB三通道分离 split(input, imageRGB); //求原始图像的RGB分量的均值 double R, G, B; B = mean(imageRGB[0])[0]; G = mean(imageRGB[1])[0]; R = mean(imageRGB[2])[0]; //需要调整的RGB分量的增益 double KR, KG, KB; KB = (R + G + B) / (3 * B); KG = (R + G + B) / (3 * G); KR = (R + G + B) / (3 * R); //调整RGB三个通道各自的值 imageRGB[0] = imageRGB[0] * KB; imageRGB[1] = imageRGB[1] * KG; imageRGB[2] = imageRGB[2] * KR; //RGB三通道图像合并 merge(imageRGB, input); } /*****描述：鼠标操作回调*****/ static void onMouse(int event, int x, int y, int, void*) { if (selectObject) { selection.x = MIN(x, origin.x); selection.y = MIN(y, origin.y); selection.width = std::abs(x - origin.x); selection.height = std::abs(y - origin.y); } switch (event) { case EVENT_LBUTTONDOWN: //鼠标左按钮按下的事件 origin = Point(x, y); selection = Rect(x, y, 0, 0); selectObject = true; cout << fixed; cout << origin << "in world coordinate is: " << xyz.at<Vec3f>(origin) << endl; break; case EVENT_LBUTTONUP: //鼠标左按钮释放的事件 selectObject = false; if (selection.width > 0 && selection.height > 0) break; } } //const String keys = //"{help h usage ? | | print this message }" //"{@left |left07.jpg| left view of the stereopair }" //"{@right |right07.jpg| right view of the stereopair }" //"{GT || optional ground-truth disparity (MPI-Sintel or Middlebury format) }" //"{dst_path || optional path to save the resulting filtered disparity map }" //"{dst_raw_path || optional path to save raw disparity map before filtering }" //"{algorithm |bm | stereo matching method (bm or sgbm) }" //"{filter |wls_conf | used post-filtering (wls_conf or wls_no_conf) }" //"{no-display || don't display results }" //"{no-downscale || force stereo matching on full-sized views to improve quality }" //"{dst_conf_path || optional path to save the confidence map used in filtering }" //"{vis_mult |1.0 | coefficient used to scale disparity map visualizations }" //"{max_disparity |160 | parameter of stereo matching }" //"{window_size |-1 | parameter of stereo matching }" //"{wls_lambda |8000.0 | parameter of post-filtering }" //"{wls_sigma |1.5 | parameter of post-filtering }" //; int main(int argc, char** argv) { //CommandLineParser parser(argc, argv, keys); //parser.about("Disparity Filtering Demo"); //if (parser.has("help")) //{ // parser.printMessage(); // return 0; //} //String left_im = parser.get<String>(0); //String right_im = parser.get<String>(1); //String GT_path = parser.get<String>("GT"); //String dst_path = parser.get<String>("dst_path"); //String dst_raw_path = parser.get<String>("dst_raw_path"); //String dst_conf_path = parser.get<String>("dst_conf_path"); //String algo = parser.get<String>("algorithm"); //String filter = parser.get<String>("filter"); //bool no_display = parser.has("no-display"); //bool no_downscale = parser.has("no-downscale"); //int max_disp = parser.get<int>("max_disparity"); //double lambda = parser.get<double>("wls_lambda"); //double sigma = parser.get<double>("wls_sigma"); //double vis_mult = parser.get<double>("vis_mult"); String left_im = "left4.jpg"; String right_im = "right4.jpg"; String GT_path = "None"; String dst_path = "dst.jpg"; String dst_raw_path = "dst_raw.jpg"; String dst_conf_path = "None"; String algo = "bm"; String filter = "wls_conf"; bool no_display = false; bool no_downscale = false; int max_disp = 160; double lambda = 8000.0; double sigma = 1.5; double vis_mult = 1.0; //添加部分 std::string intrinsic_filename = "intrinsics.yml"; std::string extrinsic_filename = "extrinsics.yml"; float scale = 1.; /*int color_mode = alg == STEREO_BM ? 0 : -1;*/ int color_mode = 0; Mat img1 = imread(left_im, color_mode); Mat img2 = imread(right_im, color_mode); //Mat img1 = imread(img1_filename, 0); //Mat img2 = imread(img2_filename, 0); //Mat kernal = (Mat_<int>(3, 3) << 0, -1, 0, -1, 5, -1, 0, -1, 0); //medianBlur(img1, img1, 3); //medianBlur(img2, img2, 3); //filter2D(img1, img1, img1.depth(), kernal); //filter2D(img2, img2, img2.depth(), kernal); if (img1.empty()) { printf("Command-line parameter error: could not load the first input image file\n"); return -1; } if (img2.empty()) { printf("Command-line parameter error: could not load the second input image file\n"); return -1; } if (scale != 1.f) { Mat temp1, temp2; int method = scale < 1 ? INTER_AREA : INTER_CUBIC; resize(img1, temp1, Size(), scale, scale, method); img1 = temp1; resize(img2, temp2, Size(), scale, scale, method); img2 = temp2; } Size img_size = img1.size(); Rect roi1, roi2; Mat Q; if (!intrinsic_filename.empty()) { // reading intrinsic parameters FileStorage fs(intrinsic_filename, FileStorage::READ); if (!fs.isOpened()) { printf("Failed to open file %s\n", intrinsic_filename.c_str()); return -1; } Mat M1, D1, M2, D2; fs["M1"] >> M1; fs["D1"] >> D1; fs["M2"] >> M2; fs["D2"] >> D2; M1 *= scale; M2 *= scale; fs.open(extrinsic_filename, FileStorage::READ); if (!fs.isOpened()) { printf("Failed to open file %s\n", extrinsic_filename.c_str()); return -1; } Mat R, T, R1, P1, R2, P2; fs["R"] >> R; fs["T"] >> T; 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); Mat img1r, img2r; remap(img1, img1r, map11, map12, INTER_LINEAR); remap(img2, img2r, map21, map22, INTER_LINEAR); img1 = img1r; img2 = img2r; /* Mat canvas; double sf; int w, h; sf = 600. / MAX(img_size.width, img_size.height); w = cvRound(img_size.width*sf); h = cvRound(img_size.height*sf); canvas.create(h, w * 2, CV_8UC3); cvtColor(img1r, img1r, COLOR_GRAY2BGR); cvtColor(img2r, img2r, COLOR_GRAY2BGR); Mat canvasPart = canvas(Rect(w*0, 0, w, h)); resize(img1r, canvasPart, canvasPart.size(), 0, 0, INTER_AREA); Rect vroiL(cvRound(roi1.x*sf), cvRound(roi1.y*sf), cvRound(roi1.width*sf), cvRound(roi1.height*sf)); rectangle(canvasPart, vroiL, Scalar(0, 0, 255), 3, 8); canvasPart = canvas(Rect(w * 1, 0, w, h)); resize(img2r, canvasPart, canvasPart.size(), 0, 0, INTER_AREA); Rect vroiR(cvRound(roi2.x*sf), cvRound(roi2.y*sf), cvRound(roi2.width*sf), cvRound(roi2.height*sf)); rectangle(canvasPart, vroiR, Scalar(0, 0, 255), 3, 8); for (int j = 0; j < canvas.rows; j += 16) line(canvas, Point(0, j), Point(canvas.cols, j), Scalar(0, 255, 0), 1, 8); imshow("rectified", c