我用Caltech的工具箱(http://www.vision.caltech.edu/bouguetj/calib_doc/)在MATLAB中校准和立体矫正了图像。我尝试在MATLAB中使用disaprity,但是它现在没有返回良好的结果,所以我想在OPENCV中尝试一下。我在他们的网站上找不到任何有关disparity的OPENCV示例代码。因此,这是我目前找到的代码:(代码来自http://www.jayrambhia.com/blog/disparity-maps/)
#include "opencv2/core/core.hpp"
#include "opencv2/calib3d/calib3d.hpp"
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include "opencv2/contrib/contrib.hpp"
#include <stdio.h>
#include <string.h>
using namespace cv;
using namespace std;
int main(int argc, char* argv[])
{
Mat img1, img2, g1, g2;
Mat disp, disp8;
//char* method = argv[3];
char* method = "SGBM";
//img1 = imread(argv[1]);
//img2 = imread(argv[2]);
img1 = imread("leftImage.jpg");
img2 = imread("rightImage.jpg");
cvtColor(img1, g1, CV_BGR2GRAY);
cvtColor(img2, g2, CV_BGR2GRAY);
if (!(strcmp(method, "BM")))
{
StereoBM sbm;
sbm.state->SADWindowSize = 9;
sbm.state->numberOfDisparities = 112;
sbm.state->preFilterSize = 5;
sbm.state->preFilterCap = 61;
sbm.state->minDisparity = -39;
sbm.state->textureThreshold = 507;
sbm.state->uniquenessRatio = 0;
sbm.state->speckleWindowSize = 0;
sbm.state->speckleRange = 8;
sbm.state->disp12MaxDiff = 1;
sbm(g1, g2, disp);
}
else if (!(strcmp(method, "SGBM")))
{
StereoSGBM sbm;
sbm.SADWindowSize = 3;
sbm.numberOfDisparities = 144;
sbm.preFilterCap = 63;
sbm.minDisparity = -39;
sbm.uniquenessRatio = 10;
sbm.speckleWindowSize = 100;
sbm.speckleRange = 32;
sbm.disp12MaxDiff = 1;
sbm.fullDP = false;
sbm.P1 = 216;
sbm.P2 = 864;
sbm(g1, g2, disp);
}
normalize(disp, disp8, 0, 255, CV_MINMAX, CV_8U);
imshow("left", img1);
imshow("right", img2);
imshow("disp", disp8);
waitKey(0);
return(0);
这是我收到的错误信息:
在OPEN_CV_TEST.exe中,位于0x000007FEFD4D940D处未处理的异常:Microsoft C++ exception: cv::Exception,内存位置为0x0000000000149260。
我对C ++还很陌生,并且没有关于运行代码的过程说明。因此,我只将左右图像放入我的项目的\ x64 \ Debug 文件夹中,并在MS Visual Studio 2012 Windows 7 64位上运行代码。我之前创建了该项目并运行了一个示例测试,它可以正常工作。所以现在我只是将上述代码复制到主C ++源文件中。我认为不应该缺少任何库文件或头文件。
请注意,我现在不需要校正图像,也不需要进行立体匹配。
非常感谢您的帮助。