OpenCV双目标定

#include "opencv2/video/tracking.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/highgui/highgui.hpp"
//#include <cv.h>
#include <cxmisc.h>
#include <highgui.h>
#include <cvaux.h>
#include <iostream>
#include <ctype.h>
#include <stdlib.h>

#include <vector>
#include <string>
#include <algorithm>
#include <ctype.h>
#include <stdarg.h>
#include <string.h>

#include <stdio.h>


using namespace cv;
using namespace std;

//vector<Point2f> point1, point2;
bool left_mouse = false;
Point2f point;
int pic_info[4];
Mat gray, prevGray, image, image1;
const Scalar GREEN = Scalar(0, 255, 0);
int rect_width = 0, rect_height = 0;
Point tmpPoint;
int num = 0;
int m_frameWidth = 640;
int m_frameHeight = 480;
bool    m_Calib_Data_Loaded;        // 是否成功载入定标参数
cv::Mat m_Calib_Mat_Q;              // Q 矩阵
cv::Mat m_Calib_Mat_Remap_X_L;      // 左视图畸变校正像素坐标映射矩阵 X
cv::Mat m_Calib_Mat_Remap_Y_L;      // 左视图畸变校正像素坐标映射矩阵 Y
cv::Mat m_Calib_Mat_Remap_X_R;      // 右视图畸变校正像素坐标映射矩阵 X
cv::Mat m_Calib_Mat_Remap_Y_R;      // 右视图畸变校正像素坐标映射矩阵 Y
cv::Mat m_Calib_Mat_Mask_Roi;       // 左视图校正后的有效区域
cv::Rect m_Calib_Roi_L;             // 左视图校正后的有效区域矩形
cv::Rect m_Calib_Roi_R;             // 右视图校正后的有效区域矩形
double          m_FL;
//CvStereoBMState *BMState = cvCreateStereoBMState();
int m_numberOfDisparies;            // 视差变化范围
cv::StereoBM    m_BM;
CvMat* vdisp = cvCreateMat(480, 640, CV_8U);
cv::Mat img1, img2, img1p, img2p, disp, disp8u, pointClouds, imageLeft, imageRight, disparityImage, imaget1;
static IplImage *framet1 = NULL;
static IplImage *framet2 = NULL;
static IplImage *framet3 = NULL;
static IplImage *framet = NULL;


static void onMouse(int event, int x, int y, int /*flags*/, void* /*param*/){


    Mat mouse_show;
    image.copyTo(mouse_show);

    //char buffer[100];
    //sprintf(buffer, "D:\\l%d.jpg", num);
    //string t1(buffer);

    //sprintf(buffer, "D:\\r%d.jpg", num);
    //string t(buffer);



    if (event == CV_EVENT_LBUTTONDOWN)
    {
        pic_info[0] = x;
        pic_info[1] = y;
        cout << "x:" << pic_info[0] << "y:" << pic_info[1] << endl;
        left_mouse = true;

        //用于存储打印图片
        //imwrite(t, image);
    //  imwrite(t1, image1);
    //  num = num++;

    }
    else if (event == CV_EVENT_LBUTTONUP)
    {
        left_mouse = false;
    }
    else if ((event == CV_EVENT_MOUSEMOVE) && (left_mouse == true))
    {
    }
}



int loadCalibData()
{
    // 读入摄像头定标参数 Q roi1 roi2 mapx1 mapy1 mapx2 mapy2
    try
    {
        cv::FileStorage fs("calib_paras.xml", cv::FileStorage::READ);
        cout << fs.isOpened() << endl;

        if (!fs.isOpened())
        {
            return (0);
        }

        cv::Size imageSize;
        cv::FileNodeIterator it = fs["imageSize"].begin();

        it >> imageSize.width >> imageSize.height;
    //  if (imageSize.width != m_frameWidth || imageSize.height != m_frameHeight)   {           return (-1);        }

        vector<int> roiVal1;
        vector<int> roiVal2;

        fs["leftValidArea"] >> roiVal1;

        m_Calib_Roi_L.x = roiVal1[0];
        m_Calib_Roi_L.y = roiVal1[1];
        m_Calib_Roi_L.width = roiVal1[2];
        m_Calib_Roi_L.height = roiVal1[3];

        fs["rightValidArea"] >> roiVal2;
        m_Calib_Roi_R.x = roiVal2[0];
        m_Calib_Roi_R.y = roiVal2[1];
        m_Calib_Roi_R.width = roiVal2[2];
        m_Calib_Roi_R.height = roiVal2[3];


        fs["QMatrix"] >> m_Calib_Mat_Q;
        fs["remapX1"] >> m_Calib_Mat_Remap_X_L;
        fs["remapY1"] >> m_Calib_Mat_Remap_Y_L;
        fs["remapX2"] >> m_Calib_Mat_Remap_X_R;
        fs["remapY2"] >> m_Calib_Mat_Remap_Y_R;

        cv::Mat lfCamMat;
        fs["leftCameraMatrix"] >> lfCamMat;
        m_FL = lfCamMat.at<double>(0, 0);

        m_Calib_Mat_Q.at<double>(3, 2) = -m_Calib_Mat_Q.at<double>(3, 2);

        m_Calib_Mat_Mask_Roi = cv::Mat::zeros(m_frameHeight, m_frameWidth, CV_8UC1);
        cv::rectangle(m_Calib_Mat_Mask_Roi, m_Calib_Roi_L, cv::Scalar(255), -1);

        m_BM.state->roi1 = m_Calib_Roi_L;
        m_BM.state->roi2 = m_Calib_Roi_R;

        m_Calib_Data_Loaded = true;

        string method;
        fs["rectifyMethod"] >> method;
        if (method != "BOUGUET")
        {
            return (-2);
        }

    }
    catch (std::exception& e)
    {
        m_Calib_Data_Loaded = false;
        return (-99);
    }

    return 1;


}
void updatebm()
{
    m_BM.state->preFilterCap = 31;
    m_BM.state->SADWindowSize = 19;
    m_BM.state->minDisparity = 0;
    m_BM.state->numberOfDisparities = 96;
    m_BM.state->textureThreshold = 10;
    m_BM.state->uniquenessRatio = 25;
    m_BM.state->speckleWindowSize = 100;
    m_BM.state->speckleRange = 32;

    m_BM.state->disp12MaxDiff = -1;

}
int  bmMatch(cv::Mat& frameLeft, cv::Mat& frameRight, cv::Mat& disparity, cv::Mat& imageLeft, cv::Mat& imageRight)
{

    // 输入检查
    if (frameLeft.empty() || frameRight.empty())
    {
        disparity = cv::Scalar(0);
        return 0;
    }
    if (m_frameWidth == 0 || m_frameHeight == 0)
    {
        //if (init(frameLeft.cols, frameLeft.rows, "calib_paras.xml"/*待改为由本地设置文件确定*/) == 0) //执行类初始化
        //  {
        return 0;
        //}
    }

    // 转换为灰度图
    cv::Mat img1proc, img2proc;
    cvtColor(frameLeft, img1proc, CV_BGR2GRAY);
    cvtColor(frameRight, img2proc, CV_BGR2GRAY);

    // 校正图像，使左右视图行对齐    
    cv::Mat img1remap, img2remap;
    //cout << m_Calib_Data_Loaded << endl;

    if (m_Calib_Data_Loaded)
    {
        remap(img1proc, img1remap, m_Calib_Mat_Remap_X_L, m_Calib_Mat_Remap_Y_L, cv::INTER_LINEAR);     // 对用于视差计算的画面进行校正
        remap(img2proc, img2remap, m_Calib_Mat_Remap_X_R, m_Calib_Mat_Remap_Y_R, cv::INTER_LINEAR);
    }
    else
    {
        img1remap = img1proc;
        img2remap = img2proc;
    }

    // 对左右视图的左边进行边界延拓，以获取与原始视图相同大小的有效视差区域
    cv::Mat img1border, img2border;
    if (m_numberOfDisparies != m_BM.state->numberOfDisparities)
        m_numberOfDisparies = m_BM.state->numberOfDisparities;
    copyMakeBorder(img1remap, img1border, 0, 0, m_BM.state->numberOfDisparities, 0, IPL_BORDER_REPLICATE);
    copyMakeBorder(img2remap, img2border, 0, 0, m_BM.state->numberOfDisparities, 0, IPL_BORDER_REPLICATE);

    // 计算视差
    cv::Mat dispBorder;


    m_BM(img1border, img2border, dispBorder);
    //cvFindStereoCorrespondenceBM(img1border, img2border, dispBorder,BMState);
    // 截取与原始画面对应的视差区域（舍去加宽的部分）
    cv::Mat disp;
    disp = dispBorder.colRange(m_BM.state->numberOfDisparities, img1border.cols);
    disp.copyTo(disparity, m_Calib_Mat_Mask_Roi);

    //reprojectImageTo3D(dispBorder, pointClouds, m_Calib_Mat_Q, true);

    // 输出处理后的图像
    //cout << m_Calib_Data_Loaded << endl;
    if (m_Calib_Data_Loaded)
    {
        remap(frameLeft, imageLeft, m_Calib_Mat_Remap_X_L, m_Calib_Mat_Remap_Y_L, cv::INTER_LINEAR);
        rectangle(imageLeft, m_Calib_Roi_L, CV_RGB(0, 0, 255), 3);
    }

    else
        frameLeft.copyTo(imageLeft);


    if (m_Calib_Data_Loaded)
        remap(frameRight, imageRight, m_Calib_Mat_Remap_X_R, m_Calib_Mat_Remap_Y_R, cv::INTER_LINEAR);
    else
        frameRight.copyTo(imageRight);
    rectangle(imageRight, m_Calib_Roi_R, CV_RGB(0, 0, 255), 3);


    return 1;
}

int getDisparityImage(cv::Mat& disparity, cv::Mat& disparityImage, bool isColor)
{
    // 将原始视差数据的位深转换为 8 位
    cv::Mat disp8u;
    if (disparity.depth() != CV_8U)
    {
        if (disparity.depth() == CV_8S)
        {
            disparity.convertTo(disp8u, CV_8U);
        }
        else
        {
            disparity.convertTo(disp8u, CV_8U, 255 / (m_numberOfDisparies*16.));
        }
    }
    else
    {
        disp8u = disparity;
    }

    // 转换为伪彩色图像 或 灰度图像
    if (isColor)
    {
        if (disparityImage.empty() || disparityImage.type() != CV_8UC3 || disparityImage.size() != disparity.size())
        {
            disparityImage = cv::Mat::zeros(disparity.rows, disparity.cols, CV_8UC3);
        }

        for (int y = 0; y<disparity.rows; y++)
        {
            for (int x = 0; x<disparity.cols; x++)
            {
                uchar val = disp8u.at<uchar>(y, x);
                uchar r, g, b;

                if (val == 0)
                    r = g = b = 0;
                else
                {
                    r = 255 - val;
                    g = val < 128 ? val * 2 : (uchar)((255 - val) * 2);
                    b = val;
                }

                disparityImage.at<cv::Vec3b>(y, x) = cv::Vec3b(r, g, b);

            }
        }
    }
    else
    {
        disp8u.copyTo(disparityImage);
    }

    return 1;
}

int getPointClouds(cv::Mat& disparity, cv::Mat& pointClouds)
{
    if (disparity.empty())
    {
        return 0;
    }

    //计算生成三维点云
//  cv::reprojectImageTo3D(disparity, pointClouds, m_Calib_Mat_Q, true);

    reprojectImageTo3D(disparity, pointClouds, m_Calib_Mat_Q, true);

    pointClouds *= 1.6;


    for (int y = 0; y < pointClouds.rows; ++y)
    {
        for (int x = 0; x < pointClouds.cols; ++x)
        {
            cv::Point3f point = pointClouds.at<cv::Point3f>(y, x);
            point.y = -point.y;
            pointClouds.at<cv::Point3f>(y, x) = point;
        }
    }

    return 1;
}

void detectDistance(cv::Mat& pointCloud)
{
    if (pointCloud.empty())
    {
        return;
    }

    // 提取深度图像
    vector<cv::Mat> xyzSet;
    split(pointCloud, xyzSet);
    cv::Mat depth;
    xyzSet[2].copyTo(depth);

    // 根据深度阈值进行二值化处理
    double maxVal = 0, minVal = 0;
    cv::Mat depthThresh = cv::Mat::zeros(depth.rows, depth.cols, CV_8UC1);
    cv::minMaxLoc(depth, &minVal, &maxVal);
    double thrVal = minVal * 1.5;
    threshold(depth, depthThresh, thrVal, 255, CV_THRESH_BINARY_INV);
    depthThresh.convertTo(depthThresh, CV_8UC1);
    //imageDenoising(depthThresh, 3);

    double  distance = depth.at<float>(pic_info[0], pic_info[1]);
    cout << "distance:" << distance << endl;
}


int main(int argc, char** argv)
{
    //读取摄像头
    VideoCapture cap(0); 
    VideoCapture cap1(1);

    if (!cap.isOpened())
    {
        cout << "error happened while open cam 1"<<endl;
        return -1;
    }
    if (!cap1.isOpened())
    {
        cout << "error happened while open cam 2" << endl;
        return -1;
    }

    namedWindow("left", 1);
    namedWindow("right", 1);
    namedWindow("disparitycolor", 1);

    setMouseCallback("disparitycolor", onMouse, 0);


    loadCalibData();

    cout << m_Calib_Data_Loaded << endl;

    while (true)
    {

            Mat frame;
            Mat frame1;
            cap.read(frame);
            cap1.read(frame1);
            if (frame.empty())          break;
            if (frame1.empty())         break;

            frame.copyTo(image);
            frame1.copyTo(image1);
            updatebm();
            bmMatch(frame, frame1, disp, imageLeft, imageRight);
            imshow("left", imageLeft);
            imshow("right", imageRight);

            getDisparityImage(disp, disparityImage, true);
            //  framet2 = &IplImage(disparityImage);
            //  cvShowImage("disparitycolor", framet2);

                getPointClouds(disp, pointClouds);

            imshow("disparitycolor", disparityImage);

            detectDistance(pointClouds);

            waitKey(100);


    }
    //std::swap(point2, point1);
    //  cv::swap(prevGray, gray);

    return 0;

}