5 * Created by Victor Eruhimov on 1/18/10.
6 * Copyright 2010 Argus Corp. All rights reserved.
10 #include "opencv2/calib3d/calib3d.hpp"
11 #include "opencv2/imgproc/imgproc.hpp"
12 #include "opencv2/highgui/highgui.hpp"
18 void saveXYZ(const char* filename, const Mat& mat)
20 const double max_z = 1.0e4;
21 FILE* fp = fopen(filename, "wt");
22 for(int y = 0; y < mat.rows; y++)
24 for(int x = 0; x < mat.cols; x++)
26 Vec3f point = mat.at<Vec3f>(y, x);
27 if(fabs(point[2] - max_z) < FLT_EPSILON || fabs(point[2]) > max_z) continue;
28 fprintf(fp, "%f %f %f\n", point[0], point[1], point[2]);
36 printf("Usage: stereo_match <left_image> <right_image> [--algorithm=bm|sgbm|hh] [--blocksize=<block_size>]\n"
37 "[--max-disparity=<max_disparity>] [-i <intrinsic_filename>] [-e <extrinsic_filename>]\n"
38 "[--no-display] [-o <disparity_image>] [-p <point_cloud_file>]\n");
41 int main(int argc, char** argv)
43 const char* algorithm_opt = "--algorithm=";
44 const char* maxdisp_opt = "--max-disparity=";
45 const char* blocksize_opt = "--blocksize=";
46 const char* nodisplay_opt = "--no-display=";
53 const char* img1_filename = 0;
54 const char* img2_filename = 0;
55 const char* intrinsic_filename = 0;
56 const char* extrinsic_filename = 0;
57 const char* disparity_filename = 0;
58 const char* point_cloud_filename = 0;
60 enum { STEREO_BM=0, STEREO_SGBM=1, STEREO_HH=2 };
61 int alg = STEREO_SGBM;
62 int SADWindowSize = 0, numberOfDisparities = 0;
63 bool no_display = false;
68 for( int i = 1; i < argc; i++ )
70 if( argv[i][0] != '-' )
73 img1_filename = argv[i];
75 img2_filename = argv[i];
77 else if( strncmp(argv[i], algorithm_opt, strlen(algorithm_opt)) == 0 )
79 char* _alg = argv[i] + strlen(algorithm_opt);
80 alg = strcmp(_alg, "bm") == 0 ? STEREO_BM :
81 strcmp(_alg, "sgbm") == 0 ? STEREO_SGBM :
82 strcmp(_alg, "hh") == 0 ? STEREO_HH : -1;
85 printf("Command-line parameter error: Unknown stereo algorithm\n\n");
90 else if( strncmp(argv[i], maxdisp_opt, strlen(maxdisp_opt)) == 0 )
92 if( sscanf( argv[i] + strlen(maxdisp_opt), "%d", &numberOfDisparities ) != 1 ||
93 numberOfDisparities < 1 || numberOfDisparities % 16 != 0 )
95 printf("Command-line parameter error: The max disparity (--maxdisparity=<...>) must be a positive integer divisible by 16\n");
100 else if( strncmp(argv[i], blocksize_opt, strlen(blocksize_opt)) == 0 )
102 if( sscanf( argv[i] + strlen(blocksize_opt), "%d", &SADWindowSize ) != 1 ||
103 SADWindowSize < 1 || SADWindowSize % 2 != 1 )
105 printf("Command-line parameter error: The block size (--blocksize=<...>) must be a positive odd number\n");
109 else if( strcmp(argv[i], nodisplay_opt) == 0 )
111 else if( strcmp(argv[i], "-i" ) == 0 )
112 intrinsic_filename = argv[++i];
113 else if( strcmp(argv[i], "-e" ) == 0 )
114 extrinsic_filename = argv[++i];
115 else if( strcmp(argv[i], "-o" ) == 0 )
116 disparity_filename = argv[++i];
117 else if( strcmp(argv[i], "-p" ) == 0 )
118 point_cloud_filename = argv[++i];
121 printf("Command-line parameter error: unknown option %s\n", argv[i]);
126 if( !img1_filename || !img2_filename )
128 printf("Command-line parameter error: both left and right images must be specified\n");
132 if( (intrinsic_filename != 0) ^ (extrinsic_filename != 0) )
134 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");
138 if( extrinsic_filename == 0 && point_cloud_filename )
140 printf("Command-line parameter error: extrinsic and intrinsic parameters must be specified to compute the point cloud\n");
144 int color_mode = alg == STEREO_BM ? 0 : -1;
145 Mat img1 = imread(img1_filename, color_mode);
146 Mat img2 = imread(img2_filename, color_mode);
147 Size img_size = img1.size();
152 if( intrinsic_filename )
154 // reading intrinsic parameters
155 FileStorage fs(intrinsic_filename, CV_STORAGE_READ);
158 printf("Failed to open file %s\n", intrinsic_filename);
168 fs.open(extrinsic_filename, CV_STORAGE_READ);
171 printf("Failed to open file %s\n", extrinsic_filename);
175 Mat R, T, R1, P1, R2, P2;
179 stereoRectify( M1, D1, M2, D2, img_size, R, T, R1, R2, P1, P2, Q, -1, img_size, &roi1, &roi2 );
181 Mat map11, map12, map21, map22;
182 initUndistortRectifyMap(M1, D1, R1, P1, img_size, CV_16SC2, map11, map12);
183 initUndistortRectifyMap(M2, D2, R2, P2, img_size, CV_16SC2, map21, map22);
186 remap(img1, img1r, map11, map12, INTER_LINEAR);
187 remap(img2, img2r, map21, map22, INTER_LINEAR);
193 numberOfDisparities = numberOfDisparities > 0 ? numberOfDisparities : img_size.width/8;
195 bm.state->roi1 = roi1;
196 bm.state->roi2 = roi2;
197 bm.state->preFilterCap = 31;
198 bm.state->SADWindowSize = SADWindowSize > 0 ? SADWindowSize : 9;
199 bm.state->minDisparity = 0;
200 bm.state->numberOfDisparities = numberOfDisparities;
201 bm.state->textureThreshold = 10;
202 bm.state->uniquenessRatio = 15;
203 bm.state->speckleWindowSize = 100;
204 bm.state->speckleRange = 32;
205 bm.state->disp12MaxDiff = 1;
207 sgbm.preFilterCap = 63;
208 sgbm.SADWindowSize = SADWindowSize > 0 ? SADWindowSize : 3;
210 int cn = img1.channels();
212 sgbm.P1 = 8*cn*sgbm.SADWindowSize*sgbm.SADWindowSize;
213 sgbm.P2 = 32*cn*sgbm.SADWindowSize*sgbm.SADWindowSize;
214 sgbm.minDisparity = 0;
215 sgbm.numberOfDisparities = numberOfDisparities;
216 sgbm.uniquenessRatio = 10;
217 sgbm.speckleWindowSize = bm.state->speckleWindowSize;
218 sgbm.speckleRange = bm.state->speckleRange;
219 sgbm.disp12MaxDiff = 1;
220 sgbm.fullDP = alg == STEREO_HH;
223 //Mat img1p, img2p, dispp;
224 //copyMakeBorder(img1, img1p, 0, 0, numberOfDisparities, 0, IPL_BORDER_REPLICATE);
225 //copyMakeBorder(img2, img2p, 0, 0, numberOfDisparities, 0, IPL_BORDER_REPLICATE);
227 int64 t = getTickCount();
228 if( alg == STEREO_BM )
229 bm(img1, img2, disp);
231 sgbm(img1, img2, disp);
232 t = getTickCount() - t;
233 printf("Time elapsed: %fms\n", t*1000/getTickFrequency());
235 //disp = dispp.colRange(numberOfDisparities, img1p.cols);
236 disp.convertTo(disp8, CV_8U, 255/(numberOfDisparities*16.));
239 namedWindow("left", 1);
240 imshow("left", img1);
241 namedWindow("right", 1);
242 imshow("right", img2);
243 namedWindow("disparity", 0);
244 imshow("disparity", disp8);
245 printf("press any key to continue...");
251 if(disparity_filename)
252 imwrite(disparity_filename, disp8);
254 if(point_cloud_filename)
256 printf("storing the point cloud...");
259 reprojectImageTo3D(disp, xyz, Q, true);
260 saveXYZ(point_cloud_filename, xyz);