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This commit is contained in:
kalman 2018-12-07 16:22:32 +08:00
parent 97701188b8
commit 0ecb395044
3 changed files with 30 additions and 31 deletions
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2
samples/tutorials/util/pc_viewer.cc
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@ -84,7 +84,7 @@ void PCViewer::ConvertMatToPointCloud(
for (int i = 0; i < xyz.rows; i++) { for (int i = 0; i < xyz.rows; i++) {
for (int j = 0; j < xyz.cols; j++) { for (int j = 0; j < xyz.cols; j++) {
auto &&p = xyz.at<cv::Point3f>(i, j); auto &&p = xyz.at<cv::Point3f>(i, j);
if (std::abs(p.z) > 9999) continue; if (std::abs(p.z) > 9999) continue;
if (std::isfinite(p.x) && std::isfinite(p.y) && std::isfinite(p.z)) { if (std::isfinite(p.x) && std::isfinite(p.y) && std::isfinite(p.z)) {
// LOG(INFO) << "[" << i << "," << j << "] x: " << p.x << ", y: " << p.y // LOG(INFO) << "[" << i << "," << j << "] x: " << p.x << ", y: " << p.y
// << ", z: " << p.z; // << ", z: " << p.z;

53
src/mynteye/api/processor/disparity_processor.cc
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@ -27,34 +27,33 @@ DisparityProcessor::DisparityProcessor(std::int32_t proc_period)
: Processor(std::move(proc_period)) { : Processor(std::move(proc_period)) {
VLOG(2) << __func__ << ": proc_period=" << proc_period; VLOG(2) << __func__ << ": proc_period=" << proc_period;
int blockSize_ = 15; // 15 int blockSize_ = 15; // 15
int numDisparities_ = 64; // 64 int numDisparities_ = 64; // 64
#ifdef WITH_OPENCV2 #ifdef WITH_OPENCV2
bm_ = cv::Ptr<cv::StereoBM>( bm_ = cv::Ptr<cv::StereoBM>(
new cv::StereoBM( new cv::StereoBM(
cv::StereoBM::BASIC_PRESET, cv::StereoBM::BASIC_PRESET,
numDisparities_, numDisparities_,
blockSize_)); blockSize_));
#else #else
int minDisparity_ = 0; // 0 int minDisparity_ = 0; // 0
int preFilterSize_ = 9; // 9 int preFilterSize_ = 9; // 9
int preFilterCap_ = 31; // 31 int preFilterCap_ = 31; // 31
int uniquenessRatio_ = 15; // 15 int uniquenessRatio_ = 15; // 15
int textureThreshold_ = 10; // 10 int textureThreshold_ = 10; // 10
int speckleWindowSize_ = 100; // 100 int speckleWindowSize_ = 100; // 100
int speckleRange_ = 4; // 4 int speckleRange_ = 4; // 4
bm_ = cv::StereoBM::create(16, 9);
bm_ = cv::StereoBM::create(16, 9); bm_->setBlockSize(blockSize_);
bm_->setBlockSize(blockSize_); bm_->setMinDisparity(minDisparity_);
bm_->setMinDisparity(minDisparity_); bm_->setNumDisparities(numDisparities_);
bm_->setNumDisparities(numDisparities_); bm_->setPreFilterSize(preFilterSize_);
bm_->setPreFilterSize(preFilterSize_); bm_->setPreFilterCap(preFilterCap_);
bm_->setPreFilterCap(preFilterCap_); bm_->setUniquenessRatio(uniquenessRatio_);
bm_->setUniquenessRatio(uniquenessRatio_); bm_->setTextureThreshold(textureThreshold_);
bm_->setTextureThreshold(textureThreshold_); bm_->setSpeckleWindowSize(speckleWindowSize_);
bm_->setSpeckleWindowSize(speckleWindowSize_); bm_->setSpeckleRange(speckleRange_);
bm_->setSpeckleRange(speckleRange_);
#endif #endif
} }
@ -78,11 +77,11 @@ bool DisparityProcessor::OnProcess(
cv::Mat disparity; cv::Mat disparity;
#ifdef WITH_OPENCV2 #ifdef WITH_OPENCV2
(*bm_)(input->first, input->second, disparity); (*bm_)(input->first, input->second, disparity);
#else #else
bm_->compute(input->first, input->second, disparity); bm_->compute(input->first, input->second, disparity);
#endif #endif
disparity.convertTo(output->value, CV_32F, 1./16); disparity.convertTo(output->value, CV_32F, 1./16);
return true; return true;
} }

6
src/mynteye/api/processor/rectify_processor.cc
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@ -72,15 +72,15 @@ void RectifyProcessor::InitParams(
in_right.cy, 0, 0, 1); in_right.cy, 0, 0, 1);
cv::Mat D1(1, 5, CV_64F, in_left.coeffs); cv::Mat D1(1, 5, CV_64F, in_left.coeffs);
cv::Mat D2(1, 5, CV_64F, in_right.coeffs); cv::Mat D2(1, 5, CV_64F, in_right.coeffs);
/* /*
cv::Mat R = cv::Mat R =
(cv::Mat_<double>(3, 3) << ex_right_to_left.rotation[0][0], (cv::Mat_<double>(3, 3) << ex_right_to_left.rotation[0][0],
ex_right_to_left.rotation[0][1], ex_right_to_left.rotation[0][2], ex_right_to_left.rotation[0][1], ex_right_to_left.rotation[0][2],
ex_right_to_left.rotation[1][0], ex_right_to_left.rotation[1][1], ex_right_to_left.rotation[1][0], ex_right_to_left.rotation[1][1],
ex_right_to_left.rotation[1][2], ex_right_to_left.rotation[2][0], ex_right_to_left.rotation[1][2], ex_right_to_left.rotation[2][0],
ex_right_to_left.rotation[2][1], ex_right_to_left.rotation[2][2]); ex_right_to_left.rotation[2][1], ex_right_to_left.rotation[2][2]);
*/ */
cv::Mat R = cv::Mat R =
(cv::Mat_<double>(3, 3) << 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0); (cv::Mat_<double>(3, 3) << 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0);
cv::Mat T(3, 1, CV_64F, ex_right_to_left.translation); cv::Mat T(3, 1, CV_64F, ex_right_to_left.translation);