視差地圖的顏色是向後在opencv

我的問題是，我的視差地圖中的顏色是向後。因爲在離得越遠的地方，東西比靠近相機的東西都要輕。視差地圖的顏色是向後在opencv

我已經嘗試了很多東西（即convertTo，convertScaleAbs和它們中的值的各種組合等），並且似乎無法使差異圖中的顏色反轉（即，正常 - 更遠的東西）。

我需要一些幫助。

另外，出於好奇，我怎樣才能改變視差圖的顏色空間，就像我在網上看到的多彩的MATLAB視頻？

這是我的代碼和pastebin。 http://pastebin.com/E3vVN6UU

#include <opencv2/core/core.hpp> 
#include <opencv2/imgproc/imgproc.hpp> 
#include <opencv2/highgui/highgui.hpp> 
#include <opencv2/calib3d/calib3d.hpp> 
#include <iostream> 
#include <string> 

using namespace cv; 
using namespace std; 

void show(const char* windowname, Mat image) 
{ 
    namedWindow(windowname, CV_WINDOW_AUTOSIZE); 
    imshow(windowname, image); 
} 

int main() 
{ 
    Mat image1, image2; 

    Mat camMat1 = (Mat_<double>(3,3) << 793.1338, 0, 337.2309, 0, 792.0555, 256.9991, 0, 0, 1); 
    Mat camMat2 = (Mat_<double>(3,3) << 799.1271, 0, 319.8581, 0, 797.2460, 243.4638, 0, 0, 1); 
    Mat dispCoeffs1 = (Mat_<double>(1,5) << 0.0033, -0.1320, -0.0019, 0.0026, 0); 
    Mat dispCoeffs2 = (Mat_<double>(1,5) << -0.0109, -0.0188, -0.0014, -0.0055, 0); 
    Mat RotMat = (Mat_<double>(3,3) << 0.9998, -0.0023, 0.0221, 0.0022, 1, 0.0031, -0.0221, -0.0031, 0.9998); 
    Mat TransMat = (Mat_<double>(3,1) << 374.2306, -1.8319, 5.5745); 

    //Rectify 
    Mat R1, R2, P1, P2, Q; 
    stereoRectify(camMat1, dispCoeffs1, camMat2, dispCoeffs2, Size(640,480), RotMat, TransMat, R1, R2, P1, P2, Q, CV_CALIB_ZERO_DISPARITY, 1, Size(640,480)); 

    //Define the mapping to the done 
    Mat rx1, ry1; 
    Mat rx2, ry2; 
    initUndistortRectifyMap(camMat1, dispCoeffs1, R1, P1, Size(640,480), CV_16SC2, rx1, ry1); 
    initUndistortRectifyMap(camMat2, dispCoeffs2, R2, P2, Size(640,480), CV_16SC2, rx2, ry2); 

    //SET THE BM STATE VARIABLES BEGIN - DONE GLOBALLY 
    StereoBM bm; 
    bm.state->preFilterSize = 31; 
    bm.state->preFilterCap = 63; 
    bm.state->SADWindowSize = 9; 
    bm.state->minDisparity = -128; 
    //bm.state->disp12MaxDiff = 2; 
    bm.state->numberOfDisparities = 128; 
    bm.state->textureThreshold = 50; 
    bm.state->uniquenessRatio = 15; 
    bm.state->speckleWindowSize = 100; 
    bm.state->speckleRange = 16; 
    //SET THE BM STATE VARIABLES END 

    VideoCapture cap3 = VideoCapture(0); 
    VideoCapture cap4 = VideoCapture(1); 

    //cap3.set(CV_CAP_PROP_FRAME_WIDTH, 320); 
    //cap3.set(CV_CAP_PROP_FRAME_HEIGHT, 240); 
    //cap4.set(CV_CAP_PROP_FRAME_WIDTH, 320); 
    //cap4.set(CV_CAP_PROP_FRAME_HEIGHT, 240); 

    cap3 >> image1; 
    cap4 >> image2; 
    Size imageSize = image1.size(); 

    Mat gray_image1; 
    Mat gray_image2; 
    Mat frame1r; 
    //frame1r.create(image1.size(), CV_8U); 
    Mat frame2r; 
    //frame2r.create(image2.size(), CV_8U); 
    Mat frame1rf; 
    Mat frame2rf; 
    //Mat disp(image1.size(), CV_16S); 
    //Mat vdisp(image1.size(), CV_8U); 
    Mat disp, vdisp; 
    //Mat image3d(image1.size(), CV_32FC3); 
    Mat image3d; 
    Mat rectified_pair; 
    rectified_pair.create(imageSize.height, (imageSize.width)*2, CV_8UC3); 

    //Actually do the mapping -- based on the mapping definition 

    while(1) 
    { 
     bm.state->preFilterSize = 31; 
     bm.state->preFilterCap = 63; 
     bm.state->SADWindowSize = 21; 
     bm.state->minDisparity = -128; 
     //bm.state->disp12MaxDiff = 2; 
     bm.state->numberOfDisparities = 64; 
     bm.state->textureThreshold = 20; 
     bm.state->uniquenessRatio = 10; 
     bm.state->speckleWindowSize = 100; 
      bm.state->speckleRange = 32; 

     cvtColor(image1, gray_image1, CV_BGR2GRAY); 
     cvtColor(image2, gray_image2, CV_BGR2GRAY); 
     remap(gray_image1, frame1r, rx1, ry1, CV_INTER_LINEAR); 
     remap(gray_image2, frame2r, rx2, ry2, CV_INTER_LINEAR); 
     bm(frame1r, frame2r, disp); 
     normalize(disp, vdisp, 0, 255, NORM_MINMAX, CV_8U); 
     //convertScaleAbs(vdisp, vdisp, 1, 0); 
     disp.convertTo(vdisp, CV_8U, 255/(64*16.)); 
     show("disparity", vdisp); 
     //reprojectImageTo3D(disp, image3d, Q, true); 
     //show("depth map", image3d); 

     //display image side by side for rectified window 
     //copy frame1r to the left side 
     cvtColor(frame1r, frame1rf, CV_GRAY2BGR); 
     frame1rf.copyTo(rectified_pair(Rect(0,0,imageSize.width, imageSize.height))); 
     //copy frame2r to the right side 
     cvtColor(frame2r, frame2rf, CV_GRAY2BGR); 
     frame2rf.copyTo(rectified_pair(Rect(imageSize.width,0,imageSize.width, imageSize.height))); 
     for(int i=0; i<imageSize.height; i+=32) 
      line(rectified_pair, Point(0,i), Point((imageSize.width)*2, i), CV_RGB(0,255,0)); 
     show("rectified", rectified_pair); 

     cap3 >> image1; 
     cap4 >> image2; 
     if(waitKey(15) == 27) 
      break; 
    } 

    return 0; 
}

來源

2013-02-02 limac

我沒有使用立體聲對，但得到使用的Kinect相同的結果 - 遠光=，近=暗要改變這一點，我已經使用瞭如下：

double min, max; 
    minMaxLoc(depthImage, &min, &max); 

    depthImage.convertTo(rImage, CV_8U, -255.0/max, 255);

來源

2013-02-16 16:45:52 guest

我面臨同樣的問題，我試圖交換左右圖像，它的工作！現在我得到正確的圖像。

來源

2013-11-12 16:22:00 Maham

視差地圖的顏色是向後在opencv

回答

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