Reconstruction of three-dimensional point cloud from binocular stereo disparity map with vs+opencv3.1

Fundamentals

For detailed principles, please read this article http://www.360doc.com/content/14/0205/15/10724725_349968116.shtml.

Basic Process

Code

This code run needs to be configured on the VS opencv3.1+openni+pcl,opencv3.1 configuration can find a lot of information on the Internet, Openni and PCL configuration can take a look at a blog post http://blog.csdn.net/ u014283958/article/details/52599457
Here's the code:

by Shuishui Shiwenjun 20160926 #include <pcl/visualization/cloud_viewer.h> #include <iostream> #include &
lt;pcl/io/io.h> #include <pcl/io/pcd_io.h> #include <opencv2/opencv.hpp> usingnamespace CV;
USINGNAMESPACESTD;
 
UsingNamespace PCL;
int user_data;
Camera reference, according to the input changes constdouble u0 = 1329.49/4;//because the back resize into the original 1/4 so some parameters to reduce the same multiple constdouble V0 = 954.485/4;
Constdouble FX = 6872.874/4;
constdouble fy = 6872.874/4;
Constdouble Tx = 174.724;
 
Constdouble doffs = 293.97/4;
 
void Vieweroneoff (visualization::P clvisualizer& Viewer) {viewer.setbackgroundcolor (0.0, 0.0, 0.0);}
   int main () {pointcloud<pointxyzrgb>cloud_a;
    POINTCLOUD&LT;POINTXYZRGB&GT::P tr Cloud (new pointcloud<pointxyzrgb>);
    Mat Color1 = Imread ("Im0.png");
    Mat depth = Imread ("Sword1_perfect_d.png");
    Resize//color1.resize ();
    Mat color;
    Resize (Color1, Color,size (COLOR1.COLS/4,COLOR1.ROWS/4), 0, 0,cv_inter_linear); Imshow ("H",color);
    Waitkey (0);
    int rowNumber = color.rows;
    int colnumber = Color.cols;
    Cloud_a.height = RowNumber;
   Cloud_a.width = Colnumber;
    Cloud_a.points.resize (Cloud_a.width * cloud_a.height);
            for (Unsignedint u = 0, u < rowNumber; ++u) {for (Unsignedint v = 0; v < colnumber; ++v) {
            /*unsigned intnum = rownumber*colnumber-(U*colnumber + V) -1;*/unsignedint num = u*colnumber + V;
 
            Double Xw = 0, Yw = 0, Zw = 0;
            Zw = FX*TX/((double) depth.at<vec3b> (U, v) [0]) + doffs);
            Xw = (v+1-u0) * ZW/FX;
            Yw = (u+1-v0) * ZW/FY;
            Cloud_a.points[num].b =color.at<vec3b> (U, v) [0];
            CLOUD_A.POINTS[NUM].G =color.at<vec3b> (U, v) [1];
            CLOUD_A.POINTS[NUM].R =color.at<vec3b> (U, v) [2];
            Cloud_a.points[num].x =xw;
            Cloud_a.points[num].y =yw;
        Cloud_a.points[num].z =ZW; }} *cloud= cloud_a;
    Visualization::cloudviewerviewer ("Cloud Viewer");
   Viewer.showcloud (Cloud);
    Viewer.runonvisualizationthreadonce (Vieweroneoff);
    while (!viewer.wasstopped ()) {user_data = 9;
} Return0; }

Effect Diagram

Input:
"Im0.png" can be downloaded from http://vision.middlebury.edu/stereo/data/scenes2014/datasets/Sword1-perfect/im0.png;

"Sword1_perfect_d.png"

Output:
Point Cloud screenshot 1

Point Cloud screenshot 2