问题描述
我正在尝试使用emgu cv实施立体声相机校准应用程序。
我的问题是当我尝试使用CvInvoke.cvRemap取消扭曲函数刚刚挂起的图像时。没有错误或崩溃，它只是挂起，我把它放了两个小时，以防它变慢。这是我正在做的事情：
捕获10对Chessboard样本（左和右），确保在每个上都能使用FindChessboardCorners。我没有做任何特别的事情来同步摄像头，只是同时捕捉它们。
根据所使用的棋盘生成一组对象点。
使用2的对象点和1的图像点在每个样本的左右图像上分别做一个CalibrateCamera。
在3中使用CalibrateCamera生成的IntrinsicCameraParameters进行StereoCalibrate，在2中将对象指向棋盘，在1中从棋盘上捕获图像点。
使用3/4的IntrinsicCameraParameters执行StereoRectify。
使用5的输出从cvInitUndistortRectifyMap左右生成mapx和mapy。
尝试使用mapx和6中的mapy和从相机捕获的新鲜图像进行cvRemap。
NEXT：使用StereoBM.FindStereoCorrespondence和PointCollection.ReprojectimageTo3D从希望校准的立体数据中生成点云。
所以当我到达7 cvRemap只是挂起。我已经使用cvRemap可以从单个摄像机捕获图像，所以我知道该功能在某种程度上可以通过我的设置工作。
我写了一个班管理多个摄像机：
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Drawing;
using System.Drawing.drawing2d;
using System.Windows.Forms;
using Emgu.CV;
using Emgu.CV.UI;
using Emgu.CV.CvEnum;
using Emgu.CV.Structure;
using Emgu.CV.VideoSurveillance;
namespace Capture2Cams
{
class camData
{
public Capture capture;
public Image<Bgr,Byte> lastFrame;
public Image<Gray,Byte> lastFrameGray;
public bool lastChessboardFound;
public PointF[] lastChessboardCorners;
public Image<Gray,Byte>[] samplesGray;
public PointF[][] samplesChessboardCorners;
public Size cbDimensions;
public Size imageDimensions;
public int cursampleIndex = 0;
public ImageList sampleIcons;
private Image<Gray,Byte> _chessBoarddisplay;
private int _iconWidth = 160;
private int _icnonHeight = 90;
private int _numSamples = 0;
public int numSamples()
{
return _numSamples;
}
public void numSamples(int val)
{
_numSamples = val;
this.samplesGray = new Image<Gray,Byte>[val];
this.samplesChessboardCorners = new PointF[val][];
this.sampleIcons.ImageSize = new Size(_iconWidth,_icnonHeight);
Bitmap tmp = new Bitmap(_iconWidth,_icnonHeight);
this.sampleIcons.Images.Clear();
for (int c = 0; c < _numSamples; c++) this.sampleIcons.Images.Add(tmp);
}
public camData(int camIndex,int capWidth,int capHeight,int pcbWidth,int pcbHeight,int pNumSamples)
{
this.sampleIcons = new ImageList();
try
{
this.capture = new Capture(camIndex);
this.capture.SetCaptureProperty(CAP_PROP.CV_CAP_PROP_FRAME_WIDTH,capWidth);
this.capture.SetCaptureProperty(CAP_PROP.CV_CAP_PROP_FRAME_HEIGHT,capHeight);
}
catch (Exception e)
{
MessageBox.Show(e.Message);
return;
}
this.imageDimensions = new Size(capWidth,capHeight);
this.cbDimensions = new Size(pcbWidth,pcbHeight);
this.numSamples(pNumSamples);
}
public Image<Gray,Byte> captureFrame()
{
this.lastFrame = this.capture.QueryFrame();
this.lastFrameGray = this.lastFrame.Convert<Gray,Byte>();
return this.lastFrameGray;
}
public int captureSample()
{
this.detectChessboard(true); // detectChessboard calls -> captureFrame
if (lastChessboardFound)
{
this.samplesGray[cursampleIndex] = this.lastFrameGray;
this.samplesChessboardCorners[cursampleIndex] = this.lastChessboardCorners;
this.sampleIcons.Images[this.cursampleIndex] = this.lastFrameGray.ToBitmap(_iconWidth,_icnonHeight);
this.cursampleIndex++;
if (this.cursampleIndex >= _numSamples) this.cursampleIndex = 0;
}
return cursampleIndex;
}
public void clearSamples()
{
this.cursampleIndex = 0;
this.numSamples(_numSamples);
}
public Image<Gray,Byte> detectChessboard(bool pDoCapture)
{
if (pDoCapture) this.captureFrame();
this.lastChessboardFound = CameraCalibration.FindChessboardCorners(this.lastFrameGray,this.cbDimensions,CALIB_CB_TYPE.ADAPTIVE_THRESH | CALIB_CB_TYPE.FILTER_QUADS,out this.lastChessboardCorners);
_chessBoarddisplay = this.lastFrameGray.Clone();
CameraCalibration.DrawChessboardCorners(this._chessBoarddisplay,this.lastChessboardCorners,this.lastChessboardFound);
return this._chessBoarddisplay;
}
public void saveSampleImages(string pPath,string pID)
{
for(int ic = 0; ic < this._numSamples; ic++)
{
this.samplesGray[ic].Save(pPath + pID + ic.ToString() + \".bmp\");
}
}
public void loadSampleImages(string pPath,string pID)
{
clearSamples();
for (int ic = 0; ic < this._numSamples; ic++)
{
this.lastFrameGray = new Image<Gray,byte>(new Bitmap(pPath + pID + ic.ToString() + \".bmp\"));
this.detectChessboard(false);
this.samplesChessboardCorners[ic] = this.lastChessboardCorners;
this.sampleIcons.Images[ic] = this.lastFrameGray.ToBitmap(_iconWidth,_icnonHeight);
this.samplesGray[ic] = this.lastFrameGray;
}
}
}
}
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Windows.Forms;
using System.Runtime.InteropServices;
using Emgu.CV.Util;
using Emgu.CV;
using Emgu.CV.UI;
using Emgu.CV.CvEnum;
using Emgu.CV.Structure;
using Emgu.CV.VideoSurveillance;
namespace Capture2Cams
{
public partial class CaptureForm : Form
{
private static camData camLeft;
private static camData camRight;
private int _numSamples = 10; // Number of calibration samples
private int _imageWidth = 1280; // web cam resolution
private int _imageHeight = 720; // web cam resolution
private int _cbWidth = 9; // chessboard corner count
private int _cbHeight = 5; // chessboard corner count
// Todo: Test post calibration values,these will need to be loaded and saved
private static Matrix<double> _foundamentalMatrix;
private static Matrix<double> _essentialMatrix;
private static IntrinsicCameraParameters _inPramsLeft;
private static IntrinsicCameraParameters _inPramsRight;
private static ExtrinsicCameraParameters _outExtParamsstereo;
private Matrix<float> _mapxLeft;
private Matrix<float> _mapyLeft;
private Matrix<float> _mapxRight;
private Matrix<float> _mapyRight;
public CaptureForm()
{
InitializeComponent();
Run();
}
void Run()
{
camLeft = new camData(0,_imageWidth,_imageHeight,_cbWidth,_cbHeight,_numSamples);
camRight = new camData(1,_numSamples);
this.listViewLeft.LargeImageList = camLeft.sampleIcons;
for (int c = 0; c < _numSamples; c++)
{
ListViewItem curItem = new ListViewItem();
curItem.ImageIndex = c;
curItem.Text = \"Sample\" + c.ToString();
this.listViewLeft.Items.Add(curItem);
}
this.listViewRight.LargeImageList = camRight.sampleIcons;
for (int c = 0; c < _numSamples; c++)
{
ListViewItem curItem = new ListViewItem();
curItem.ImageIndex = c;
curItem.Text = \"Sample\" + c.ToString();
this.listViewRight.Items.Add(curItem);
}
Application.Idle += ProcessFrame;
}
void ProcessFrame(object sender,EventArgs e)
{
if (!checkBoxRectify.Checked)
{
if (this.checkBoxCapCB.Checked)
{
imageBoxLeft.Image = camLeft.detectChessboard(true);
imageBoxRight.Image = camRight.detectChessboard(true);
}
else
{
imageBoxLeft.Image = camLeft.captureFrame();
imageBoxRight.Image = camRight.captureFrame();
}
}
else
{
camLeft.captureFrame();
camRight.captureFrame();
Image<Gray,byte> imgLeft = camLeft.lastFrameGray.Clone();
Image<Gray,byte> imgRight = camRight.lastFrameGray.Clone();
CvInvoke.cvRemap(camLeft.lastFrameGray.Ptr,imgLeft.Ptr,_mapxLeft.Ptr,_mapyLeft.Ptr,(int)INTER.CV_INTER_LINEAR | (int)WARP.CV_WARP_FILL_OUTLIERS,new MCvScalar(0));
CvInvoke.cvRemap(camRight.lastFrameGray.Ptr,imgRight.Ptr,_mapxRight.Ptr,_mapyRight.Ptr,new MCvScalar(0));
imageBoxLeft.Image = imgLeft;
imageBoxRight.Image = imgRight;
}
//checkBoxRectify
}
private void buttonCaptureSample_Click(object sender,EventArgs e)
{
camLeft.captureSample();
camRight.captureSample();
this.listViewLeft.Refresh();
this.listViewRight.Refresh();
}
private void buttonStereoCalibrate_Click(object sender,EventArgs e)
{
// We should have most of the data needed from the sampling with the camData objects
int numCorners = _cbWidth * _cbHeight;
// Calc intrisitcs / camera
_inPramsLeft = new IntrinsicCameraParameters();
_inPramsRight = new IntrinsicCameraParameters();
ExtrinsicCameraParameters[] outExtParamsLeft;
ExtrinsicCameraParameters[] outExtParamsRight;
//Matrix<double> foundamentalMatrix;
//Matrix<double> essentialMatrix;
outExtParamsLeft = new ExtrinsicCameraParameters[_numSamples];
outExtParamsRight = new ExtrinsicCameraParameters[_numSamples];
_outExtParamsstereo = new ExtrinsicCameraParameters();
// Building object points
// These are the points on the cessboard in local 3d coordinates
// Requires one set per sample,if the same calibration object (chessboard) is used for each sample then just use the same set of points for each sample
// Also setting sub pixel analasys on samples
MCvPoint3D32f[][] objectPoints = new MCvPoint3D32f[_numSamples][];
for (int sc = 0; sc < _numSamples; sc++) // Samples count
{
// indivual cam setup
outExtParamsLeft[sc] = new ExtrinsicCameraParameters();
outExtParamsRight[sc] = new ExtrinsicCameraParameters();
// Sub pixel analasys
camLeft.samplesGray[sc].FindCornerSubPix(new PointF[][] { camLeft.samplesChessboardCorners[sc] },new Size(10,10),new Size(-1,-1),new MCvTermCriteria(300,0.01));
camRight.samplesGray[sc].FindCornerSubPix(new PointF[][] { camRight.samplesChessboardCorners[sc] },0.01));
// Object points
objectPoints[sc] = new MCvPoint3D32f[numCorners];
for (int cc = 0; cc < numCorners; cc++) // chessboard corners count
{
objectPoints[sc][cc].x = cc / _cbWidth;
objectPoints[sc][cc].y = cc % _cbWidth;
objectPoints[sc][cc].z = 0.0f;
}
}
Size imageSize = new Size(_imageWidth,_imageHeight);
// Indivual cam camibration
CameraCalibration.CalibrateCamera(objectPoints,camLeft.samplesChessboardCorners,imageSize,_inPramsLeft,CALIB_TYPE.DEFAULT,out outExtParamsLeft);
CameraCalibration.CalibrateCamera(objectPoints,camRight.samplesChessboardCorners,_inPramsRight,out outExtParamsRight);
// Stereo Cam calibration
CameraCalibration.StereoCalibrate(
objectPoints,CALIB_TYPE.CV_CALIB_FIX_ASPECT_RATIO | CALIB_TYPE.CV_CALIB_ZERO_TANGENT_disT | CALIB_TYPE.CV_CALIB_FIX_FOCAL_LENGTH,new MCvTermCriteria(100,0.001),out _outExtParamsstereo,out _foundamentalMatrix,out _essentialMatrix
);
PrintIntrinsic(_inPramsLeft);
PrintIntrinsic(_inPramsRight);
}
private void listViewLeft_ItemSelectionChanged(object sender,ListViewItemSelectionChangedEventArgs e)
{
}
private void listViewRight_ItemSelectionChanged(object sender,ListViewItemSelectionChangedEventArgs e)
{
}
private void buttonSaveSamples_Click(object sender,EventArgs e)
{
camLeft.saveSampleImages(textBoxSavePath.Text,\"left\");
camRight.saveSampleImages(textBoxSavePath.Text,\"right\");
}
private void buttonLoadSamples_Click(object sender,EventArgs e)
{
camLeft.loadSampleImages(textBoxSavePath.Text,\"left\");
camRight.loadSampleImages(textBoxSavePath.Text,\"right\");
this.listViewLeft.Refresh();
this.listViewRight.Refresh();
}
private void buttonCapture_Click(object sender,EventArgs e)
{
}
private void buttonCaptureCurframe_Click(object sender,EventArgs e)
{
camLeft.captureFrame();
camRight.captureFrame();
camLeft.lastFrame.Save(textBoxSavePath.Text + \"frameLeft\" + \".bmp\");
camLeft.lastFrameGray.Save(textBoxSavePath.Text + \"frameLeftGray\" + \".bmp\");
camRight.lastFrame.Save(textBoxSavePath.Text + \"frameRight\" + \".bmp\");
camRight.lastFrameGray.Save(textBoxSavePath.Text + \"frameRightGray\" + \".bmp\");
}
public void StereoRectify(
IntrinsicCameraParameters intrinsicParam1,IntrinsicCameraParameters intrinsicParam2,Size imageSize,ExtrinsicCameraParameters extrinsicParams,out Matrix<double> R1,out Matrix<double> R2,out Matrix<double> P1,out Matrix<double> P2,out Matrix<double> Q,STEREO_RECTIFY_TYPE flags,double alpha,Size newImageSize,ref Rectangle validPixROI1,ref Rectangle validPixROI2
)
{
R1 = new Matrix<double>(3,3);
R2 = new Matrix<double>(3,3);
P1 = new Matrix<double>(3,4);
P2 = new Matrix<double>(3,4);
Q = new Matrix<double>(4,4);
CvInvoke.cvStereoRectify(
_inPramsLeft.IntrinsicMatrix.Ptr,_inPramsRight.IntrinsicMatrix.Ptr,_inPramsLeft.distortionCoeffs.Ptr,_inPramsRight.distortionCoeffs.Ptr,extrinsicParams.RotationVector.Ptr,extrinsicParams.TranslationVector.Ptr,R1.Ptr,R2.Ptr,P1.Ptr,P2.Ptr,Q.Ptr,STEREO_RECTIFY_TYPE.DEFAULT,alpha,newImageSize,ref validPixROI1,ref validPixROI1);
}
public void InitUndistortRectifyMap(
IntrinsicCameraParameters intrinsicParam,Matrix<double> R,Matrix<double> newCameraMatrix,out Matrix<float> mapx,out Matrix<float> mapy
)
{
mapx = new Matrix<float>(new Size(_imageWidth,_imageHeight));
mapy = new Matrix<float>(new Size(_imageWidth,_imageHeight));
CvInvoke.cvInitUndistortRectifyMap(intrinsicParam.IntrinsicMatrix.Ptr,intrinsicParam.distortionCoeffs.Ptr,R.Ptr,newCameraMatrix.Ptr,mapx.Ptr,mapy.Ptr);
}
private void buttonTestCalc_Click(object sender,EventArgs e)
{
// Stereo Rectify images
Matrix<double> R1;
Matrix<double> R2;
Matrix<double> P1;
Matrix<double> P2;
Matrix<double> Q;
Rectangle validPixROI1,validPixROI2;
validPixROI1 = new Rectangle();
validPixROI2 = new Rectangle();
StereoRectify(_inPramsLeft,new Size(_imageWidth,_imageHeight),_outExtParamsstereo,out R1,out R2,out P1,out P2,out Q,ref validPixROI2);
//InitUndistortRectifyMap(_inPramsLeft,R1,P1,out _mapxLeft,out _mapyLeft);
//InitUndistortRectifyMap(_inPramsRight,R2,P2,out _mapxRight,out _mapyRight);
_inPramsLeft.InitUndistortMap(_imageWidth,out _mapyLeft);
_inPramsRight.InitUndistortMap(_imageWidth,out _mapyRight);
Image<Gray,byte> imgLeft = camLeft.lastFrameGray.Clone();
Image<Gray,byte> imgRight = camRight.lastFrameGray.Clone();
// **** THIS IS WHERE IM UP TO,no errors,it just hangs ****
CvInvoke.cvRemap(camLeft.lastFrameGray.Ptr,new MCvScalar(0));
// StereoBM stereoSolver = new StereoBM(Emgu.CV.CvEnum.STEREO_BM_TYPE.BASIC,0);
//stereoSolver.FindStereoCorrespondence(
}
public void PrintIntrinsic(IntrinsicCameraParameters CamIntrinsic)
{
// Prints the Intrinsic camera parameters to the command line
Console.WriteLine(\"Intrinsic Matrix:\");
string outStr = \"\";
int i = 0;
int j = 0;
for (i = 0; i < CamIntrinsic.IntrinsicMatrix.Height; i++)
{
for (j = 0; j < CamIntrinsic.IntrinsicMatrix.Width; j++)
{
outStr = outStr + CamIntrinsic.IntrinsicMatrix.Data[i,j].ToString();
outStr = outStr + \" \";
}
Console.WriteLine(outStr);
outStr = \"\";
}
Console.WriteLine(\"distortion Coefficients: \");
outStr = \"\";
for (j = 0; j < CamIntrinsic.distortionCoeffs.Height; j++)
{
outStr = outStr + CamIntrinsic.distortionCoeffs.Data[j,0].ToString();
outStr = outStr + \" \";
}
Console.WriteLine(outStr);
}
public void PrintExtrinsic(ExtrinsicCameraParameters CamExtrinsic)
{
// Prints the Extrinsic camera parameters to the command line
Console.WriteLine(\"Extrinsic Matrix:\");
string outStr = \"\";
int i = 0;
int j = 0;
for (i = 0; i < CamExtrinsic.ExtrinsicMatrix.Height; i++)
{
for (j = 0; j < CamExtrinsic.ExtrinsicMatrix.Width; j++)
{
outStr = outStr + CamExtrinsic.ExtrinsicMatrix.Data[i,j].ToString();
outStr = outStr + \" \";
}
Console.WriteLine(outStr);
outStr = \"\";
}
Console.WriteLine(\"Rotation Vector: \");
outStr = \"\";
for (i = 0; i < CamExtrinsic.RotationVector.Height; i++)
{
for (j = 0; j < CamExtrinsic.RotationVector.Width; j++)
{
outStr = outStr + CamExtrinsic.RotationVector.Data[i,j].ToString();
outStr = outStr + \" \";
}
Console.WriteLine(outStr);
outStr = \"\";
}
Console.WriteLine(\"Translation Vector: \");
outStr = \"\";
for (i = 0; i < CamExtrinsic.TranslationVector.Height; i++)
{
for (j = 0; j < CamExtrinsic.TranslationVector.Width; j++)
{
outStr = outStr + CamExtrinsic.TranslationVector.Data[i,j].ToString();
outStr = outStr + \" \";
}
Console.WriteLine(outStr);
outStr = \"\";
}
}
}
}
解决方法
您的地图必须是图像而不是矩阵。
具体来说，是“灰色，浮动”类型。