read calib and convert to camera coords

chenming5828 · Aug 25, 2018 · 5273b91 · 5273b91
1 parent c473574
commit 5273b91
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Showing 42 changed files with 419,144 additions and 63 deletions.
diff --git a/stereo_matching.sdf b/stereo_matching.sdf
diff --git a/stereo_matching.v12.suo b/stereo_matching.v12.suo
diff --git a/stereo_matching/Solver.cpp b/stereo_matching/Solver.cpp
@@ -47,6 +47,7 @@ void Solver::Show_disp()
 			ptr[j] = INVALID_DISP;
 		}
 	}
+	imwrite("example/disp_grey.png", disp);
 
 	// convert to RGB for better observation
 	Colormap();
@@ -67,10 +68,7 @@ void Solver::Show_disp()
 
 	namedWindow("disp_map", 1);
 	imshow("disp_map", debug_view);
-	//imwrite("example/result_sgm.jpeg", debug_view);
-	//imwrite("example/result_sgm.png", debug_view);
-	//imwrite("example/uni_sgm.png", debug_view);
-	imwrite("example/test.png", debug_view);
+	imwrite("example/disp_rgb.png", debug_view);
 
 	waitKey();
 	destroyWindow("disp_map");

diff --git a/stereo_matching/Solver.h b/stereo_matching/Solver.h
@@ -22,6 +22,10 @@ class Solver
 	void Build_dsi();
 	void Find_dsi_mean_max();
 	void Colormap();
+	Mat get_disp() const
+	{
+		return disp;
+	}
 	virtual ~Solver();
 
 protected:

diff --git a/stereo_matching/example/calib_0.txt b/stereo_matching/example/calib_0.txt
@@ -0,0 +1,4 @@
+P0: 7.215377e+02 0.000000e+00 6.095593e+02 0.000000e+00 0.000000e+00 7.215377e+02 1.728540e+02 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00
+P1: 7.215377e+02 0.000000e+00 6.095593e+02 -3.875744e+02 0.000000e+00 7.215377e+02 1.728540e+02 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00
+P2: 7.215377e+02 0.000000e+00 6.095593e+02 4.485728e+01 0.000000e+00 7.215377e+02 1.728540e+02 2.163791e-01 0.000000e+00 0.000000e+00 1.000000e+00 2.745884e-03
+P3: 7.215377e+02 0.000000e+00 6.095593e+02 -3.395242e+02 0.000000e+00 7.215377e+02 1.728540e+02 2.199936e+00 0.000000e+00 0.000000e+00 1.000000e+00 2.729905e-03
diff --git a/stereo_matching/example/calib_1.txt b/stereo_matching/example/calib_1.txt
@@ -0,0 +1,4 @@
+P0: 7.188560e+02 0.000000e+00 6.071928e+02 0.000000e+00 0.000000e+00 7.188560e+02 1.852157e+02 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00
+P1: 7.188560e+02 0.000000e+00 6.071928e+02 -3.861448e+02 0.000000e+00 7.188560e+02 1.852157e+02 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00
+P2: 7.188560e+02 0.000000e+00 6.071928e+02 4.538225e+01 0.000000e+00 7.188560e+02 1.852157e+02 -1.130887e-01 0.000000e+00 0.000000e+00 1.000000e+00 3.779761e-03
+P3: 7.188560e+02 0.000000e+00 6.071928e+02 -3.372877e+02 0.000000e+00 7.188560e+02 1.852157e+02 2.369057e+00 0.000000e+00 0.000000e+00 1.000000e+00 4.915215e-03
diff --git a/stereo_matching/example/disp_grey.png b/stereo_matching/example/disp_grey.png
diff --git a/stereo_matching/example/disp_grey_0.png b/stereo_matching/example/disp_grey_0.png
diff --git a/stereo_matching/example/disp_grey_1.png b/stereo_matching/example/disp_grey_1.png
diff --git a/stereo_matching/example/test.png → stereo_matching/example/disp_rgb.png b/stereo_matching/example/test.png → stereo_matching/example/disp_rgb.png
diff --git a/stereo_matching/example/kitti_sgm.png → stereo_matching/example/disp_rgb_0.png b/stereo_matching/example/kitti_sgm.png → stereo_matching/example/disp_rgb_0.png
diff --git a/stereo_matching/example/kitti2_sgm.png → stereo_matching/example/disp_rgb_1.png b/stereo_matching/example/kitti2_sgm.png → stereo_matching/example/disp_rgb_1.png
diff --git a/stereo_matching/example/kitti_left.png → stereo_matching/example/kitti_0_left.png b/stereo_matching/example/kitti_left.png → stereo_matching/example/kitti_0_left.png
diff --git a/stereo_matching/example/kitti_right.png → stereo_matching/example/kitti_0_right.png b/stereo_matching/example/kitti_right.png → stereo_matching/example/kitti_0_right.png
diff --git a/stereo_matching/example/kitti2_left.png → stereo_matching/example/kitti_1_left.png b/stereo_matching/example/kitti2_left.png → stereo_matching/example/kitti_1_left.png
diff --git a/stereo_matching/example/kitti2_right.png → stereo_matching/example/kitti_1_right.png b/stereo_matching/example/kitti2_right.png → stereo_matching/example/kitti_1_right.png
diff --git a/stereo_matching/example/left_0.png b/stereo_matching/example/left_0.png
diff --git a/stereo_matching/example/left_1.png b/stereo_matching/example/left_1.png