实现视差图和三维重构

根据两个不同视角的图片来获得视差图：

#include "cv.h"
#include "cvaux.h"
#include "cxcore.h"
#include "highgui.h"

int main1(int argc, char** argv)
{
    IplImage * cv_left_rectified;
    IplImage * cv_right_rectified;

    //note the sequence of the stereo pairs
    cv_left_rectified = cvLoadImage("D://a//left1.jpg", CV_LOAD_IMAGE_GRAYSCALE);
    cv_right_rectified = cvLoadImage("D://a//right1.jpg", CV_LOAD_IMAGE_GRAYSCALE);
    CvSize size = cvGetSize(cv_left_rectified);
    //the disparity map is an array h*w, with 16bit signed elements.
    CvMat* disparity_left = cvCreateMat(size.height, size.width, CV_16S);
    CvMat* disparity_right = cvCreateMat(size.height, size.width, CV_16S);
    CvStereoGCState* state = cvCreateStereoGCState(16, 2);
    cvFindStereoCorrespondenceGC(cv_left_rectified,
        cv_right_rectified,
        disparity_left,
        disparity_right,
        state,
        0);
    cvReleaseStereoGCState(&state);
    //post-progressing the result
    CvMat* disparity_left_visual = cvCreateMat(size.height, size.width, CV_8U);
    cvConvertScale(disparity_left, disparity_left_visual, -16);
    cvNamedWindow("disparity", 1);
    cvShowImage("disparity", disparity_left_visual);
    cvSaveImage("dst.jpg", disparity_left_visual);
    cvWaitKey(0);
    cvDestroyWindow("disparity");
    return 0;
}

视差图的每个像素代表该对象的移动距离。
我使用的两张图片为：

经过运算得到的视差图：

根据该视差图进行三维建模：

#include "stdafx.h"

#include <iostream>
#include <stdlib.h>
#include "opencv2/calib3d/calib3d.hpp"  
#include "opencv2/imgproc/imgproc.hpp"  
#include "opencv2/highgui/highgui.hpp"  
#include "opencv2/contrib/contrib.hpp" 

#include<opencv2/opencv.hpp>
#include <math.h>
#include <GL/glut.h>  
#include <iostream>
using namespace cv;

using namespace std;

#define MAX_SIZE 1024

float imgdata[MAX_SIZE][MAX_SIZE];

int w = 0;
int h = 0;
float scalar = 50;//scalar of converting pixel color to float coordinates

void renderScene(void)
{

    glClear(GL_COLOR_BUFFER_BIT);
    glLoadIdentity();               // Reset the coordinate system before modifying
    gluLookAt(0.0, 0.0, 10.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0);
    glRotatef(-30, 0.0, 1.0, 0.0); //rotate about the x axis
    glRotatef(-180, 0.0, 0.0, 1.0); //rotate about the z axis
    glRotatef(-180, 0.0, 1.0, 0.0); //rotate about the y axis

    float imageCenterX = w*.5;
    float imageCenterY = h*.5;
    float x, y, z;
    glPointSize(1.0);
    glBegin(GL_POINTS);//GL_POINTS
    for (int i = 0; i<h; i++)
    {
        for (int j = 0; j<w; j++)
        {
            // color interpolation
            glColor3f(1 - imgdata[i][j] / 255, imgdata[i][j] / 255, imgdata[i][j] / 255);
            x = ((float)j - imageCenterX) / scalar;
            y = ((float)i - imageCenterY) / scalar;
            z = imgdata[i][j] / scalar;
            glVertex3f(x, y, z);
        }
    }
    glEnd();
    glFlush();
}
void reshape(int w, int h)
{
    glViewport(0, 0, (GLsizei)w, (GLsizei)h);
    glMatrixMode(GL_PROJECTION);
    glLoadIdentity();
    gluPerspective(60, (GLfloat)w / (GLfloat)h, 1.0, 100.0);
    glMatrixMode(GL_MODELVIEW);
}

void displayDisparity(IplImage* disparity)
{
    double xyscale = 100;
    int j = 0;
    int i = 0;
    CvScalar s;

    //accessing the image pixels
    for (i = 0; i<h; i++)
    {
        for (j = 0; j<w; j++)
        {
            s = cvGet2D(disparity, i, j);
            imgdata[i][j] = s.val[0];//for disparity is a grey image.
        }
    }
}
int main(int argc, char *argv)
{
    cout << "OpenCV and OpenGL working together!" << endl;
    //char* filename = "tsuDisparity.bmp;";

    IplImage* imgGrey = cvLoadImage("dst.jpg", 0); //read image as a grey one
    if (imgGrey == NULL)
    {
        cout << "No valid image input." << endl;
        char c = getchar();
        return 1;
    }
    w = imgGrey->width;
    h = imgGrey->height;

    displayDisparity(imgGrey);
    cvNamedWindow("original", CV_WINDOW_AUTOSIZE);
    cvShowImage("original", imgGrey);

    //------------------OpenGL-------------------------
    glutInit(&argc, (char**)argv);
    glutInitDisplayMode(GLUT_DEPTH | GLUT_SINGLE | GLUT_RGBA);
    glutInitWindowPosition(100, 100);
    glutInitWindowSize(500, 500);
    glutCreateWindow("3D disparity image");
    glutDisplayFunc(renderScene);
    glutReshapeFunc(reshape);
    glutMainLoop();
    cvWaitKey(0);
    //release opencv stuff.
    cvReleaseImage(&imgGrey);
    cvDestroyWindow("Original");

    return 0;
}

重构结果：