StereoSGBM计算视差报错

Question

问题：在SLAM双目立体中，使用OpenCV的StereoSGBM来计算左右图像的视差，代码时slam14讲的ch5/stereo/stereoVision.cpp
调试报错如下

终端运行报错

代码

#include <opencv2/opencv.hpp>
#include <vector>
#include <string>
#include <Eigen/Core>
#include <pangolin/pangolin.h>
#include <unistd.h>

using namespace std;
using namespace Eigen;
using namespace cv;

// 文件路径
string left_file = "./left.png";
string right_file = "./right.png";

// Pangolin绘画
void showPointCloud(
    const vector<Vector4d, aligned_allocator<Vector4d>> &pointCloud);

int main(int argc, char **argv) {

    // 内参
    double fx = 718.856;
    double fy = 718.856;
    double cx = 607.1928;
    double cy = 185.2157;    
    // 基线
    double b = 0.573;

    // 读取图像
    Mat left = imread(left_file, 0);
    Mat right = imread(right_file, 0);
    // imshow("left", left);
    // imshow("right", right);

    // 使用StereoSGBM算法计算视差图
    Ptr<StereoSGBM> sgbm = StereoSGBM::create(
        0, 96, 9, 8*9*9, 32*9*9, 1, 63, 10, 100, 32
    );
    Mat disparity_sgbm, disparity;
    sgbm -> compute(left, right, disparity_sgbm);
    disparity_sgbm.convertTo(disparity, CV_32F, 1.0/16.0f);

    // // 生成点云
    // vector<Vector4d, aligned_allocator<Vector4d>> pointcloud;

    // for (int v = 0; v < left.rows; v++) {
    //     for (int u = 0; u < left.cols; u++) {
    //         if (disparity.at<float>(v, u) <=0.0 || disparity.at<float>(v, u) >= 96.0) continue;

    //         Vector4d point(0, 0, 0, left.at<uchar>(v, u) / 255.0);  // 前三维是xyz，第四维是颜色

    //         // 根据双目模型计算point的位置
    //         double x = (u - cx) / fx;
    //         double y = (u - cy) / fy;
    //         double depth = fx * b / (disparity.at<float>(v, u));
    //         point[0] = x * depth;
    //         point[1] = y * depth;
    //         point[2] = depth;

    //         pointcloud.push_back(point);
    //     }
    // }
    
    // 可视化
    imshow("disparity", disparity / 96.0);
    waitKey(0);
    // showPointCloud(pointcloud);
    
    return 0;
}


void showPointCloud(const vector<Vector4d, Eigen::aligned_allocator<Vector4d>> &pointcloud) {

    if (pointcloud.empty()) {
        cerr << "Point cloud is empty!" << endl;
        return;
    }

    pangolin::CreateWindowAndBind("Point Cloud Viewer", 1024, 768);
    glEnable(GL_DEPTH_TEST);
    glEnable(GL_BLEND);
    glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);

    pangolin::OpenGlRenderState s_cam(
        pangolin::ProjectionMatrix(1024, 768, 500, 500, 512, 389, 0.1, 1000),
        pangolin::ModelViewLookAt(0, -0.1, -1.8, 0, 0, 0, 0.0, -1.0, 0.0)
    );

    pangolin::View &d_cam = pangolin::CreateDisplay()
        .SetBounds(0.0, 1.0, pangolin::Attach::Pix(175), 1.0, -1024.0f / 768.0f)
        .SetHandler(new pangolin::Handler3D(s_cam));

    while (pangolin::ShouldQuit() == false) {
        glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

        d_cam.Activate(s_cam);
        glClearColor(1.0f, 1.0f, 1.0f, 1.0f);

        glPointSize(2);
        glBegin(GL_POINTS);
        for (auto &p: pointcloud) {
            glColor3f(p[3], p[3], p[3]);
            glVertex3d(p[0], p[1], p[2]);
        }
        glEnd();
        pangolin::FinishFrame();
        usleep(5000);   // sleep 5 ms
    }
    return;
}

CMakeLists.txt如下

cmake_minimum_required( VERSION 3.10 )
project(stereoVision)

set(CMAKE_BUILD_TYPE "Debug")
set( CMAKE_CXX_FLAGS "-std=c++11")

find_package(OpenCV)
include_directories(${OpenCV})

find_package(Pangolin REQUIRED)

add_executable(stereoVision stereoVision.cpp)
target_link_libraries(stereoVision ${OpenCV_LIBS} ${Pangolin_LIBRARIES})

add_executable(stereoVisionTest stereoVisionTest.cpp)
target_link_libraries(stereoVisionTest ${OpenCV_LIBS} ${Pangolin_LIBRARIES})

文件目录结构

恳请各位好兄弟好姐妹指导

Answer 1

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