4

我正在研究一个涉及 3D 重建和 3D 场景渲染的项目，我已经完成了视差图像并使用 opencv 2.1 生成了 3D 坐标，之后我尝试使用点云库渲染 3D 场景我在这里导致代码崩溃。我正在使用 Windows 7 32 位。

我不明白为什么会出现这个错误，请帮助我。

这是我的代码

      ......


      Mat imgDisparity16S ;    
IplImage stub, *dst_img;

 Mat imgDisparity8U ;

int ndisparities = 16*5;
int SADWindowSize = 5; 

StereoBM sbm(StereoBM::BASIC_PRESET,ndisparities,SADWindowSize);

sbm( object, image, imgDisparity16S, CV_16S ); 

double minVal; 
double maxVal; 

minMaxLoc( imgDisparity16S, &minVal, &maxVal );

printf("Min disp: %f Max value: %f \n", minVal, maxVal); 

imgDisparity16S.convertTo( imgDisparity8U, CV_8UC1, 255/(maxVal - minVal));




IplImage ipl_from_mat((IplImage)imgDisparity8U); 
cvNamedWindow("window", CV_WINDOW_AUTOSIZE);  
cvShowImage("window", &ipl_from_mat);  

cvSaveImage("disparity.jpg",&ipl_from_mat);
cvWaitKey(0);

Mat xyz ;
cout<<"Here"<<endl;
cv::Mat img_disparity = cv::imread("disparity.jpg", CV_LOAD_IMAGE_GRAYSCALE);

double q[] =
     {

    1, 0, 0, -2.9615028381347656e+02,
    0, 1, 0, -2.3373317337036133e+02,
    0, 0, 0, 5.6446880931501073e+02,
    0, 0, -1.1340974198400260e-01, 4.1658568844268817e+00,

     };
    cv::Mat Q = Mat(4, 4, CV_64F, q);


cv::Mat recons3D(img_disparity.size(), CV_32FC3);

    cv::reprojectImageTo3D(imgDisparity8U,recons3D,Q,true);
cout<<"Here1"<<endl;
cout<<"Here2"<<endl;

saveXYZ("clouds.txt", recons3D);




 std::cout<<"Creating point cloud"<<std::endl;

pcl::PointCloud<pcl::PointXYZRGB>::Ptr point_cloud_ptr (new                 pcl::PointCloud<pcl::PointXYZRGB>);

double px, py, pz;
uchar pr, pg, pb;
double Q03, Q13, Q23, Q32, Q33;

uint32_t rgb1;

#ifdef CUSTOM_REPROJECT
    Q03 = Q.at<double>(0,3);
    Q13 = Q.at<double>(1,3);
    Q23 = Q.at<double>(2,3);
    Q32 = Q.at<double>(3,2);
    Q33 = Q.at<double>(3,3);
#endif  
cout<<"Before"<<endl;

cv::Mat img_rgb = Mat(imgDisparity8U.size(),CV_32FC3);

CvMat* img_rgb1 = cvLoadImageM("frame1_0.jpg",1);

cout<<object_filename<<endl;
img_rgb = img_rgb1;
for(int i=0;i<img_rgb.rows ;i++)
    {

    uchar* rgb_ptr = img_rgb.ptr<uchar>(i);





    uchar* disp_ptr = imgDisparity8U.ptr<uchar>(i);
    double* recons_ptr = recons3D.ptr<double>(i);

    for(int j = 0; j < img_rgb.cols; j++)
    {
        uchar d = disp_ptr[j];
        if ( d == 0 ) continue; 
        double pw = -1.0 * static_cast<double>(d) * Q32 + Q33; 
        px = static_cast<double>(j) + Q03;
        py = static_cast<double>(i) + Q13;
        pz = Q23;

        px = px/pw;
        py = py/pw;
        pz = pz/pw;
        px = recons_ptr[3*j];
        py = recons_ptr[3*j+1];
        pz = recons_ptr[3*j+2];

        pb = rgb_ptr[3*j];
        pg = rgb_ptr[3*j+1];
        pr = rgb_ptr[3*j+2];

        pcl::PointXYZRGB point;
        point.x = px;
        point.y = py;
        point.z = pz;



        rgb1 = (static_cast<uint32_t>(pr) << 16 || static_cast<uint32_t>(pg) << 8 || static_cast<uint32_t>(pb));
         point.rgb = *reinterpret_cast<float*>(&rgb1);
        point_cloud_ptr->points.push_back(point);

    }

}


point_cloud_ptr->width = (int)point_cloud_ptr->points.size();
point_cloud_ptr->height = 1;
cout<<"outside loop"<<endl;
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer;
cout<<"outside loop11"<<endl;

viewer = createVisualizer(point_cloud_ptr); //Error Here

while(!viewer->wasStopped())
{
    viewer->spinOnce(100);
    boost::this_thread::sleep (boost::posix_time::microseconds (100000));
}

return 0;
4

0 回答 0