OpenGL OpenCV根据视差图重建三维信息

 

 

代码如下：

 

// disparity_to_3d_reconstruction.cpp : 定义控制台应用程序的入口点。
//

#include "stdafx.h"



//Huang,Haiqiao coded on Dec.2009代码出处：
//http://www.opencv.org.cn/forum.php?mod=viewthread&tid=8722&extra=&page=1
#include "stdafx.h"
#include 
#include 
//#include 
//#include 
//#include 
#include "opencv2/calib3d/calib3d.hpp"  
#include "opencv2/imgproc/imgproc.hpp"  
#include "opencv2/highgui/highgui.hpp"  
#include "opencv2/contrib/contrib.hpp" 

#pragma comment(lib,"opencv_highgui2410d.lib")  
#pragma comment(lib,"opencv_core2410d.lib")  
#pragma comment(lib,"opencv_imgproc2410d.lib")  
 


#include 
#include   
#include 
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>image_name;
	IplImage* imgGrey = cvLoadImage(image_name.c_str(),0); //read image as a grey one
	if (imgGrey==NULL)
	{
		cout << "No valid image input."<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;
}

 

 

 

 

效果：

 

 

 

 

 

 

 

添加鼠标移动事件，代码如下：

 

// disparity_to_3d_reconstruction.cpp : 定义控制台应用程序的入口点。
//

#include "stdafx.h"



//Huang,Haiqiao coded on Dec.2009代码出处：
//http://www.opencv.org.cn/forum.php?mod=viewthread&tid=8722&extra=&page=1
#include "stdafx.h"
#include 
#include 
//#include 
//#include 
//#include 
#include "opencv2/calib3d/calib3d.hpp"  
#include "opencv2/imgproc/imgproc.hpp"  
#include "opencv2/highgui/highgui.hpp"  
#include "opencv2/contrib/contrib.hpp" 

#pragma comment(lib,"opencv_highgui2410d.lib")  
#pragma comment(lib,"opencv_core2410d.lib")  
#pragma comment(lib,"opencv_imgproc2410d.lib")  



#include 
#include   
#include 
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

#define pi 3.1415926
bool mouseisdown=false;
bool loopr=false;
int mx,my;
int ry=10;
int rx=10;


void timer(int p)
{
	ry-=5;
	//marks the current window as needing to be redisplayed.
	glutPostRedisplay();
	if (loopr)
		glutTimerFunc(200,timer,0);
}


void mouse(int button, int state, int x, int y)
{
	if(button == GLUT_LEFT_BUTTON)
	{
		if(state == GLUT_DOWN)
		{
			mouseisdown=true;
			loopr=false;
		}
		else
		{
			mouseisdown=false;
		}
	}

	if (button== GLUT_RIGHT_BUTTON)
		if(state == GLUT_DOWN)
		{
			loopr=true;
			glutTimerFunc(200,timer,0);
		}
}

void motion(int x, int y)
{
	if(mouseisdown==true)
	{
		ry+=x-mx;
		rx+=y-my;
		mx=x;
		my=y;
		glutPostRedisplay();
	}
}

void special(int key, int x, int y)
{
	switch(key)
	{
	case GLUT_KEY_LEFT:
		ry-=5;
		glutPostRedisplay();
		break;
	case GLUT_KEY_RIGHT:
		ry+=5;
		glutPostRedisplay();
		break;
	case GLUT_KEY_UP:
		rx+=5;
		glutPostRedisplay();
		break;
	case GLUT_KEY_DOWN:
		rx-=5;
		glutPostRedisplay();
		break;
	}
}


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);
	//gluLookAt (0.0, 0.0, 7.0, 0.0, 0.0, 1.0, 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

	glRotatef(ry,0,1,0);
	glRotatef(rx-180,1,0,0);

	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>image_name;
	IplImage* imgGrey = cvLoadImage(image_name.c_str(),0); //read image as a grey one
	if (imgGrey==NULL)
	{
		cout << "No valid image input."<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);

	glutMouseFunc(mouse);
	glutMotionFunc(motion);
	glutSpecialFunc(special);

	glutMainLoop();

	cvWaitKey(0);
	//release opencv stuff.
	cvReleaseImage(&imgGrey);
	cvDestroyWindow("Original");

	return 0;
}

 

 

效果如下：