jestshen's profile - activity

This the code to getting points clouds- - if (disparity.empty()) { return 0; }

cv::reprojectImageTo3D(disparity, pointClouds, m_Calib_Mat_Q, true);
pointClouds *= 1.6;


for (int y = 0; y < pointClouds.rows; ++y)
{
    for (int x = 0; x < pointClouds.cols; ++x)
    {
        cv::Point3f point = pointClouds.at<cv::Point3f>(y,x);
        point.y = -point.y;
        pointClouds.at<cv::Point3f>(y,x) = point;
    }
}

Q is right, error rate is only 0.181

You can use Visual studio, I have written a program about face detecting from a video just right now, and it works without error - -.

I have written it in C++, You can have a try, because they are simular.

initModule_nonfree();//if use SIFT or SURF Ptr<featuredetector> detector = FeatureDetector::create("SIFT"); Ptr<descriptorextractor> descriptor_extractor = DescriptorExtractor::create("SIFT"); Ptr<descriptormatcher> descriptor_matcher = DescriptorMatcher::create("BruteForce"); //if( detector.empty() || descriptor_extractor.empty() ) // MessageBox(_T("aaaaa")); //throw runtime_error("fail to create detector!");

Mat img1 = imread("1.jpg");
Mat img2 = imread("2.jpg");
//imshow("Mathc",img1);
//detect keypoints;
vector<KeyPoint> keypoints1,keypoints2;
detector->detect( img1, keypoints1 );
detector->detect( img2, keypoints2 );
//cout <<"img1:"<< keypoints1.size() << " points  img2:" <<keypoints2.size() 
//  << " points" << endl << ">" << endl;

//compute descriptors for keypoints;
//cout << "< Computing descriptors for keypoints from images..." << endl;
Mat descriptors1,descriptors2;
descriptor_extractor->compute( img1, keypoints1, descriptors1 );
descriptor_extractor->compute( img2, keypoints2, descriptors2 );

//cout<<endl<<"Descriptors Size: "<<descriptors2.size()<<" >"<<endl;
//cout<<endl<<"Descriptor's Column: "<<descriptors2.cols<<endl
//  <<"Descriptor's Row: "<<descriptors2.rows<<endl;
//cout << ">" << endl;

//Draw And Match img1,img2 keypoints
Mat img_keypoints1,img_keypoints2;
drawKeypoints(img1,keypoints1,img_keypoints1,Scalar::all(-1),0);
drawKeypoints(img2,keypoints2,img_keypoints2,Scalar::all(-1),0);
imshow("Box_in_scene keyPoints",img_keypoints1);
imshow("Box keyPoints",img_keypoints2);

descriptor_extractor->compute( img1, keypoints1, descriptors1 );  
vector<DMatch> matches;
descriptor_matcher->match( descriptors1, descriptors2, matches );

Mat img_matches;
drawMatches(img1,keypoints1,img2,keypoints2,matches,img_matches,Scalar::all(-1),CV_RGB(255,255,255),Mat(),4);

imshow("Mathc",img_matches);
waitKey(10000);

like that? or you can detecting body information.

Disparity image seems well but Points Clouds is too bad, anyone catch the problem? You can find that coordinate x,y are ok, while z is far from reality.

You can try to add full path of the file of your video file, and more using // istead of /.

I only have it in windows- -.

Perhaps, you should change debug mode to release.

I have built up OpenCV on windows8 VS2012. I guess your problem must be some error on your include file direction.