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2015-04-20 17:17:57 -0600 commented answer Getting point cloud from disparity

Thank you for the answer :) The result is so bad because of matrix Q?

2015-04-19 17:22:58 -0600 commented answer Getting point cloud from disparity

I'm running my code and view results with MeshLab but I did'nt get the same result as you.

2015-04-19 17:22:11 -0600 received badge  Supporter (source)
2015-04-19 15:59:39 -0600 commented answer Getting point cloud from disparity

Thank you for answer. cm1 and cm2 are (3,3) I think it's problem of copy or smth else. I'll try with MeshLab now. But why I can't see with point cloud viewer?

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2015-04-19 09:51:55 -0600 commented question Getting point cloud from disparity

@berak: I press "h" but didn't find some helpfull option. I also tried multiplying point.y with -1, but it doesn't help too.

2015-04-19 08:30:34 -0600 asked a question Getting point cloud from disparity

I tried different ways of view point cloud but in all cases I get black screen. What I am doing wrong? Am I generating point cloud the right way? Or am I wrong visualizing point cloud?

My source images are: enter image description here enter image description here

The disparity looks like: enter image description here

This is my code:

#include "opencv2/core/core.hpp"
#include "opencv2/calib3d/calib3d.hpp"
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include "opencv2/contrib/contrib.hpp"
#include <cstdio>
#include <iostream>
#include <fstream>
#include "pcl/common/common_headers.h"
#include "pcl/io/io.h"
#include "pcl/visualization//pcl_visualizer.h"
#include <boost/thread/thread.hpp>
#include <pcl/io/pcd_io.h>
#include "pcl/point_cloud.h"
#include "pcl/visualization/cloud_viewer.h"

using namespace cv;
using namespace std;
using namespace pcl;

ofstream out("points.txt");

boost::shared_ptr<pcl::visualization::PCLVisualizer> createVisualizer (pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr cloud)
  boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer (new pcl::visualization::PCLVisualizer ("3D Viewer"));
  viewer->setBackgroundColor (0, 0, 0);
  pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(cloud);
  viewer->addPointCloud<pcl::PointXYZRGB> (cloud, rgb, "reconstruction");
  //viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "reconstruction");
  viewer->addCoordinateSystem ( 1.0 );
  viewer->initCameraParameters ();
  return (viewer);

int main()
    Mat img1, img2;
    img1 = imread("I1.png");
    img2 = imread("I2.png");

    Mat g1,g2, disp, disp8;

    cvtColor(img1, g1, CV_BGR2GRAY);
    cvtColor(img2, g2, CV_BGR2GRAY);

    int sadSize = 3;
    StereoSGBM sbm;
    sbm.SADWindowSize = sadSize;
    sbm.numberOfDisparities = 144;//144; 128
    sbm.preFilterCap = 10; //63
    sbm.minDisparity = 0; //-39; 0
    sbm.uniquenessRatio = 10;
    sbm.speckleWindowSize = 100;
    sbm.speckleRange = 32;
    sbm.disp12MaxDiff = 1;
    sbm.fullDP = true;
    sbm.P1 = sadSize*sadSize*4;
    sbm.P2 = sadSize*sadSize*32;
    sbm(g1, g2, disp);

    normalize(disp, disp8, 0, 255, CV_MINMAX, CV_8U);

    Mat dispSGBMscale; 
    disp.convertTo(dispSGBMscale,CV_32F, 1./16); 

    double cm1[3][3] = {{8.941981e+02, 0.000000e+00, 6.601406e+02}, {0.000000e+00, 8.927151e+02, 2.611004e+02}, {0.000000e+00, 0.000000e+00, 1.000000e+00}};
    double cm2[3][3] = {{8.800704e+02, 0.000000e+00, 6.635881e+02 }, {0.000000e+00, 8.798504e+02, 2.690108e+02}, {0.000000e+00, 0.000000e+00, 1.000000e+00}};
    double d1[1][5] = {{ -3.695739e-01, 1.726456e-01, -1.281525e-03, 1.188796e-03, -4.284730e-02}};
    double d2[1][5] = {{-3.753454e-01, 1.843265e-01, -1.307069e-03, 2.190397e-03, -4.989103e-02}};

    Mat CM1 (3,3, CV_64FC1, cm1);
    Mat CM2 (3,3, CV_64FC1, cm2);
    Mat D1(1,5, CV_64FC1, d1);
    Mat D2(1,5, CV_64FC1, d2);

    double r[3][3] = {{9.998381e-01, 1.610234e-02, 8.033237e-03},{-1.588968e-02, 9.995390e-01, -2.586908e-02 },{-8.446087e-03, 2.573724e-02, 9.996331e-01}};
    double t[3][4] = {{ -5.706425e-01}, {8.447320e-03}, {1.235975e-02}};

    Mat R (3,3, CV_64FC1, r);
    Mat T (3,1, CV_64FC1, t);

    //Mat   R, T;
    Mat R1, R2, T1, T2, Q, P1, P2;

    stereoRectify(CM1, D1, CM2, D2, img1.size(), R, T, R1, R2, P1, P2, Q);

    Mat points, points1;
    reprojectImageTo3D(disp8, points, Q, true);
    imshow("points", points);
    cvtColor(points, points1, CV_BGR2GRAY);
    imshow("points1", points1);

    imwrite("disparity.jpg", disp8);
    imwrite("points1.jpg", points1);
    imwrite("points.jpg", points);

    for(int i=0; i<points.rows; ++i)
        Point3f* point = points ...
2015-03-16 07:54:33 -0600 commented question Error during stereoCalibrate

OOh thanks, you're answer helps me. The problem is that I use opencv files from vc10 in vs2012, I change to vc11 and it works :)

2015-03-16 07:51:13 -0600 commented question Error during stereoCalibrate

Sorry, I don't understand you well. What do you mean?

2015-03-16 07:38:37 -0600 asked a question Error during stereoCalibrate

This is my calibratio code:

     void calibrate()
    int numBoards = 21;
    int board_w = 6;
    int board_h = 9;
    Size board_sz = Size(board_w, board_h);
    int board_n = board_w*board_h;
    vector<vector<Point3f> > object_points;
    vector<vector<Point2f> > imagePoints1, imagePoints2;
    vector<Point2f> corners1, corners2;
    vector<Point3f> obj;
    for (int j=0; j<board_n; j++)
        obj.push_back(Point3f(j/board_w, j%board_w, 0.0f));
    Mat img1, img2, gray1, gray2;
    VideoCapture cap1(0);// = VideoCapture(0);
    VideoCapture cap2(1);// = VideoCapture(1);
    int success = 0, k = 0;
    bool found1 = false, found2 = false;
    namedWindow("left 1");
    namedWindow("right 1");
    while (success < numBoards)
        cap1 >> img1;
        cap2 >> img2;
        //resize(img1, img1, Size(320, 280));
        //resize(img2, img2, Size(320, 280));
        cvtColor(img1, gray1, CV_BGR2GRAY);
        cvtColor(img2, gray2, CV_BGR2GRAY);

        found1 = findChessboardCorners(img1, board_sz, corners1, CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS);
        found2 = findChessboardCorners(img2, board_sz, corners2, CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS);
        if (found1)
            cornerSubPix(gray1, corners1, Size(11, 11), Size(-1, -1), TermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 30, 0.1));
            drawChessboardCorners(gray1, board_sz, corners1, found1);
        if (found2)
            cornerSubPix(gray2, corners2, Size(11, 11), Size(-1, -1), TermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 30, 0.1));
            drawChessboardCorners(gray2, board_sz, corners2, found2);
        imshow("left 1", img1);
        imshow("right 1", img2);
        k = waitKey(2);

        if(found1 && found2) cout<<"succeeded: "<<success<<endl;

        if ( found1  && found2)
            printf ("Corners stored\n");
            cout<<"Obj points size: "<<object_points.size()<<endl;
            cout<<"Image1 points size: "<<imagePoints1.size()<<endl;
            cout<<"Image2 points size: "<<imagePoints2.size()<<endl;
            if (success >= numBoards)
    printf("Starting Calibration\n");
    Mat CM1 = Mat(3, 3, CV_64FC1);
    Mat CM2 = Mat(3, 3, CV_64FC1);
    Mat D1, D2;
    Mat R, T, E, F;
    double calibErr = stereoCalibrate(object_points, imagePoints1, imagePoints2,
    CM1, D1, CM2, D2, img1.size(), R, T, E, F,
    cvTermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS, 100, 1e-5),
    FileStorage fs1("mystereocalib.yml", FileStorage::WRITE);
    fs1 << "CM1" << CM1;
    fs1 << "CM2" << CM2;
    fs1 << "D1" << D1;
    fs1 << "D2" << D2;
    fs1 << "R" << R;
    fs1 << "T" << T;
    fs1 << "E" << E;
    fs1 << "F" << F;
    printf("Done Calibration\n");
    printf("Calibration error: %f\n", calibErr);
    printf("Starting Rectification\n");
    Mat R1, R2, P1, P2, Q;
    stereoRectify(CM1, D1, CM2, D2, img1.size(), R, T, R1, R2, P1, P2, Q);
    fs1 << "R1" << R1;
    fs1 << "R2" << R2;
    fs1 << "P1" << P1;
    fs1 << "P2" << P2;
    fs1 << "Q" << Q;
    printf("Done Rectification\n");
    printf("Applying Undistort\n");
    Mat map1x, map1y, map2x, map2y;
    Mat imgU1, imgU2;
    initUndistortRectifyMap(CM1, D1, R1, P1, img1.size(), CV_32FC1, map1x, map1y);
    initUndistortRectifyMap(CM2, D2, R2, P2, img2.size(), CV_32FC1, map2x, map2y);
    printf("Undistort complete\n");


I get these exception:

OpenCV Error: Assertion failed (ni >= 0) in cv::collectCalibrationData, file ..\ ......\opencv\modules\calib3d\src\calibration.cpp, line 3169

This code works good without no exception on other computer with vs2010. Here I use vs2012. What is wrong?