双目SLAM(2) opencv

一步步实现ORB-SLAM2

http://www.fengbing.net/

1 opencv 测试

http://blog.csdn.net/u010480194/article/details/54288926

测试安装的opencv 版本

my_pc:~/Desktop$ python
Python 2.7.6
[GCC 4.8.4] on linux2
Type "help", "copyright", "credits" or "license" for more information.
>>> import cv2
>>> cv2.__version__
'2.4.9'
>>>

OpenCV测试：
在某个目录下（如OPENCV_TEST）建立一个test.cpp文件：

gedit test.cpp

#include <cv.h>
#include <highgui.h>  

using namespace cv;  

int main(int argc, char* argv[])
{
    Mat image;
    image = imread("1.jpg");
    namedWindow("Display Image", CV_WINDOW_AUTOSIZE);
imshow("Display Image", image);
 waitKey(0);
    return 0;
}

写一个cmake的makefile，也叫CMakeLists.txt：

gedit CMakeLists.txt

project(test)
find_package(OpenCV REQUIRED)
add_executable(test test)
target_link_libraries(test ${OpenCV_LIBS})
cmake_minimum_required(VERSION 2.8)

编译+运行

cmake .
make
./test

得到可执行文件

2 SGBM 双目计算深度

http://blog.csdn.net/liulina603/article/details/53302168

(1)在上一步的基础上,test.cpp代码替换

    #include <highgui.h>
    #include <cv.h>
    #include <cxcore.h>
    #include <iostream>
    using namespace std;
    using namespace cv;
    int main()
    {  

        IplImage * img1 = cvLoadImage("left.png",0);
        IplImage * img2 = cvLoadImage("right.png",0);
        cv::StereoSGBM sgbm;
        int SADWindowSize = 9;
        sgbm.preFilterCap = 63;
        sgbm.SADWindowSize = SADWindowSize > 0 ? SADWindowSize : 3;
        int cn = img1->nChannels;
        int numberOfDisparities=64;
        sgbm.P1 = 8*cn*sgbm.SADWindowSize*sgbm.SADWindowSize;
        sgbm.P2 = 32*cn*sgbm.SADWindowSize*sgbm.SADWindowSize;
        sgbm.minDisparity = 0;
        sgbm.numberOfDisparities = numberOfDisparities;
        sgbm.uniquenessRatio = 10;
        sgbm.speckleWindowSize = 100;
        sgbm.speckleRange = 32;
        sgbm.disp12MaxDiff = 1;
        Mat disp, disp8;
        int64 t = getTickCount();
        sgbm((Mat)img1, (Mat)img2, disp);
        t = getTickCount() - t;
        cout<<"Time elapsed:"<<t*1000/getTickFrequency()<<endl;
        disp.convertTo(disp8, CV_8U, 255/(numberOfDisparities*16.));  

        namedWindow("left", 1);
        cvShowImage("left", img1);
        namedWindow("right", 1);
        cvShowImage("right", img2);
        namedWindow("disparity", 1);
        imshow("disparity", disp8);
        waitKey();
        imwrite("sgbm_disparity.png", disp8);
        cvDestroyAllWindows();
        return 0;
    }

(2)编译+运行

cmake .
make
./test

3 特征点检索

fast特征点

http://www.fengbing.net/2015/07/26/%E4%B8%80%E4%B8%AA%E7%AE%80%E5%8D%95%E7%9A%84%E8%A7%86%E8%A7%89%E9%87%8C%E7%A8%8B%E8%AE%A1%E5%AE%9E%E7%8E%B01/