StereoBM GPU 卡住了一些 numDisparities 或 blockSIze 参数

如何解决StereoBM GPU 卡住了一些 numDisparities 或 blockSIze 参数

我正在尝试执行 cv::cuda::StereoBM 匹配，以使用 OpenCV 从几个立体帧中获取视差图。

然而它只适用于一些特定的参数，而它与其他常见的锥体一样。

我还注意到工作参数随图像分辨率而变化。 例如，在默认分辨率为 640x480 的情况下，少数几个确实有效的参数之一是 (numdisparities = 64,blockSize = 33)。

我不知道为什么其他参数让它失败。

这是我要重现的代码（请注意，我使用了 2 个 CSI 摄像头，所以我需要那个 gstreamer 管道）。

#include <iostream>
#include <opencv2/cudastereo.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>

using namespace std; 
using namespace cv;

std::string gstreamer_pipeline (int capture_width,int capture_height,int display_width,int display_height,int framerate,int flip_method,int device)
{
    return "nvarguscamerasrc sensor-id=" + std::to_string(device) +" ! video/x-raw(memory:NVMM),width=(int)" + std::to_string(capture_width) + ",height=(int)" +
           std::to_string(capture_height) + ",format=(string)NV12,framerate=(fraction)" + std::to_string(framerate) +
           "/1 ! nvvidconv flip-method=" + std::to_string(flip_method) + " ! video/x-raw,width=(int)" + std::to_string(display_width) + ",height=(int)" +
           std::to_string(display_height) + ",format=(string)BGRx ! videoconvert ! video/x-raw,format=(string)BGR ! appsink max-buffers=1 drop=true";
}

int main(int argc,char const *argv[])
{
/*Stereo matching parameters from command line*/
        int numdisparities = atoi(argv[1]);
        int blockSize = atoi(argv[2]);
/*cpu Mat*/
        Mat frameL,frameR;
        Mat rectL,rectR;
        Mat disp;

/*GPU Mat*/
        cuda::GpuMat CUDArectL;
        cuda::GpuMat CUDArectR;
        cuda::GpuMat CUDAdisp;

/*OpenCV windows*/
        String windowNamedisp = "disp";

/*Load calibration parameters*/
        string calib_file = "cpp/stereo_calib_csi";
        FileStorage fs(calib_file,FileStorage::READ);
        Mat K1,K2;
        Mat D1,D2;
        Mat P1,P2;
        Mat R1,R2;
        Mat Q;
        fs["K1"] >> K1;
        fs["K2"] >> K2;
        fs["D1"] >> D1;
        fs["D2"] >> D2;
        fs["P1"] >> P1;
        fs["P2"] >> P2;
        fs["R1"] >> R1;
        fs["R2"] >> R2;
        fs["Q"] >> Q;
        fs.release();

/*Rectification parameters*/
        Mat mapx_L,mapy_L;
        Mat mapx_R,mapy_R;
        Size size(640,480);

        initUndistortRectifyMap(K1,D1,R1,P1,size,CV_32FC1,mapx_L,mapy_L);
        initUndistortRectifyMap(K2,D2,R2,P2,mapx_R,mapy_R);

/*CSI camera settings with gstreamer*/
        int capture_width = 640 ;
        int capture_height = 480 ;
        int display_width = 640 ;
        int display_height = 480 ;
        int framerate = 60 ;
        int flip_method = 0 ;

        string left_pipeline = gstreamer_pipeline(capture_width,capture_height,display_width,display_height,framerate,flip_method,0);
        string right_pipeline = gstreamer_pipeline(capture_width,1);

        cout << "Using left pipeline: \n\t" << left_pipeline << endl;
        VideoCapture left(left_pipeline,cv::CAP_GSTREAMER);

        cout << "Using left pipeline: \n\t" << left_pipeline << endl;
        VideoCapture right(right_pipeline,cv::CAP_GSTREAMER);

        if(left.isOpened() == false)
        {
                cout << "Left cam not working" << endl;
                cin.get();
                return -1;
        }

        if(right.isOpened() == false)
        {
                cout << "Right cam not working" << endl;
                cin.get();
                return -1;
        }

/*CUDA StereoBM setting*/
        Ptr<cuda::StereoBM> BM = cuda::createStereoBM();
        BM->setNumdisparities(numdisparities);
        BM->setBlockSize(blockSize);

/*MAIN LOOP*/
        while(1)
        {

/*ACQUIRE AND RECTIFY FRAMES*/
                bool bSuccessL = left.read(frameL);
                bool bSuccessR = right.read(frameR);
                undistort(frameL,rectL,K1,K1);
                undistort(frameR,rectR,K2,K2);
                remap(frameL,mapy_L,CV_INTER_AREA);
                remap(frameR,mapy_R,CV_INTER_AREA);
                cvtColor(rectL,COLOR_BGR2GRAY);
                cvtColor(rectR,COLOR_BGR2GRAY);
                CUDArectL.upload(rectL);
                CUDArectR.upload(rectR);

/*HERE IS THE ISSUE*/
                cout << "Computing..."<< endl;
                BM->compute(CUDArectL,CUDArectR,CUDAdisp);
                cout << "Computed!" << endl;
                CUDAdisp.download(disp);
                disp.convertTo(disp,CV_8U,numdisparities/16.);
                imshow(windowNamedisp,disp);
                int k = waitKey(1);
                if (k == 113) break;
        }
        return 0;
}

使用 g++ cudatest.cpp -o cudatest $(pkg-config --cflags --libs opencv) 编译并使用 ./cudatest numdisparities blockSize 启动