opencv 例12 3 立体标定、校正、匹配.docVIP

opencv 例12 3 立体标定、校正、匹配 #includestdafx.h #includecv.h#includecxmisc.h#includehighgui.h#includecvaux.h#include vector#include string#include algorithm#include stdio.h#include ctype.h using namespace std； ////Given alist of chessboard images,the number of corners(nx,ny)//on the chessboards,and aflag：useCalibrated for calibrated(0)or//uncalibrated(1：use cvStereoCalibrate(),2：compute fundamental//matrix separately)stereo.Calibrate the cameras and display the//rectified results along with the computed disparity images.//static voidStereoCalib(const char*imageList,int nx,int ny,int useUncalibrated){int displayCorners=0；int showUndistorted=1；bool isVerticalStereo=false；//OpenCV can handle left-right//or up-down camera arrangements const int maxScale=1；const float squareSize=1.f；//Set this to your actual square size FILE*f=fopen(imageList,rt)；int i,j,lr,nframes,n=nx*ny,N=0；vector string imageNames[2]；vector CvPoint3D32f objectPoints；vector CvPoint2D32f points[2]；vector int npoints；vector uchar active[2]；vector CvPoint2D32f temp(n)；CvSize imageSize={0,0}；//ARRAY AND VECTOR STORAGE：double M1[3][3],M2[3][3],D1[5],D2[5]；double R[3][3],T[3],E[3][3],F[3][3]；CvMat _M1=cvMat(3,3,CV_64F,M1)；CvMat _M2=cvMat(3,3,CV_64F,M2)；CvMat _D1=cvMat(1,5,CV_64F,D1)；CvMat _D2=cvMat(1,5,CV_64F,D2)；CvMat _R=cvMat(3,3,CV_64F,R)；CvMat _T=cvMat(3,1,CV_64F,T)；CvMat _E=cvMat(3,3,CV_64F,E)；CvMat _F=cvMat(3,3,CV_64F,F)；if(displayCorners)cvNamedWindow(corners,1)；//READ IN THE LIST OF CHESSBOARDS：if(！f){fprintf(stderr,can not open file%s\n,imageList)；return；}for(i=0；；i++){char buf[1024]；int count=0,result=0；lr=i%2；vector CvPoint2D32fpts=points[lr]；if(！fgets(buf,sizeof(buf)-3,f))break；size_t len=strlen(buf)；while(len 0isspace(buf[len-1]))buf[--len]=[message]；if(buf[0]==#)continue；IplImage*img=cvLoadImage(buf,0)；if(！img)break；imageSize=cvGetSize(img)；imageNames[lr].push_back(buf)；//FIND CHESSBOARDS AND CORNERS THEREIN：for(int s=1；s=maxScale；s++){IplImage*timg=img；if(s 1){timg=cvCreateImage(cvSize(img-width*s,