在学习learning opencv这本书，在调试第12章的源码时，有一个问题怎么也调不通，目测是指针问题，但是一直找不到哪里有问题。
#include "stdafx.h"
#include "cv.h"
#include "cxmisc.h"
#include "highgui.h"
//#include "cvaux.h"
#include <vector>
#include <string>
#include <algorithm>
#include <stdio.h>
#include <ctype.h>
using namespace std;
//
// Given a list of chessboard images, the number of corners (nx, ny)
// on the chessboards, and a flag: 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 void
StereoCalib(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<CvPoint2D32f>& pts = points[lr]; //points0和1分别是左右图像
if( !fgets( buf, sizeof(buf)-3, f ))
break;
size_t len = strlen(buf);
while( len > 0 && isspace(buf[len-1]))
buf[--len] = '\0';
if( buf[0] == '#')
continue;
IplImage* img = cvLoadImage( buf, 0 ); //打开图像到img
if( !img )
break;
imageSize = cvSize((*img).width, (*img).height);
//imageSize = cvGetSize(img);
imageNames[lr].push_back(buf);
//FIND CHESSBOARDS AND CORNERS THEREIN:
for( int s = 1; s <= maxScale; s++ ) //一张图像检测maxscale次
{
IplImage* timg = img;
if( s > 1 ) //检测不到怎么办，扩大图像使之更容易检测
{
timg = cvCreateImage(cvSize(img->width*s,img->height*s),
img->depth, img->nChannels );
cvResize( img, timg, CV_INTER_CUBIC );
}
result = cvFindChessboardCorners( timg, cvSize(nx, ny),
&temp[0], &count,
CV_CALIB_CB_ADAPTIVE_THRESH |
CV_CALIB_CB_NORMALIZE_IMAGE);
if( timg != img )
cvReleaseImage( &timg );
if( result || s == maxScale ) //检测角点完成或者达到最大检测次数
for( j = 0; j < count; j++ )
{
temp[j].x /= s; //temp储存的是精确坐标
temp[j].y /= s;
}
if( result )
break;
}
if( displayCorners )
{
printf("%s\n", buf);
IplImage* cimg = cvCreateImage( imageSize, 8, 3 );
cvCvtColor( img, cimg, CV_GRAY2BGR );
cvDrawChessboardCorners( cimg, cvSize(nx, ny), &temp[0],
count, result );
cvShowImage( "corners", cimg );
cvWaitKey(); //注意不写这个无法显示图像
cvReleaseImage( &cimg );
if( cvWaitKey(0) == 27 ) //Allow ESC to quit
exit(-1);
}
else
putchar('.'); //一个.表示执行完一张图
N = pts.size(); //
pts.resize(N + n, cvPoint2D32f(0,0)); //pts是个容器，将pts调整到能容纳原来的元素和角点个数
active[lr].push_back((uchar)result);
//assert( result != 0 );
if( result )
{
//Calibration will suffer without subpixel interpolation
cvFindCornerSubPix( img, &temp[0], count,
cvSize(11, 11), cvSize(-1,-1),
cvTermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,
30, 0.01) );
copy( temp.begin(), temp.end(), pts.begin() + N );
}
cvReleaseImage( &img );
}
fclose(f);
printf("\n");
// HARVEST CHESSBOARD 3D OBJECT POINT LIST:
nframes = active[0].size();//Number of good left chessboads picture found
objectPoints.resize(nframes*n); //使objectPoints能够包含全部图像的角点个数
for( i = 0; i < ny; i++ )
for( j = 0; j < nx; j++ )
objectPoints[i*nx + j] =
cvPoint3D32f(i*squareSize, j*squareSize, 0);
for( i = 1; i < nframes; i++ )
copy( objectPoints.begin(), objectPoints.begin() + n,
objectPoints.begin() + i*n );
npoints.resize(nframes,n);
N = nframes*n;
CvMat _objectPoints = cvMat(1, N, CV_32FC3, &objectPoints[0] );
CvMat _imagePoints1 = cvMat(1, N, CV_32FC2, &points[0][0] );
CvMat _imagePoints2 = cvMat(1, N, CV_32FC2, &points[1][0] ); //points的第一个索引，0是left，1是right
CvMat _npoints = cvMat(1, npoints.size(), CV_32S, &npoints[0] ); //npoints的第i个元素指的是第i个图片有多少个角点
cvSetIdentity(&_M1);
cvSetIdentity(&_M2);
cvZero(&_D1);
cvZero(&_D2);
// CALIBRATE THE STEREO CAMERAS
printf("Running stereo calibration ...");
fflush(stdout);
cvStereoCalibrate( &_objectPoints, &_imagePoints1,
&_imagePoints2, &_npoints,
&_M1, &_D1, &_M2, &_D2,
imageSize, &_R, &_T, &_E, &_F,
cvTermCriteria(CV_TERMCRIT_ITER+
CV_TERMCRIT_EPS, 100, 1e-5),
CV_CALIB_FIX_ASPECT_RATIO +
CV_CALIB_ZERO_TANGENT_DIST +
CV_CALIB_SAME_FOCAL_LENGTH );
}
int main(void)
{
StereoCalib("ch12_list.txt", 9, 6, 1);
return 0;
}
在调试过程中会出现
初步调试应该是cvStereoCalibrate函数出了问题，c++基础不好，求大神帮忙看看啊。。。
