视觉测量与三维重建（二）

//生成棋盘。#include"cv.h"#include"highgui.h"#define numx 9#define numy 9#define size 200#define filename "chessboard.jpg"void main(){IplImage* image=cvCreateImage(cvSize(numx*size,numy*size),8,1);///生成黑白条for(int i=0;i<image->height;i++){uchar* data=(uchar*)image->imageData+image->widthStep*i;for(int j=0;j<image->width;j++){if((j/size)%2==1)*data=255;else*data=0;data++;}}//生成棋盘格for(int i=0;i<image->height;i++){if((i/size)%2==1){       uchar* data=(uchar*)image->imageData+image->widthStep*i;for(int j=0;j<image->width;j++){*data=255-*data;data++;}}}cvSaveImage(filename,image);}

OpenCV
samples目录下有一些源代码，包括标定，立体标定，立体匹配等等。最近弄了弄，放在这，希望能对新手有所帮助。
之前那篇帖子有人讨论到底用什么硬件，我暂时用的USB摄像头。
我的条件相当艰苦，现在刚开始学，标定用的棋盘格也是自己用纸打印了贴在木板上的，精度低点，但凑合着可以弄弄，相信最开始学这个的童鞋也都是用自己打印的棋盘格。

//单目标定#include "cv.h"#include "highgui.h"#include <stdio.h>#include <string.h>#include <time.h>// example command line (for copy-n-paste):// calibration -w 6 -h 8 -s 2 -n 10 -o camera.yml -op -oe [<list_of_views.txt>]/* The list of views may look as following (discard the starting and ending ------ separators):-------------------view000.pngview001.png#view002.pngview003.pngview010.pngone_extra_view.jpg-------------------that is, the file will contain 6 lines, view002.png will not be used for calibration,other ones will be (those, in which the chessboard pattern will be found)*/enum { DETECTION = 0, CAPTURING = 1, CALIBRATED = 2 };double compute_reprojection_error( const CvMat* object_points,const CvMat* rot_vects, const CvMat* trans_vects,const CvMat* camera_matrix, const CvMat* dist_coeffs,const CvMat* image_points, const CvMat* point_counts,CvMat* per_view_errors ){CvMat* image_points2 = cvCreateMat( image_points->rows,image_points->cols, image_points->type );int i, image_count = rot_vects->rows, points_so_far = 0;double total_err = 0, err;for( i = 0; i < image_count; i++ ){CvMat object_points_i, image_points_i, image_points2_i;int point_count = point_counts->data.i[i];CvMat rot_vect, trans_vect;cvGetCols( object_points, &object_points_i,points_so_far, points_so_far + point_count );cvGetCols( image_points, &image_points_i,points_so_far, points_so_far + point_count );cvGetCols( image_points2, &image_points2_i,points_so_far, points_so_far + point_count );points_so_far += point_count;cvGetRow( rot_vects, &rot_vect, i );cvGetRow( trans_vects, &trans_vect, i );cvProjectPoints2( &object_points_i, &rot_vect, &trans_vect,camera_matrix, dist_coeffs, &image_points2_i,0, 0, 0, 0, 0 );err = cvNorm( &image_points_i, &image_points2_i, CV_L1 );if( per_view_errors )per_view_errors->data.db[i] = err/point_count;total_err += err;}cvReleaseMat( &image_points2 );return total_err/points_so_far;}int run_calibration( CvSeq* image_points_seq, CvSize img_size, CvSize board_size,float square_size, float aspect_ratio, int flags,CvMat* camera_matrix, CvMat* dist_coeffs, CvMat** extr_params,CvMat** reproj_errs, double* avg_reproj_err ){int code;int image_count = image_points_seq->total;int point_count = board_size.width*board_size.height;CvMat* image_points = cvCreateMat( 1, image_count*point_count, CV_32FC2 );CvMat* object_points = cvCreateMat( 1, image_count*point_count, CV_32FC3 );CvMat* point_counts = cvCreateMat( 1, image_count, CV_32SC1 );CvMat rot_vects, trans_vects;int i, j, k;CvSeqReader reader;cvStartReadSeq( image_points_seq, &reader );// initialize arrays of pointsfor( i = 0; i < image_count; i++ ){CvPoint2D32f* src_img_pt = (CvPoint2D32f*)reader.ptr;CvPoint2D32f* dst_img_pt = ((CvPoint2D32f*)image_points->data.fl) + i*point_count;CvPoint3D32f* obj_pt = ((CvPoint3D32f*)object_points->data.fl) + i*point_count;for( j = 0; j < board_size.height; j++ )for( k = 0; k < board_size.width; k++ ){*obj_pt++ = cvPoint3D32f(j*square_size, k*square_size, 0);*dst_img_pt++ = *src_img_pt++;}CV_NEXT_SEQ_ELEM( image_points_seq->elem_size, reader );}cvSet( point_counts, cvScalar(point_count) );*extr_params = cvCreateMat( image_count, 6, CV_32FC1 );cvGetCols( *extr_params, &rot_vects, 0, 3 );cvGetCols( *extr_params, &trans_vects, 3, 6 );cvZero( camera_matrix );cvZero( dist_coeffs );if( flags & CV_CALIB_FIX_ASPECT_RATIO ){camera_matrix->data.db[0] = aspect_ratio;camera_matrix->data.db[4] = 1.;}cvCalibrateCamera2( object_points, image_points, point_counts,img_size, camera_matrix, dist_coeffs,&rot_vects, &trans_vects, flags );code = cvCheckArr( camera_matrix, CV_CHECK_QUIET ) &&cvCheckArr( dist_coeffs, CV_CHECK_QUIET ) &&cvCheckArr( *extr_params, CV_CHECK_QUIET );*reproj_errs = cvCreateMat( 1, image_count, CV_64FC1 );*avg_reproj_err =compute_reprojection_error( object_points, &rot_vects, &trans_vects,camera_matrix, dist_coeffs, image_points, point_counts, *reproj_errs );cvReleaseMat( &object_points );cvReleaseMat( &image_points );cvReleaseMat( &point_counts );return code;}void save_camera_params( const char* out_filename, int image_count, CvSize img_size,CvSize board_size, float square_size,float aspect_ratio, int flags,const CvMat* camera_matrix, CvMat* dist_coeffs,const CvMat* extr_params, const CvSeq* image_points_seq,const CvMat* reproj_errs, double avg_reproj_err ){CvFileStorage* fs = cvOpenFileStorage( out_filename, 0, CV_STORAGE_WRITE );time_t t;time( &t );struct tm *t2 = localtime( &t );char buf[1024];strftime( buf, sizeof(buf)-1, "%c", t2 );cvWriteString( fs, "calibration_time", buf );cvWriteInt( fs, "image_count", image_count );cvWriteInt( fs, "image_width", img_size.width );cvWriteInt( fs, "image_height", img_size.height );cvWriteInt( fs, "board_width", board_size.width );cvWriteInt( fs, "board_height", board_size.height );cvWriteReal( fs, "square_size", square_size );if( flags & CV_CALIB_FIX_ASPECT_RATIO )cvWriteReal( fs, "aspect_ratio", aspect_ratio );if( flags != 0 ){sprintf( buf, "flags: %s%s%s%s",flags & CV_CALIB_USE_INTRINSIC_GUESS ? "+use_intrinsic_guess" : "",flags & CV_CALIB_FIX_ASPECT_RATIO ? "+fix_aspect_ratio" : "",flags & CV_CALIB_FIX_PRINCIPAL_POINT ? "+fix_principal_point" : "",flags & CV_CALIB_ZERO_TANGENT_DIST ? "+zero_tangent_dist" : "" );cvWriteComment( fs, buf, 0 );}cvWriteInt( fs, "flags", flags );cvWrite( fs, "camera_matrix", camera_matrix );cvWrite( fs, "distortion_coefficients", dist_coeffs );cvWriteReal( fs, "avg_reprojection_error", avg_reproj_err );if( reproj_errs )cvWrite( fs, "per_view_reprojection_errors", reproj_errs );if( extr_params ){cvWriteComment( fs, "a set of 6-tuples (rotation vector + translation vector) for each view", 0 );cvWrite( fs, "extrinsic_parameters", extr_params );}if( image_points_seq ){cvWriteComment( fs, "the array of board corners projections used for calibration", 0 );assert( image_points_seq->total == image_count );CvMat* image_points = cvCreateMat( 1, image_count*board_size.width*board_size.height, CV_32FC2 );cvCvtSeqToArray( image_points_seq, image_points->data.fl );cvWrite( fs, "image_points", image_points );cvReleaseMat( &image_points );}cvReleaseFileStorage( &fs );}int main( int argc, char** argv ){CvSize board_size = {0,0};float square_size = 1.f, aspect_ratio = 1.f;const char* out_filename = "out_camera_data.yml";const char* input_filename = 0;int i, image_count = 10;int write_extrinsics = 0, write_points = 0;int flags = 0;CvCapture* capture = 0;FILE* f = 0;char imagename[1024];CvMemStorage* storage;CvSeq* image_points_seq = 0;int elem_size, flip_vertical = 0;int delay = 1000;clock_t prev_timestamp = 0;CvPoint2D32f* image_points_buf = 0;CvFont font = cvFont( 1, 1 );double _camera[9], _dist_coeffs[4];CvMat camera = cvMat( 3, 3, CV_64F, _camera );CvMat dist_coeffs = cvMat( 1, 4, CV_64F, _dist_coeffs );CvMat *extr_params = 0, *reproj_errs = 0;double avg_reproj_err = 0;int mode = DETECTION;int undistort_image = 0;CvSize img_size = {0,0};const char* live_capture_help ="When the live video from camera is used as input, the following hot-keys may be used:\n""  <ESC>, 'q' - quit the program\n""  'g' - start capturing images\n""  'u' - switch undistortion on/off\n";if( argc < 2 ){printf( "This is a camera calibration sample.\n""Usage: calibration\n""     -w <board_width>         # the number of inner corners per one of board dimension\n""     -h <board_height>        # the number of inner corners per another board dimension\n""     [-n <number_of_frames>]  # the number of frames to use for calibration\n""                              # (if not specified, it will be set to the number\n""                              #  of board views actually available)\n""     [-d <delay>]             # a minimum delay in ms between subsequent attempts to capture a next view\n""                              # (used only for video capturing)\n""     [-s <square_size>]       # square size in some user-defined units (1 by default)\n""     [-o <out_camera_params>] # the output filename for intrinsic [and extrinsic] parameters\n""     [-op]                    # write detected feature points\n""     [-oe]                    # write extrinsic parameters\n""     [-zt]                    # assume zero tangential distortion\n""     [-a <aspect_ratio>]      # fix aspect ratio (fx/fy)\n""     [-p]                     # fix the principal point at the center\n""     [-v]                     # flip the captured images around the horizontal axis\n""     [input_data]             # input data, one of the following:\n""                              #  - text file with a list of the images of the board\n""                              #  - name of video file with a video of the board\n""                              # if input_data not specified, a live view from the camera is used\n""\n" );printf( "%s", live_capture_help );return 0;}for( i = 1; i < argc; i++ ){const char* s = argv[i];if( strcmp( s, "-w" ) == 0 ){if( sscanf( argv[++i], "%u", &board_size.width ) != 1 || board_size.width <= 0 )return fprintf( stderr, "Invalid board width\n" ), -1;}else if( strcmp( s, "-h" ) == 0 ){if( sscanf( argv[++i], "%u", &board_size.height ) != 1 || board_size.height <= 0 )return fprintf( stderr, "Invalid board height\n" ), -1;}else if( strcmp( s, "-s" ) == 0 ){if( sscanf( argv[++i], "%f", &square_size ) != 1 || square_size <= 0 )return fprintf( stderr, "Invalid board square width\n" ), -1;}else if( strcmp( s, "-n" ) == 0 ){if( sscanf( argv[++i], "%u", &image_count ) != 1 || image_count <= 3 )return printf("Invalid number of images\n" ), -1;}else if( strcmp( s, "-a" ) == 0 ){if( sscanf( argv[++i], "%f", &aspect_ratio ) != 1 || aspect_ratio <= 0 )return printf("Invalid aspect ratio\n" ), -1;}else if( strcmp( s, "-d" ) == 0 ){if( sscanf( argv[++i], "%u", &delay ) != 1 || delay <= 0 )return printf("Invalid delay\n" ), -1;}else if( strcmp( s, "-op" ) == 0 ){write_points = 1;}else if( strcmp( s, "-oe" ) == 0 ){write_extrinsics = 1;}else if( strcmp( s, "-zt" ) == 0 ){flags |= CV_CALIB_ZERO_TANGENT_DIST;}else if( strcmp( s, "-p" ) == 0 ){flags |= CV_CALIB_FIX_PRINCIPAL_POINT;}else if( strcmp( s, "-v" ) == 0 ){flip_vertical = 1;}else if( strcmp( s, "-o" ) == 0 ){out_filename = argv[++i];}else if( s[0] != '-' )input_filename = s;elsereturn fprintf( stderr, "Unknown option %s", s ), -1;}if( input_filename ){capture = cvCreateFileCapture( input_filename );if( !capture ){f = fopen( input_filename, "rt" );if( !f )return fprintf( stderr, "The input file could not be opened\n" ), -1;image_count = -1;}mode = CAPTURING;}elsecapture = cvCreateCameraCapture(0);if( !capture && !f )return fprintf( stderr, "Could not initialize video capture\n" ), -2;if( capture )printf( "%s", live_capture_help );elem_size = board_size.width*board_size.height*sizeof(image_points_buf[0]);storage = cvCreateMemStorage( MAX( elem_size*4, 1 << 16 ));image_points_buf = (CvPoint2D32f*)cvAlloc( elem_size );image_points_seq = cvCreateSeq( 0, sizeof(CvSeq), elem_size, storage );cvNamedWindow( "Image View", 1 );for(;;){IplImage *view = 0, *view_gray = 0;int count = 0, found, blink = 0;CvPoint text_origin;CvSize text_size = {0,0};int base_line = 0;char s[100];int key;if( f && fgets( imagename, sizeof(imagename)-2, f )){int l = strlen(imagename);if( l > 0 && imagename[l-1] == '\n' )imagename[--l] = '\0';if( l > 0 ){if( imagename[0] == '#' )continue;view = cvLoadImage( imagename, 1 );}}else if( capture ){IplImage* view0 = cvQueryFrame( capture );if( view0 ){view = cvCreateImage( cvGetSize(view0), IPL_DEPTH_8U, view0->nChannels );if( view0->origin == IPL_ORIGIN_BL )cvFlip( view0, view, 0 );elsecvCopy( view0, view );}}if( !view ){if( image_points_seq->total > 0 ){image_count = image_points_seq->total;goto calibrate;}break;}if( flip_vertical )cvFlip( view, view, 0 );img_size = cvGetSize(view);found = cvFindChessboardCorners( view, board_size,image_points_buf, &count, CV_CALIB_CB_ADAPTIVE_THRESH );#if 1// improve the found corners' coordinate accuracyview_gray = cvCreateImage( cvGetSize(view), 8, 1 );cvCvtColor( view, view_gray, CV_BGR2GRAY );cvFindCornerSubPix( view_gray, image_points_buf, count, cvSize(11,11),cvSize(-1,-1), cvTermCriteria( CV_TERMCRIT_EPS+CV_TERMCRIT_ITER, 30, 0.1 ));cvReleaseImage( &view_gray );#endifif( mode == CAPTURING && found && (f || clock() - prev_timestamp > delay*1e-3*CLOCKS_PER_SEC) ){cvSeqPush( image_points_seq, image_points_buf );prev_timestamp = clock();blink = !f;#if 1if( capture ){sprintf( imagename, "view%03d.png", image_points_seq->total - 1 );cvSaveImage( imagename, view );}#endif}cvDrawChessboardCorners( view, board_size, image_points_buf, count, found );cvGetTextSize( "100/100", &font, &text_size, &base_line );text_origin.x = view->width - text_size.width - 10;text_origin.y = view->height - base_line - 10;if( mode == CAPTURING ){if( image_count > 0 )sprintf( s, "%d/%d", image_points_seq ? image_points_seq->total : 0, image_count );elsesprintf( s, "%d/?", image_points_seq ? image_points_seq->total : 0 );}else if( mode == CALIBRATED )sprintf( s, "Calibrated" );elsesprintf( s, "Press 'g' to start" );cvPutText( view, s, text_origin, &font, mode != CALIBRATED ?CV_RGB(255,0,0) : CV_RGB(0,255,0));if( blink )cvNot( view, view );if( mode == CALIBRATED && undistort_image ){IplImage* t = cvCloneImage( view );cvUndistort2( t, view, &camera, &dist_coeffs );cvReleaseImage( &t );}cvShowImage( "Image View", view );key = cvWaitKey(capture ? 50 : 500);if( key == 27 )break;if( key == 'u' && mode == CALIBRATED )undistort_image = !undistort_image;if( capture && key == 'g' ){mode = CAPTURING;cvClearMemStorage( storage );image_points_seq = cvCreateSeq( 0, sizeof(CvSeq), elem_size, storage );}if( mode == CAPTURING && (unsigned)image_points_seq->total >= (unsigned)image_count ){calibrate:cvReleaseMat( &extr_params );cvReleaseMat( &reproj_errs );int code = run_calibration( image_points_seq, img_size, board_size,square_size, aspect_ratio, flags, &camera, &dist_coeffs, &extr_params,&reproj_errs, &avg_reproj_err );// save camera parameters in any case, to catch Inf's/NaN'ssave_camera_params( out_filename, image_count, img_size,board_size, square_size, aspect_ratio, flags,&camera, &dist_coeffs, write_extrinsics ? extr_params : 0,write_points ? image_points_seq : 0, reproj_errs, avg_reproj_err );if( code )mode = CALIBRATED;elsemode = DETECTION;}if( !view )break;cvReleaseImage( &view );}if( capture )cvReleaseCapture( &capture );if( storage )cvReleaseMemStorage( &storage );return 0;}

如果使用上面一段代码生成的棋盘格，这里可以用这样的调用方式  calibration -w 8 -h 8 -s 2 -n 10 -o camera.yml -op -oe -p
调试时在Property->Configuration Properties->Debugging->Command Arguments 添加-w 8 -h 8 -s 2 -n 10 -o camera.yml -op -oe -p

//第三段代码是立体标定的，我稍微改了一下，让它直接从两个摄像头中读取图像来处理   //!  邮箱：[e-mail]           #include "cv.h"    #include "highgui.h"    #include<iostream>    using namespace std;    /* This is sample from the OpenCV book. The copyright notice is below */    /* *************** License:**************************    Oct. 3, 2008    Right to use this code in any way you want without warrenty, support or any guarentee of it working.    BOOK: It would be nice if you cited it:    Learning OpenCV: Computer Vision with the OpenCV Library    by Gary Bradski and Adrian Kaehler    Published by O'Reilly Media, October 3, 2008    AVAILABLE AT:    http://www.amazon.com/Learning-OpenCV-Computer-Vision-Library/dp/0596516134    Or: http://oreilly.com/catalog/9780596516130/    ISBN-10: 0596516134 or: ISBN-13: 978-0596516130       OTHER OPENCV SITES:    * The source code is on sourceforge at:    http://sourceforge.net/projects/opencvlibrary/    * The OpenCV wiki page (As of Oct 1, 2008 this is down for changing over servers, but should come back):    http://opencvlibrary.sourceforge.net/    * An active user group is at:    http://tech.groups.yahoo.com/group/OpenCV/    * The minutes of weekly OpenCV development meetings are at:    http://pr.willowgarage.com/wiki/OpenCV    ************************************************** */    #undef _GLIBCXX_DEBUG    #include "cv.h"    #include "cxmisc.h"    #include "highgui.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 useUncalibrated)    {            CvRect roi1, roi2;            int nx = 0, ny = 0;            int displayCorners = 1;            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 = 0, n, N = 0;            vector<string> imageNames[2];            vector<CvPoint3D32f> objectPoints;            vector<CvPoint2D32f> points[2];            vector<CvPoint2D32f> temp_points[2];            vector<int> npoints;            //    vector<uchar> active[2];            int is_found[2] = {0, 0};            vector<CvPoint2D32f> temp;            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];            double Q[4][4];            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 matR = cvMat(3, 3, CV_64F, R );            CvMat matT = cvMat(3, 1, CV_64F, T );            CvMat matE = cvMat(3, 3, CV_64F, E );            CvMat matF = cvMat(3, 3, CV_64F, F );            CvMat matQ = cvMat(4, 4, CV_64FC1, Q);            char buf[1024];            if( displayCorners )                    cvNamedWindow( "corners", 1 );            // READ IN THE LIST OF CHESSBOARDS:            if( !f )            {                    fprintf(stderr, "can not open file %s\n", imageList );                    return;            }            if( !fgets(buf, sizeof(buf)-3, f) || sscanf(buf, "%d%d", &nx, &ny) != 2 )                    return;            n = nx*ny;            temp.resize(n);            temp_points[0].resize(n);            temp_points[1].resize(n);            for(i=0;;i++)            {                    int count = 0, result=0;                    lr = i % 2;                    vector<CvPoint2D32f>& pts = temp_points[lr];//points[lr];                    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 );                    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,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 )                                    for( j = 0; j < count; j++ )                                    {                                            temp[j].x /= s;                                            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 );                            IplImage* cimg1 = cvCreateImage(cvSize(640, 480), IPL_DEPTH_8U, 3);                            cvResize(cimg, cimg1);                            cvShowImage( "corners", cimg1 );                            cvReleaseImage( &cimg );                            cvReleaseImage( &cimg1 );                            int c = cvWaitKey(1000);                            if( c == 27 || c == 'q' || c == 'Q' ) //Allow ESC to quit                                    exit(-1);                    }                    else                            putchar('.');                    //N = pts.size();                    //pts.resize(N + n, cvPoint2D32f(0,0));                    //active[lr].push_back((uchar)result);                    is_found[lr] = result > 0 ? 1 : 0;                    //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() );                    }                    cvReleaseImage( &img );                    if(lr)                    {                            if(is_found[0] == 1 && is_found[1] == 1)                            {                                    assert(temp_points[0].size() == temp_points[1].size());                                    int current_size = points[0].size();                                    points[0].resize(current_size + temp_points[0].size(), cvPoint2D32f(0.0, 0.0));                                    points[1].resize(current_size + temp_points[1].size(), cvPoint2D32f(0.0, 0.0));                                    copy(temp_points[0].begin(), temp_points[0].end(), points[0].begin() + current_size);                                    copy(temp_points[1].begin(), temp_points[1].end(), points[1].begin() + current_size);                                    nframes++;                                    printf("Pair successfully detected...\n");                            }                            is_found[0] = 0;                            is_found[1] = 0;                    }            }            fclose(f);            printf("\n");            // HARVEST CHESSBOARD 3D OBJECT POINT LIST:            objectPoints.resize(nframes*n);            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] );            CvMat _npoints = cvMat(1, npoints.size(), CV_32S, &npoints[0] );            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, &matR, &matT, &matE, &matF,                    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 +                    CV_CALIB_FIX_K3);            printf(" done\n");            // CALIBRATION QUALITY CHECK            // because the output fundamental matrix implicitly            // includes all the output information,            // we can check the quality of calibration using the            // epipolar geometry constraint: m2^t*F*m1=0            vector<CvPoint3D32f> lines[2];            points[0].resize(N);            points[1].resize(N);            _imagePoints1 = cvMat(1, N, CV_32FC2, &points[0][0] );            _imagePoints2 = cvMat(1, N, CV_32FC2, &points[1][0] );            lines[0].resize(N);            lines[1].resize(N);            CvMat _L1 = cvMat(1, N, CV_32FC3, &lines[0][0]);            CvMat _L2 = cvMat(1, N, CV_32FC3, &lines[1][0]);            //Always work in undistorted space            cvUndistortPoints( &_imagePoints1, &_imagePoints1,                    &_M1, &_D1, 0, &_M1 );            cvUndistortPoints( &_imagePoints2, &_imagePoints2,                    &_M2, &_D2, 0, &_M2 );            cvComputeCorrespondEpilines( &_imagePoints1, 1, &matF, &_L1 );            cvComputeCorrespondEpilines( &_imagePoints2, 2, &matF, &_L2 );            double avgErr = 0;            for( i = 0; i < N; i++ )            {                    double err = fabs(points[0][i].x*lines[1][i].x +                            points[0][i].y*lines[1][i].y + lines[1][i].z)                            + fabs(points[1][i].x*lines[0][i].x +                            points[1][i].y*lines[0][i].y + lines[0][i].z);                    avgErr += err;            }            printf( "avg err = %g\n", avgErr/(nframes*n) );            // save intrinsic parameters            CvFileStorage* fstorage = cvOpenFileStorage("intrinsics.yml", NULL, CV_STORAGE_WRITE);            cvWrite(fstorage, "M1", &_M1);            cvWrite(fstorage, "D1", &_D1);            cvWrite(fstorage, "M2", &_M2);            cvWrite(fstorage, "D2", &_D2);            cvReleaseFileStorage(&fstorage);            //COMPUTE AND DISPLAY RECTIFICATION            if( showUndistorted )            {                    CvMat* mx1 = cvCreateMat( imageSize.height,                            imageSize.width, CV_32F );                    CvMat* my1 = cvCreateMat( imageSize.height,                            imageSize.width, CV_32F );                    CvMat* mx2 = cvCreateMat( imageSize.height,                            imageSize.width, CV_32F );                    CvMat* my2 = cvCreateMat( imageSize.height,                            imageSize.width, CV_32F );                    CvMat* img1r = cvCreateMat( imageSize.height,                            imageSize.width, CV_8U );                    CvMat* img2r = cvCreateMat( imageSize.height,                            imageSize.width, CV_8U );                    CvMat* disp = cvCreateMat( imageSize.height,                            imageSize.width, CV_16S );                    double R1[3][3], R2[3][3], P1[3][4], P2[3][4];                    CvMat _R1 = cvMat(3, 3, CV_64F, R1);                    CvMat _R2 = cvMat(3, 3, CV_64F, R2);                    // IF BY CALIBRATED (BOUGUET'S METHOD)                    if( useUncalibrated == 0 )                    {                            CvMat _P1 = cvMat(3, 4, CV_64F, P1);                            CvMat _P2 = cvMat(3, 4, CV_64F, P2);                            cvStereoRectify( &_M1, &_M2, &_D1, &_D2, imageSize,                                    &matR, &matT,                                    &_R1, &_R2, &_P1, &_P2, &matQ,                                    CV_CALIB_ZERO_DISPARITY,                                    1, imageSize, &roi1, &roi2);                            CvFileStorage* file = cvOpenFileStorage("extrinsics.yml", NULL, CV_STORAGE_WRITE);                            cvWrite(file, "R", &matR);                            cvWrite(file, "T", &matT);                               cvWrite(file, "R1", &_R1);                            cvWrite(file, "R2", &_R2);                            cvWrite(file, "P1", &_P1);                               cvWrite(file, "P2", &_P2);                               cvWrite(file, "Q", &matQ);                            cvReleaseFileStorage(&file);                            isVerticalStereo = fabs(P2[1][3]) > fabs(P2[0][3]);                            if(!isVerticalStereo)                                    roi2.x += imageSize.width;                            else                                    roi2.y += imageSize.height;                            //Precompute maps for cvRemap()                            cvInitUndistortRectifyMap(&_M1,&_D1,&_R1,&_P1,mx1,my1);                            cvInitUndistortRectifyMap(&_M2,&_D2,&_R2,&_P2,mx2,my2);                    }                    //OR ELSE HARTLEY'S METHOD                    else if( useUncalibrated == 1 || useUncalibrated == 2 )                            // use intrinsic parameters of each camera, but                            // compute the rectification transformation directly                            // from the fundamental matrix                    {                            double H1[3][3], H2[3][3], iM[3][3];                            CvMat _H1 = cvMat(3, 3, CV_64F, H1);                            CvMat _H2 = cvMat(3, 3, CV_64F, H2);                            CvMat _iM = cvMat(3, 3, CV_64F, iM);                            //Just to show you could have independently used F                            if( useUncalibrated == 2 )                                    cvFindFundamentalMat( &_imagePoints1,                                    &_imagePoints2, &matF);                            cvStereoRectifyUncalibrated( &_imagePoints1,                                    &_imagePoints2, &matF,                                    imageSize,                                    &_H1, &_H2, 3);                            cvInvert(&_M1, &_iM);                            cvMatMul(&_H1, &_M1, &_R1);                            cvMatMul(&_iM, &_R1, &_R1);                            cvInvert(&_M2, &_iM);                            cvMatMul(&_H2, &_M2, &_R2);                            cvMatMul(&_iM, &_R2, &_R2);                            //Precompute map for cvRemap()                            cvInitUndistortRectifyMap(&_M1,&_D1,&_R1,&_M1,mx1,my1);                            cvInitUndistortRectifyMap(&_M2,&_D1,&_R2,&_M2,mx2,my2);                    }                    else                            assert(0);                    cvReleaseMat( &mx1 );                    cvReleaseMat( &my1 );                    cvReleaseMat( &mx2 );                    cvReleaseMat( &my2 );                    cvReleaseMat( &img1r );                    cvReleaseMat( &img2r );                    cvReleaseMat( &disp );            }    }    void error(int level,char * msg)    {            switch(level)            {                    case 1:                            ///严重错误                            cout<<msg<<endl;                            cout<<"这是一个严重错误，程序将终止运行\n"                                    <<"按任意键退出"                                    <<endl;                            cin.get();                            break;                    case 2:                            //警告                            cout<<"警告："<<msg<<endl;                            break;                    case 3:                            ///信息                            cout<<msg<<endl;                            break;                    default:                            cout<<msg<<endl;                            cout<<"这是一个级别未知的警告信息"<<endl;                            break;            }    }    void main()    {            cout<<"这是摄像机双目标定程序"<<endl;            IplImage * leftimg,* rightimg,*image;            CvCapture *leftcap=NULL;            CvCapture *rightcap=NULL;            leftcap=cvCreateCameraCapture(1);            rightcap=cvCreateCameraCapture(0);            image=cvQueryFrame(leftcap);\                    ///左右两个照片空间的申请            leftimg=cvCloneImage(image);            rightimg=cvCloneImage(image);            if(leftcap==NULL||rightcap==NULL)            {                    error(1,"有一个摄像头无法打开");                    return;            }            cvNamedWindow("left",1);            cvNamedWindow("right",1);            int index=0;///当前是第几张            int total=10;///总的照片的数量            char* basename1="jpgleft";            char* basename2="jpgright";            char  filename[100];            FILE* file=fopen("filename.txt","wt");            char* buf="8 8\n";            fwrite(buf,1,strlen(buf),file);                       while(1)            {                    image=cvQueryFrame(leftcap);                    cvCopy(image,leftimg);                    image=cvQueryFrame(rightcap);                    cvCopy(image,rightimg);                    cvShowImage("left",leftimg);                    cvShowImage("right",rightimg);                    char ch=cvWaitKey(27);                    if(ch=='e')                    {                            //正常退出                            break;                    }                    else if(ch==' ')                    {                            //拍取照片,并处理之                            cout<<"正在采集第"<<index+1<<"对图片,一共需要采集"<<total<<"对图片。"<<endl;                            char *temp="\n";                            sprintf_s(filename,100,"%s%d.jpg",basename1,index);                                                                                  cvSaveImage(filename,leftimg);                            fwrite(filename,1,strlen(filename),file);                            fwrite(temp,1,strlen(temp),file);                            sprintf_s(filename,100,"%s%d.jpg",basename2,index);                                                       cvSaveImage(filename,rightimg);                            fwrite(filename,1,strlen(filename),file);                            fwrite(temp,1,strlen(temp),file);                            index++;                    }                    if(index==total)                            break;            }            fclose(file);            cout<<"开始双目标定"<<endl;            StereoCalib("filename.txt",0);            cout<<"标定已经完成，内参数保存在intrinsic.yml文件中，外参数保存在extrinsic.yml文件中!\n按任意键结束程序。"<<endl;            return;    }

立体匹配。

/**  stereo_match.cpp*  calibration**  Created by Victor  Eruhimov on 1/18/10.*  Copyright 2010 Argus Corp. All rights reserved.**/#include <cv.h>#include <highgui.h>#include <stdio.h>using namespace cv;void saveXYZ(const char* filename, const Mat& mat){const double max_z = 1.0e4;FILE* fp = fopen(filename, "wt");fprintf(fp, "\"X\"        \"Y\"        \"Z\"\n");for(int y = 0; y < mat.rows; y++){for(int x = 0; x < mat.cols; x++){Vec3f point = mat.at<Vec3f>(y, x);if(fabs(point[2] - max_z) < FLT_EPSILON || fabs(point[2]) > max_z) continue;fprintf(fp, "%f\t%f\t%f\n", point[0]*1000, point[1]*1000, point[2]*1000);}}fclose(fp);}void print_help(){printf("Usage: stereo_match <left_image> <right_image> [--algorithm=bm|sgbm|hh] [--blocksize=<block_size>]\n""[--max-disparity=<max_disparity>] [-i <intrinsic_filename>] [-e <extrinsic_filename>]\n""[--no-display] [-o <disparity_image>] [-p <point_cloud_file>]\n");}int main(int argc, char** argv){const char* algorithm_opt = "--algorithm=";const char* maxdisp_opt = "--max-disparity=";const char* blocksize_opt = "--blocksize=";const char* nodisplay_opt = "--no-display=";//print_help();if(argc < 3){print_help();return 0;}const char* img1_filename = 0;const char* img2_filename = 0;const char* intrinsic_filename = 0;const char* extrinsic_filename = 0;const char* disparity_filename = 0;const char* point_cloud_filename = 0;enum { STEREO_BM=0, STEREO_SGBM=1, STEREO_HH=2 };int alg = STEREO_SGBM;int SADWindowSize = 0, numberOfDisparities = 0;bool no_display = false;StereoBM bm;StereoSGBM sgbm;for( int i = 1; i < argc; i++ ){if( argv[i][0] != '-' ){if( !img1_filename )img1_filename = argv[i];elseimg2_filename = argv[i];}else if( strncmp(argv[i], algorithm_opt, strlen(algorithm_opt)) == 0 ){char* _alg = argv[i] + strlen(algorithm_opt);alg = strcmp(_alg, "bm") == 0 ? STEREO_BM :strcmp(_alg, "sgbm") == 0 ? STEREO_SGBM :strcmp(_alg, "hh") == 0 ? STEREO_HH : -1;if( alg < 0 ){printf("Command-line parameter error: Unknown stereo algorithm\n\n");print_help();return -1;}}else if( strncmp(argv[i], maxdisp_opt, strlen(maxdisp_opt)) == 0 ){if( sscanf( argv[i] + strlen(maxdisp_opt), "%d", &numberOfDisparities ) != 1 ||numberOfDisparities < 1 || numberOfDisparities % 16 != 0 ){printf("Command-line parameter error: The max disparity (--maxdisparity=<...>) must be a positive integer divisible by 16\n");print_help();return -1;}}else if( strncmp(argv[i], blocksize_opt, strlen(blocksize_opt)) == 0 ){if( sscanf( argv[i] + strlen(blocksize_opt), "%d", &SADWindowSize ) != 1 ||SADWindowSize < 1 || SADWindowSize % 2 != 1 ){printf("Command-line parameter error: The block size (--blocksize=<...>) must be a positive odd number\n");return -1;}}else if( strcmp(argv[i], nodisplay_opt) == 0 )no_display = true;else if( strcmp(argv[i], "-i" ) == 0 )intrinsic_filename = argv[++i];else if( strcmp(argv[i], "-e" ) == 0 )extrinsic_filename = argv[++i];else if( strcmp(argv[i], "-o" ) == 0 )disparity_filename = argv[++i];else if( strcmp(argv[i], "-p" ) == 0 )point_cloud_filename = argv[++i];else{printf("Command-line parameter error: unknown option %s\n", argv[i]);return -1;}}if( !img1_filename || !img2_filename ){printf("Command-line parameter error: both left and right images must be specified\n");return -1;}if( (intrinsic_filename != 0) ^ (extrinsic_filename != 0) ){printf("Command-line parameter error: either both intrinsic and extrinsic parameters must be specified, or none of them (when the stereo pair is already rectified)\n");return -1;}if( extrinsic_filename == 0 && point_cloud_filename ){printf("Command-line parameter error: extrinsic and intrinsic parameters must be specified to compute the point cloud\n");return -1;}int color_mode = alg == STEREO_BM ? 0 : -1;Mat img1 = imread(img1_filename, color_mode);Mat img2 = imread(img2_filename, color_mode);Size img_size = img1.size();Rect roi1, roi2;Mat Q;//        +                intrinsic_filename,        0x001f4e9e "intrinsics.yml"        const char *if( intrinsic_filename ){// reading intrinsic parametersFileStorage fs(intrinsic_filename,CV_STORAGE_READ);if(!fs.isOpened()){printf("Failed to open file %s\n", intrinsic_filename);return -1;}Mat M1, D1, M2, D2;fs["M1"] >> M1;fs["D1"] >> D1;fs["M2"] >> M2;fs["D2"] >> D2;fs.open(extrinsic_filename, CV_STORAGE_READ);if(!fs.isOpened()){printf("Failed to open file %s\n", extrinsic_filename);return -1;}Mat R, T, R1, P1, R2, P2;fs["R"] >> R;fs["T"] >> T;stereoRectify( M1, D1, M2, D2, img_size, R, T, R1, R2, P1, P2, Q,1024, -1.0, img_size, &roi1, &roi2 );Mat map11, map12, map21, map22;initUndistortRectifyMap(M1, D1, R1, P1, img_size, CV_16SC2, map11, map12);initUndistortRectifyMap(M2, D2, R2, P2, img_size, CV_16SC2, map21, map22);Mat img1r, img2r;remap(img1, img1r, map11, map12, INTER_LINEAR);remap(img2, img2r, map21, map22, INTER_LINEAR);img1 = img1r;img2 = img2r;}numberOfDisparities = numberOfDisparities > 0 ? numberOfDisparities : img_size.width/8;bm.state->roi1 = roi1;bm.state->roi2 = roi2;bm.state->preFilterCap = 31;bm.state->SADWindowSize = SADWindowSize > 0 ? SADWindowSize : 9;bm.state->minDisparity = 0;bm.state->numberOfDisparities = numberOfDisparities;bm.state->textureThreshold = 10;bm.state->uniquenessRatio = 15;bm.state->speckleWindowSize = 100;bm.state->speckleRange = 32;bm.state->disp12MaxDiff = 1;sgbm.preFilterCap = 63;sgbm.SADWindowSize = SADWindowSize > 0 ? SADWindowSize : 3;int cn = img1.channels();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 = bm.state->speckleWindowSize;sgbm.speckleRange = bm.state->speckleRange;sgbm.disp12MaxDiff = 1;sgbm.fullDP = alg == STEREO_HH;Mat disp, disp8;//Mat img1p, img2p, dispp;//copyMakeBorder(img1, img1p, 0, 0, numberOfDisparities, 0, IPL_BORDER_REPLICATE);//copyMakeBorder(img2, img2p, 0, 0, numberOfDisparities, 0, IPL_BORDER_REPLICATE);;int64 t = getTickCount();if( alg == STEREO_BM)bm(img1, img2, disp);elsesgbm(img1, img2, disp);t = getTickCount() - t;printf("Time elapsed: %fms\n", t*1000/getTickFrequency());//disp = dispp.colRange(numberOfDisparities, img1p.cols);disp.convertTo(disp8, CV_8U, 255/(numberOfDisparities*16.));if( !no_display ){namedWindow("left", 1);imshow("left", img1);namedWindow("right", 1);imshow("right", img2);namedWindow("disparity", 0);imshow("disparity", disp8);printf("press any key to continue...");fflush(stdout);waitKey();printf("\n");}if(disparity_filename)imwrite(disparity_filename, disp8);if(point_cloud_filename){printf("storing the point cloud...");fflush(stdout);Mat xyz;reprojectImageTo3D(disp, xyz, Q, true);saveXYZ(point_cloud_filename, xyz);printf("\n");}return 0;}////注意此处要连接 ---d.lib，不然filestorage打不开文件。不知道哪儿的问题

如果要输出视差图和点云，需要在调试时设置Property->Configuration Properties->Debugging->Command Arguments
我是这样设置的jpgleft0.jpg jpgright0.jpg --algorithm=bm --blocksize=7 --max-disparity=96 -i intrinsics.yml -e extrinsics.yml  -o depth.jpg -p point.xyz

立体标定和立体匹配事实上是学习opencv这本书上的一段代码。在例子中被强行拆为了两个部分。

这一段时间除了折腾这些代码，还好好的学习了一下立体视觉的相关理论知识，如果有时间，再整理一篇发出来。个人感觉要用立体视觉来做测量，就软件而言最影响精度的部分，其实是匹配。
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