关于learning opencv这本书的源码

imafoool 2017-11-18 03:30:00
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 );

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。。。
...全文
218 3 打赏 收藏 转发到动态 举报
写回复
用AI写文章
3 条回复
切换为时间正序
请发表友善的回复…
发表回复
赵4老师 2017-11-21
  • 打赏
  • 举报
 回复
崩溃的时候在弹出的对话框按相应按钮进入调试，按Alt+7键查看Call Stack即“调用堆栈”里面从上到下列出的对应从里层到外层的函数调用历史。双击某一行可将光标定位到此次调用的源代码或汇编指令处，看不懂时双击下一行，直到能看懂为止。
paschen 2017-11-19
  • 打赏
  • 举报
 回复
出错了点击那个中断按钮，通过调用堆栈定位到你的相关代码，分析原因
imafoool 2017-11-18
  • 打赏
  • 举报
 回复 
#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;
}
更改下代码。。。
Learning OpenCV3 源码
经典全面的图像处理资源 特别是立体视觉部分。 给予opencv3.2的代码，方便实现复用
Learning opencv 源代码
Learning opencv 源代码，Learning opencv 源代码，Learning opencv 源代码
Learning OpenCV 中文版+实例源码
Learning OpenCV 的中文翻译版 ，于仕琪，刘瑞祯译，并附上每个实例的C++源码，供大家学习
Learning OpenCV.zip
learning OpenCV3（学习OpenCV3）英文原版+源码+学习OpenCV2.pdf 打包下载
learning Opencv源代码
完整的源代码，让你可以快速的调试程序，英文版《Learning Opencv》一书中的
工具平台和程序库

24,854

社区成员

27,343

社区内容

发帖
与我相关
我的任务
社区描述
C/C++ 工具平台和程序库
社区管理员
  • 工具平台和程序库社区
加入社区
  • 近7日
  • 近30日
  • 至今

加载中

查看更多榜单
社区公告
暂无公告

试试用AI创作助手写篇文章吧

+ 用AI写文章