cvFindStereoCorrespondenceBM函数使用说明

该函数是用来校正图像，并输出视觉映射，结构如下所示

void cvFindStereoCorrespondenceBM(const CvArr *leftImage,

const CvArr *rightImage,

CvArr *disparityResult,

Cv StereoBMState *BMState

)

const CvArr *leftImage代表是输入左边图像，

const CvArr *rightImage当然就是输入右边图像，

注意两幅图像都要求是单通道的，如果不是可以通过单通道灰度图像显示来使用或者利用函数cvCvtColor来转换为单通道灰度图像后再使用，此函数百度有详细说就不多说。

CvArr *disparityResult指输出视觉映射，一般定义是cvmat类型，并且长宽都应该与输入的左右图像一致，为浮点型，譬如CvMat* disparity = cvCreateMat(img_l->height, img_l->width, CV_32FC1);

Cv StereoBMState *BMState，是BM算法，这个设置算法，学习Opencv里面有例子，譬如

typedef struct CvStereoBMState
{
    //pre filters (normalize input images):
    int       preFilterType; // 0 for now
    int       preFilterSize; // ~5x5..21x21
    int       preFilterCap;  // up to ~31
    //correspondence using Sum of Absolute Difference (SAD):
    int       SADWindowSize; // Could be 5x5,7x7...21x21
    int       minDisparity;  // minimum disparity (=0)
    int       numberOfDisparities; // maximum disparity - minimum disparity, numbers of pixels to search
    //post filters (knock out bad matches):
    int       textureThreshold; // areas with no texture are ignored
    float     uniquenessRatio;// filter out pixels if there are other close matches
                              // with different disparity
    int       speckleWindowSize; // the maximum area of speckles to remove
                                 // (set to 0 to disable speckle filtering)
    int       speckleRange; // acceptable range of disparity variation in each connected component
    // internal data
    ...
}CvStereoBMState;

下面代码是一个例子：

// 12-4.cpp : 定义控制台应用程序的入口点。
//
/*=========================================================================
名称：cvFindStereoCorrespondenceBM函数使用
时间：2013.07.13
说明：cvFindStereoCorrespondenceBM使用
=========================================================================*/
#include "stdafx.h"
#include "cv.h"
#include "highgui.h"
#include "cxcore.h"
#include "math.h"
using namespace std;

int _tmain(int argc, _TCHAR* argv[])
{
	IplImage* img_r, *img_l;				//定义两个图像指针
	img_r = cvLoadImage("./48.jpg", 0);	//图像指针初始化
	img_l = cvLoadImage(".//49.jpg", 0);	//图像指针初始化

	cvNamedWindow("img",0);					//创建显示图像窗口

	CvMat* disparity = cvCreateMat(img_l->height, img_l->width, CV_32FC1);//声明一个矩阵，大小与加载图像一致，为浮点型
	CvMat* norm_disparity=cvCreateMat(img_l->height,img_l->width,CV_8U);//声明一个矩阵，大小与加载图像一致，为无符号型


	//BM算法初始化
	CvStereoBMState* BMState = cvCreateStereoBMState();
	BMState->SADWindowSize=25;
	BMState->minDisparity=2;
	BMState->numberOfDisparities=16;

	
	cvFindStereoCorrespondenceBM(img_l, img_r, disparity, BMState);		//校正图像
	cvNormalize(disparity, norm_disparity, 45, 160, CV_MINMAX, NULL);	//图像归一化

	//图像显示
	cvShowImage("img", norm_disparity);
	cvWaitKey(0);

	//释放所有图像指针占内存与矩阵所占内存，关闭窗口
	cvDestroyAllWindows();
	cvReleaseImage(&img_l);
	cvReleaseImage(&img_r);
	cvReleaseMat(&disparity);
	cvReleaseMat(&norm_disparity);

	return 0;
}