#include?“StereoFunctions.h“
#include?“math.h“
int?fileNO?=?0;
//variables?for?correlation?routine?some?of?them?can?be?changed?in?analysis?mode?with
the?correlation?tools?window
int?stereoDispWindowSize?//41
stereoDispTextureThreshold?//15
stereoDispUniquenessRatio?//10
stereoPreFilterSize
stereoPreFilterCap
stereoSavePointCloudValue
stereoSaveOriginal
stereoNumDisparities;
//Correlates?pixels?from?the?left?and?right?images?results?in?a?disparity?map?which?is
stored?in?the?variable?‘disp‘
void?StereoFunctions::stereoCorrelation（）
{
//Setup?for?finding?stereo?corrrespondences
CvStereoBMState?*BMState?=?cvCreateStereoBMState（）;
assert（BMState?!=?0）;
BMState->preFilterSize=?stereoPreFilterSize;
BMState->preFilterCap=?stereoPreFilterCap;
BMState->SADWindowSize=?stereoDispWindowSize;
BMState->minDisparity=0;
BMState->numberOfDisparities=stereoNumDisparities;
BMState->textureThreshold?=?stereoDispTextureThreshold;
BMState->uniquenessRatio?=?stereoDispUniquenessRatio;
//timing?for?stereo?correspondence?can?be?assessed?by?turning?on?the?timer
/*?double?time_tot?=0;
clock_t?start?diff;
double?difference;
for（int?i=0;i<100;i++）
{
start=clock（）;*/
cvFindStereoCorrespondenceBM（img1r?img2r?disp?BMState）;
//performs?stereo?correspondence?on?the?rectified?left?and?right?images
/*?diff?=?clock（）?-?start;
difference?=?（double）diff/CLOCKS_PER_SEC;
time_tot+=difference;
}
printf（“Time?taken?%f?seconds“（double）（（double）time_tot/100））;*/
cvNormalize（?disp?vdisp?0?256?CV_MINMAX?）;
//save?rectified?iamges?and?disparity?map?if?SHOW_SAVE_DATA?is?set?to?1
if（SHOW_SAVE_DATA）{
?cvShowImage（“Disparity?Map“?vdisp）;
string?dispFile;
stringstream?str?str2str3;
string?left?right;
str<<“Disparities/DisparityMap“<<“-“<dispFile=str.str（）;
cvSaveImage（&dispFile[0]vdisp）;
str2<<“Rectified/Left“<<“-“<str3<<“Rectified/Right“<<“-“<left=str2.str（）;
right=str3.str（）;
cvSaveImage（&left[0]img1r）;
cvSaveImage（&right[0]img2r）;
}
cvReleaseStereoBMState（&BMState）;
fileNO++;
}
//Saves?point?clouds?to?Dylan‘s?and?Dan‘s?viewer?format?as?well?as?ascii?format?for
applied?imagery?integration
//
void?StereoFunctions::stereoSavePointCloud（）
{
//used?to?store?reprojected?3-D?image?using?open?cv?reprojection?routine
CvMat*?threeDimage?=?cvCreateMat（?imageSize.height
imageSize.width?CV_32FC3）;
FILE?*?threeFile*?distanceFile;
//number?of?points?in?the?point?cloud?needed?for?dylans?viewer
long?pointCount=0;
double?depth=0?horiz=0?vert=0;
//vectors?to?store?3-D?points?calculated?from?reprojection
CvMat?*depthM?=?cvCreateMat（imageSize.height?imageSize.width?CV_32F）
?*horizM?=?cvCreateMat（imageSize.height?imageSize.width?CV_32F）
?*vertM?=?cvCreateMat（imageSize.height?imageSize.width?CV_32F）;
//create?strings?for?point?cloud?files
stringstream?strThreeD;
stringstream?strDistance;
if（POINT_CLOUD_FMT_DYLAN）
strThreeD<<“Image-“<