#include?“opencv2/core/core.hpp“
#include?“cv.h“
#include?
#include?“opencv2/imgproc/imgproc.hpp“
#include?“opencv2/features2d/features2d.hpp“
#include?“opencv2/nonfree/nonfree.hpp“
#include?“opencv2/highgui/highgui.hpp“
#include?
#include?

using?namespace?cv;
using?namespace?std;
float?m1[3][3]?=?{{7.173874e+02?0.?3.084055e+02}{0.7.193689e+02?2.296618e+02}{0.?0.?1.}};
float?m2[3][3]?=?{{7.293169e+02?0.?3.151903e+02}{0.7.312317e+02?2.277928e+02}{0.?0.?1.}};
float?r[3][3]?=?{{9.999e-01?9.7e-03?1.37e-02}{-9.8e-03?9.999e-01?4.9e-03}{-1.36e-02?-5.0e-03?9.999e-01}};//如果自己寫這些參數的話注意里面的e不要漏了啊。被坑了好多次。
float?t[3][1]?=?{-7.89819e+01?-2.88e-029.2785e+00};
Mat?M1?=?Mat（33CV_32Fm1）;
Mat?M2?=?Mat（33CV_32Fm2）;
Mat?R?=?Mat（33CV_32Fr）;
Mat?T?=?Mat（31CV_32Ft）;

Mat?mapLx?mapLy?mapRx?mapRy;?????????????????????????//映射表
Rect?validROIL?validROIR;
Point3f?uv2xyz（Point2f?uvLeftPoint2f?uvRight）;

int?main（int?argc?char**?argv）
{
????//????FileStorage?fs（“intrinsics.yml“?CV_STORAGE_READ）;

????//????if（!fs.isOpened（））
????//????{
????//????????printf（“Failed?to?open?file?%s\n“?“intrinsics.yml“）;
????//????????return?-1;
????//????}

????//????fs[“M1“]?>>?M1;
????//????fs[“D1“]?>>?D1;
????//????fs[“M2“]?>>?M2;
????//????fs[“D2“]?>>?D2;
????//????fs.open（“extrinsics.yml“?CV_STORAGE_READ）;
????//????if（!fs.isOpened（））
????//????{
????//????????printf（“Failed?to?open?file?%s\n“?“extrinsics.yml“）;
????//????????return?-1;
????//????}
????//????fs[“R“]?>>?R;
????//????fs[“T“]?>>?T;
????cout?<????cout?<????cout?<????cout?<

????Point3f?world_points;

????Mat?src1?=?imread（“frame1.jpg“）;
????Mat?src2?=?imread（“frame0.jpg“）;

????SIFT?sift;????//實例化SIFT類

????vector?keypoints1keypoints2;
????Mat?descriptors1descriptors2;
????//?descriptors為描述符，mascara為掩碼矩陣
????Mat?mascara1?mascara2;

????sift（src1mascara1keypoints1descriptors1）;????//執行SIFT運算
????sift（src2mascara2keypoints2descriptors2）;????//執行SIFT運算

????SiftDescriptorExtractor?extractor;

????extractor.compute（src1?keypoints1descriptors1）;
????extractor.compute（src2?keypoints2descriptors2）;

????FlannbasedMatcher?matcher;
????vector?matches;
????matcher.match（descriptors1descriptors2matches）;
????double?max_dist?=?0;
????double?min_dist?=?1000;

????for（int?i?=?0;?i?riptors1.rows;?i++）
????{
????????double?dist?=?matches[i].distance;
????????if（dist?????????if（dist?>?max_dist）?max_dist?=?dist;
????}

????cout?<????//???cout?<
????vector?good_matches;

????int?a?=?0;
????for（int?i?=?0;?i?????{
????????if（matches[i].distance?????????{
????????????if（fabs（keypoints1[matches[i].queryIdx].pt.y?-?keypoints2[matches[i].trainIdx].pt.y）?????????????{
??????????