//?NewPointClouds.cpp:?定義控制臺應用程序的入口點。
//
//?MatchExperiment.cpp:?定義控制臺應用程序的入口點。
//

#include?“stdafx.h“
#include“iostream“
#include“opencv.hpp“
#include“highgui.hpp“
#include“xfeatures2d.hpp“

#define?La1?-0.0765583
#define?La2?1.12963
#define?La3?-0.000478566
#define?La4?-0.00934149???//左相機的四個畸變參數
#define?Ra1?-0.0564752
#define?Ra2?0.598481
#define?Ra3?0.00219212
#define?Ra4?-0.000801994??//右相機的四個畸變參數
#define?Lcx?563.737???????????
#define?Lcy?449.899????//左相機的光心位置
#define?Rcx?638.157
#define?Rcy?478.782???//右相機的光心位置
#define?fx1?3317.41
#define?fy1?3318.89???//左相機的焦距
#define?fx2?3346.03
#define?fy2?3347.61???//右相機的焦距

using?namespace?cv;
using?namespace?std;
int?main（）
{
	Mat?imageL0?=?imread（“Pattenimage_L.bmp“）;
	Mat?imageR0?=?imread（“Pattenimage_R.bmp“）;
	//Mat?imageL1?imageR1;
	//GaussianBlur（imageL0?imageL1?Size（3?3）?0.5）;
	//GaussianBlur（imageR0?imageR1?Size（3?3）?0.5）;
	ofstream?file;
	file.open（“debug.txt“）;

	Mat?dist1?=?（Mat_（5?1）?<	Mat?dist2?=?（Mat_（5?1）?<
	float?m1[3][3]?=?{?{?fx10Lcx?}{?0fy1Lcy?}{?001?}?};
	Mat?m1_matrix（Size（3?3）?CV_32F?m1）;??//左相機的內參矩陣
								
	Mat?r1_matrix?=?Mat::eye（3?3?CV_32FC1）;???//?左相機旋轉矩陣（對角矩陣）
	Mat?t1_matrix?=?（Mat_（3?1）?<	Mat?p1_matrix（Size（4?3）?CV_32F）;
	Mat?n1_matrix（Size（4?3）?CV_32F）;
	hconcat（r1_matrix?t1_matrix?n1_matrix）;
	//?vconcat（B?C，A）;??等同于A=[B?;?C]?按列合并???
	//?hconcat（B?C，A）;??等同于A=[B??C]?按行合并
????p1_matrix?=?m1_matrix?*?n1_matrix;//左相機投影矩陣

	float?m2[3][3]?=?{?{?fx20Rcx?}{?0fy2Rcy?}{?001?}?};
	Mat?m2_matrix（Size（3?3）?CV_32F?m2）;??//右相機的內參矩陣
	float?r2[3][1]?=?{?{?0.00778951?}{?-0.121633?}{?0.0150494?}?};?
	Mat?r2_src2（Size（1?3）?CV_32F?r2）;
	Mat?r2_matrix（Size（3?3）?CV_32F）;?//右相機旋轉向量
	Rodrigues（r2_src2?r2_matrix）;???//旋轉向量轉化為旋轉矩陣
	Mat?t2_matrix?=?（Mat_（3?1）?<	Mat?p2_matrix（Size（4?3）?CV_32F）;
	Mat?n2_matrix（Size（4?3）?CV_32F）;
	hconcat（r2_matrix?t2_matrix?n2_matrix）;//右相機外參矩陣3X4
	p2_matrix?=?m2_matrix?*?n2_matrix;//右相機投影矩陣
	?
	Mat?R1?=?Mat::eye（3?3?CV_32F）;?????//左相機圖像畸變矯正
	Mat?map1x?=?Mat（imageL0.size（）?CV_32FC1）;
	Mat?map1y?=?Mat（imageL0.size（）?CV_32FC1）;
	initUndistortRectifyMap（m1_matrix?dist1?R1?m1_matrix?imageL0.size（）?CV_32FC1?map1x?map1y）;
	Mat?picture1?=?imageL0.clone（）;
	remap（imageL0?picture1?map1x?map1y?INTER_LINEAR）;

	Mat?R2?=?Mat::eye（3?3?CV_32F）;?????//右相機圖像畸變矯正
	Mat?map2x?=?Mat（imageR0.size（）?CV_32FC1）;
	Mat?map2y?=?Mat（imageR0.size（）?CV_32FC1）;
	initUndistortRectifyMap（m2_matrix?dist2?R2?m2_matrix?imageR0.size（）?CV_32FC1?map2x?map2y）;
	Mat?picture2?=?imageR0.clone（）;
	remap（imageR0?picture2?map2x?map2y?INTER_LINEAR）;
	imshow（“矯正后左圖“?picture1）;
	imshow（“矯正后右圖“?picture2）;
	//找出特征點
	Ptrf2d?=?xfeatures2d::SIFT::create（）

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2018-05-09?20:20??NewPointClouds\
?????目錄???????????0??2018-05-04?16:56??NewPointClouds\.vs\
?????目錄???????????0??2018-05-04?16:56??NewPointClouds\.vs\NewPointClouds\
?????目錄???????????0??2018-05-14?09:12??NewPointClouds\.vs\NewPointClouds\v15\
?????文件???????32256??2018-05-14?09:12??NewPointClouds\.vs\NewPointClouds\v15\.suo
?????文件????21553152??2018-05-14?09:12??NewPointClouds\.vs\NewPointClouds\v15\Browse.VC.db
?????目錄???????????0??2018-05-04?16:59??NewPointClouds\.vs\NewPointClouds\v15\ipch\
?????文件?????3538944??2018-05-14?09:04??NewPointClouds\.vs\NewPointClouds\v15\ipch\1b0d489489dd94da.ipch
?????文件?????3604480??2018-05-04?16:56??NewPointClouds\.vs\NewPointClouds\v15\ipch\98b0bdafa38a6eaf.ipch
?????目錄???????????0??2018-05-09?20:22??NewPointClouds\NewPointClouds\
?????文件????????1456??2018-05-04?16:56??NewPointClouds\NewPointClouds.sln
?????文件????????2037??2018-05-09?20:23??NewPointClouds\NewPointClouds\debug.txt
?????文件???????12554??2018-05-09?20:22??NewPointClouds\NewPointClouds\NewPointClouds.cpp
?????文件????????8319??2018-05-04?16:59??NewPointClouds\NewPointClouds\NewPointClouds.vcxproj
?????文件????????1259??2018-05-04?16:56??NewPointClouds\NewPointClouds\NewPointClouds.vcxproj.filters
?????文件?????????165??2018-05-04?16:56??NewPointClouds\NewPointClouds\NewPointClouds.vcxproj.user
?????文件??????481078??2018-04-23?09:51??NewPointClouds\NewPointClouds\pattenimage_L.bmp
?????文件??????481078??2018-04-23?09:50??NewPointClouds\NewPointClouds\pattenimage_R.bmp
?????文件?????????330??2018-05-04?16:56??NewPointClouds\NewPointClouds\stdafx.cpp
?????文件?????????366??2018-05-04?16:56??NewPointClouds\NewPointClouds\stdafx.h
?????文件?????????370??2018-05-04?16:56??NewPointClouds\NewPointClouds\targetver.h
?????目錄???????????0??2018-05-04?16:57??NewPointClouds\NewPointClouds\x64\
?????目錄???????????0??2018-05-09?20:22??NewPointClouds\NewPointClouds\x64\Debug\
?????文件????????2244??2018-05-09?20:22??NewPointClouds\NewPointClouds\x64\Debug\NewPointClouds.log
?????文件?????1404495??2018-05-09?20:22??NewPointClouds\NewPointClouds\x64\Debug\NewPointClouds.obj
?????文件?????2818048??2018-05-04?16:59??NewPointClouds\NewPointClouds\x64\Debug\NewPointClouds.pch
?????目錄???????????0??2018-05-09?20:22??NewPointClouds\NewPointClouds\x64\Debug\NewPointClouds.tlog\
?????文件????????1810??2018-05-09?20:22??NewPointClouds\NewPointClouds\x64\Debug\NewPointClouds.tlog\CL.command.1.tlog
?????文件???????46204??2018-05-09?20:22??NewPointClouds\NewPointClouds\x64\Debug\NewPointClouds.tlog\CL.read.1.tlog
?????文件????????1338??2018-05-09?20:22??NewPointClouds\NewPointClouds\x64\Debug\NewPointClouds.tlog\CL.write.1.tlog
?????文件????????3408??2018-05-09?20:22??NewPointClouds\NewPointClouds\x64\Debug\NewPointClouds.tlog\link.command.1.tlog
............此處省略11個文件信息