/*
?*??stereo_match.cpp
?*??calibration
?*
?*??Created?by?Victor??Eruhimov?on?1/18/10.
?*??Copyright?2010?Argus?Corp.?All?rights?reserved.
?*
?*/

#include?“opencv2/calib3d/calib3d.hpp“
#include?“opencv2/imgproc/imgproc.hpp“
#include?“opencv2/highgui/highgui.hpp“
#include?“opencv2/contrib/contrib.hpp“

#include?

using?namespace?cv;

static?void?print_help（）
{
????printf（“\nDemo?stereo?matching?converting?L?and?R?images?into?disparity?and?point?clouds\n“）;
????printf（“\nUsage:?stereo_match???[--algorithm=bm|sgbm|hh|var]?[--blocksize=]\n“
???????????“[--max-disparity=]?[--scale=scale_factor>]?[-i?]?[-e?]\n“
???????????“[--no-display]?[-o?]?[-p?]\n“）;
}

static?void?saveXYZ（const?char*?filename?const?Mat&?mat）
{
????const?double?max_z?=?1.0e4;
????FILE*?fp?=?fopen（filename?“wt“）;
????for（int?y?=?0;?y?????{
????????for（int?x?=?0;?x?????????{
????????????Vec3f?point?=?mat.at（y?x）;
????????????if（fabs（point[2]?-?max_z）??max_z）?continue;
????????????fprintf（fp?“%f?%f?%f\n“?point[0]?point[1]?point[2]）;
????????}
????}
????fclose（fp）;
}

int?main（int?argc?char**?argv）
{
	argc=8;
	argv[0]=“ex“;
	argv[1]=“view1.png“;
	argv[2]=“view5.png“;
//-----------此參數可調整立體匹配算法--------------------/
	argv[3]=“--algorithm=bm“;
//----------共三種算法bm，sgbm，var---------------------/
	argv[4]=“-i“;
//	argv[5]=“intrinsics.txt“;
	argv[6]=“-e“;
//	argv[7]=“extrinsics.txt“;

????const?char*?algorithm_opt?=?“--algorithm=“;
????const?char*?maxdisp_opt?=?“--max-disparity=“;
????const?char*?blocksize_opt?=?“--blocksize=“;
????const?char*?nodisplay_opt?=?“--no-display“;
????const?char*?scale_opt?=?“--scale=“;

????if（argc?????{
????????print_help（）;
????????return?0;
????}
????const?char*?img1_filename?=?0;
????const?char*?img2_filename?=?0;
????const?char*?intrinsic_filename?=?0;
????const?char*?extrinsic_filename?=?0;
????const?char*?disparity_filename?=?0;
????const?char*?point_cloud_filename?=?0;

????enum?{?STEREO_BM=0?STEREO_SGBM=1?STEREO_HH=2?STEREO_VAR=3?};
????int?alg?=?STEREO_SGBM;
????int?SADWindowSize?=?0?numberOfDisparities?=?0;
????bool?no_display?=?false;
????float?scale?=?1.f;

????StereoBM?bm;
????StereoSGBM?sgbm;
????StereoVar?var;

????for（?int?i?=?1;?i?????{
????????if（?argv[i][0]?!=?‘-‘?）
????????{
????????????if（?!img1_filename?）
????????????????img1_filename?=?argv[i];
????????????else
????????????????img2_filename?=?argv[i];
????????}
????????else?if（?strncmp（argv[i]?algorithm_opt?strlen（algorithm_opt））?==?0?）
????????{
????????????char*?_alg?=?argv[i]?+?strlen（algorithm_opt）;
????????????alg?=?strcmp（_alg?“bm“）?==?0???STEREO_BM?:
??????????????????strcmp（_alg?“sgbm“）?==?0???STEREO_SGBM?:
??????????????????strcmp（_alg?“hh“）?==

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件??????61952??2019-03-08?17:48??BM+SGBM+VAR\20190308-Testbm_match_2.4.9\Debug\stereo_match.exe

?????文件?????502568??2019-03-08?17:48??BM+SGBM+VAR\20190308-Testbm_match_2.4.9\Debug\stereo_match.ilk

?????文件????1305600??2019-03-08?17:48??BM+SGBM+VAR\20190308-Testbm_match_2.4.9\Debug\stereo_match.pdb

?????文件???54919168??2019-03-08?17:47??BM+SGBM+VAR\20190308-Testbm_match_2.4.9\ipch\stereo_match-6b0451e3\stereo_match-132f894a.ipch

?????文件????????758??2019-03-08?17:48??BM+SGBM+VAR\20190308-Testbm_match_2.4.9\stereo_match\Debug\cl.command.1.tlog

?????文件??????15458??2019-03-08?17:48??BM+SGBM+VAR\20190308-Testbm_match_2.4.9\stereo_match\Debug\CL.read.1.tlog

?????文件????????482??2019-03-08?17:48??BM+SGBM+VAR\20190308-Testbm_match_2.4.9\stereo_match\Debug\CL.write.1.tlog

?????文件??????????2??2019-03-08?17:48??BM+SGBM+VAR\20190308-Testbm_match_2.4.9\stereo_match\Debug\link-cvtres.read.1.tlog

?????文件??????????2??2019-03-08?17:48??BM+SGBM+VAR\20190308-Testbm_match_2.4.9\stereo_match\Debug\link-cvtres.write.1.tlog

?????文件??????????2??2019-03-08?17:48??BM+SGBM+VAR\20190308-Testbm_match_2.4.9\stereo_match\Debug\link.6440-cvtres.read.1.tlog

?????文件??????????2??2019-03-08?17:48??BM+SGBM+VAR\20190308-Testbm_match_2.4.9\stereo_match\Debug\link.6440-cvtres.write.1.tlog

?????文件??????????2??2019-03-08?17:48??BM+SGBM+VAR\20190308-Testbm_match_2.4.9\stereo_match\Debug\link.6440.read.1.tlog

?????文件??????????2??2019-03-08?17:48??BM+SGBM+VAR\20190308-Testbm_match_2.4.9\stereo_match\Debug\link.6440.write.1.tlog

?????文件???????3562??2019-03-08?17:48??BM+SGBM+VAR\20190308-Testbm_match_2.4.9\stereo_match\Debug\link.command.1.tlog

?????文件???????9888??2019-03-08?17:48??BM+SGBM+VAR\20190308-Testbm_match_2.4.9\stereo_match\Debug\link.read.1.tlog

?????文件???????1014??2019-03-08?17:48??BM+SGBM+VAR\20190308-Testbm_match_2.4.9\stereo_match\Debug\link.write.1.tlog

?????文件????????452??2019-03-08?17:48??BM+SGBM+VAR\20190308-Testbm_match_2.4.9\stereo_match\Debug\mt.command.1.tlog

?????文件????????216??2019-03-08?17:48??BM+SGBM+VAR\20190308-Testbm_match_2.4.9\stereo_match\Debug\mt.read.1.tlog

?????文件????????414??2019-03-08?17:48??BM+SGBM+VAR\20190308-Testbm_match_2.4.9\stereo_match\Debug\mt.write.1.tlog

?????文件????????654??2019-03-08?17:48??BM+SGBM+VAR\20190308-Testbm_match_2.4.9\stereo_match\Debug\rc.command.1.tlog

?????文件????????386??2019-03-08?17:48??BM+SGBM+VAR\20190308-Testbm_match_2.4.9\stereo_match\Debug\rc.read.1.tlog

?????文件????????394??2019-03-08?17:48??BM+SGBM+VAR\20190308-Testbm_match_2.4.9\stereo_match\Debug\rc.write.1.tlog

?????文件???????3171??2019-03-08?17:48??BM+SGBM+VAR\20190308-Testbm_match_2.4.9\stereo_match\Debug\stereo_match.Build.CppClean.log

?????文件????????406??2019-03-08?17:48??BM+SGBM+VAR\20190308-Testbm_match_2.4.9\stereo_match\Debug\stereo_match.exe.embed.manifest

?????文件????????472??2019-03-08?17:48??BM+SGBM+VAR\20190308-Testbm_match_2.4.9\stereo_match\Debug\stereo_match.exe.embed.manifest.res

?????文件????????381??2019-03-08?17:48??BM+SGBM+VAR\20190308-Testbm_match_2.4.9\stereo_match\Debug\stereo_match.exe.intermediate.manifest

?????文件?????????74??2019-03-08?17:48??BM+SGBM+VAR\20190308-Testbm_match_2.4.9\stereo_match\Debug\stereo_match.lastbuildstate

?????文件???????5276??2019-03-08?17:48??BM+SGBM+VAR\20190308-Testbm_match_2.4.9\stereo_match\Debug\stereo_match.log

?????文件?????180542??2019-03-08?17:48??BM+SGBM+VAR\20190308-Testbm_match_2.4.9\stereo_match\Debug\stereo_match.obj

?????文件??????????0??2019-03-08?17:48??BM+SGBM+VAR\20190308-Testbm_match_2.4.9\stereo_match\Debug\stereo_match.write.1.tlog

............此處省略127個文件信息