#pragma?warning（?disable:?4996?）

#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
//#include?
using?namespace?std;

//
//?Given?a?list?of?chessboard?images?the?number?of?corners?（nx?ny）
//?on?the?chessboards?and?a?flag:?useCalibrated?for?calibrated?（0）?or
//?uncalibrated?（1:?use?cvStereoCalibrate（）?2:?compute?fundamental
//?matrix?separately）?stereo.?Calibrate?the?cameras?and?display?the
//?rectified?results?along?with?the?computed?disparity?images.
//?reconstruct?the?3dimage?and?show?it?in?opengl.
//


///////////////////////////////////////////////////////////
//OpenGL---define?data?
//?Define?a?constant?for?the?value?of?PI
#define?GL_PI?3.1415f

//?Rotation?amounts
static?GLfloat?xRot?=?0.0f;
static?GLfloat?yRot?=?0.0f;
float?imgdata[500][500][3];????//?存放三維坐標數據
float?texture[500][500][3];?//?存放紋理數據
int?width=0?height=0;
//static?GLfloat?rx?=?0.0f?ry?=?0.0f;
int?eyex?=?115?eyez?=?115?atx?=?100?atz?=?50;
float?scalar=1;????????//scalar?of?converting?pixel?color?to?float?coordinates


//////////////////////////////////////////////////////////////
//OpenGL---功能鍵（方向鍵）響應函數
void?SpecialKeys（int?key?int?x?int?y）
	{
	if（key?==?GLUT_KEY_UP）
		xRot-=?5.0f;

	if（key?==?GLUT_KEY_DOWN）
		xRot?+=?5.0f;

	if（key?==?GLUT_KEY_LEFT）
		yRot?-=?5.0f;

	if（key?==?GLUT_KEY_RIGHT）
		yRot?+=?5.0f;

	if（key?>?356.0f）
		xRot?=?0.0f;

	if（key?		xRot?=?355.0f;

	if（key?>?356.0f）
		yRot?=?0.0f;

	if（key?		yRot?=?355.0f;

	//?Refresh?the?Window
	glutPostRedisplay（）;
	}
/*void?special（int?key?int?x?int?y）
{
????switch（key）
????{
????case?GLUT_KEY_LEFT:
????????ry-=5;
????????glutPostRedisplay（）;
????????break;
????case?GLUT_KEY_RIGHT:
????????ry+=5;
????????glutPostRedisplay（）;
????????break;
????case?GLUT_KEY_UP:
????????rx+=5;
????????glutPostRedisplay（）;
????????break;
????case?GLUT_KEY_DOWN:
????????rx-=5;
????????glutPostRedisplay（）;
????????break;
????}
}*/


//////////////////////////////////////////////////////////////////////////
//?OpenGL---三維圖像顯示響應函數
void?renderScene（void）?{

????glClear?（GL_COLOR_BUFFER_BIT）;
????glLoadIdentity（）;//?Reset?the?coordinate?system?before?modifying?
????gluLookAt?（eyex-100?0.0?eyez-100.0?atx-100.0?0.0?atz-100.0?0.0?1.0?0.0）;????//?根據滑動塊位置變換OpenGL攝像機視角
????glRotatef（xRot-180?1.0?0.0?0.0）;?//rotate?about?the?z?axis????????????//?根據鍵盤方向鍵按鍵消息變換攝像機視角
????glRotatef（yRot?0.0?1.0?0.0）;?//rotate?about?the?y?axis

????float?xyz;

????glPointSize（1.0）;?
????glBegin（GL_POINTS）;//GL_POINTS
????for?（int?i=0;i????????for?（int?j=0;j????????????glColor3f（texture[i][j][0]/255?texture[i][j][1]/255?texture[i][j][2]/255）;????//?將圖像紋理賦值到點云上
????????????x=-imgdata[i][j][0]/scalar;????????//?添加負號

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2017-12-25?16:45??StereoCalib\
?????文件???????19805??2010-07-08?15:57??StereoCalib\20100709.cpp
?????文件???????19854??2017-12-25?16:45??StereoCalib\ch12_ex12_3.cpp
?????目錄???????????0??2018-01-03?19:05??StereoCalib\stereocalib\
?????目錄???????????0??2017-12-24?20:54??StereoCalib\stereocalib\.vs\
?????目錄???????????0??2017-12-24?20:54??StereoCalib\stereocalib\.vs\stereocalib\
?????目錄???????????0??2017-12-24?20:54??StereoCalib\stereocalib\.vs\stereocalib\v14\
?????文件???????39424??2018-01-03?19:05??StereoCalib\stereocalib\.vs\stereocalib\v14\.suo
?????目錄???????????0??2017-12-25?16:59??StereoCalib\stereocalib\Debug\
?????文件???????12518??2010-07-09?13:38??StereoCalib\stereocalib\Debug\BuildLog.htm
?????文件?????1030923??2017-12-25?16:53??StereoCalib\stereocalib\Debug\ch12_ex12_3.obj
?????文件???????????0??2010-07-09?13:38??StereoCalib\stereocalib\Debug\ch12_ex12_3.sbr
?????文件??????????69??2010-07-09?13:38??StereoCalib\stereocalib\Debug\mt.dep
?????文件?????3271680??2017-12-25?16:54??StereoCalib\stereocalib\Debug\stereocalib.bsc
?????文件?????1240064??2017-12-25?16:59??StereoCalib\stereocalib\Debug\stereocalib.exe
?????文件?????????406??2010-07-09?13:38??StereoCalib\stereocalib\Debug\stereocalib.exe.embed.manifest
?????文件?????????472??2010-07-09?13:38??StereoCalib\stereocalib\Debug\stereocalib.exe.embed.manifest.res
?????文件?????????381??2010-07-09?13:38??StereoCalib\stereocalib\Debug\stereocalib.exe.intermediate.manifest
?????文件?????2984088??2017-12-25?16:59??StereoCalib\stereocalib\Debug\stereocalib.ilk
?????文件?????8196096??2017-12-25?16:59??StereoCalib\stereocalib\Debug\stereocalib.pdb
?????文件??????921600??2017-12-25?16:53??StereoCalib\stereocalib\Debug\vc140.pdb
?????文件??????609280??2010-07-09?13:38??StereoCalib\stereocalib\Debug\vc90.idb
?????文件??????708608??2010-07-09?13:38??StereoCalib\stereocalib\Debug\vc90.pdb
?????文件???????40046??2017-12-24?20:54??StereoCalib\stereocalib\UpgradeLog.htm
?????文件?????????658??2017-12-25?19:09??StereoCalib\stereocalib\ch12_list.txt
?????文件??????308278??2018-01-03?18:42??StereoCalib\stereocalib\disparity.bmp
?????目錄???????????0??2017-12-24?20:52??StereoCalib\stereocalib\stereoData\
?????文件????????6148??2008-10-07?15:10??StereoCalib\stereocalib\stereoData\.DS_Store
?????文件??????136704??2010-06-05?09:23??StereoCalib\stereocalib\stereoData\Thumbs.db
?????文件???????27908??2008-10-07?10:00??StereoCalib\stereocalib\stereoData\left01.jpg
?????文件???????28611??2008-10-07?10:00??StereoCalib\stereocalib\stereoData\left02.jpg
............此處省略52個文件信息