//opencv2.4.9?vs2012
#include?
#include?
#include?
?
using?namespace?std;
using?namespace?cv;
?
Point2f?xyz2uv（Point3f?worldPointfloat?intrinsic[3][3]float?translation[1][3]float?rotation[3][3]）;
Point3f?uv2xyz（Point2f?uvLeftPoint2f?uvRight）;
?
//圖片對數量
int?PicNum?=?14;
?
//左相機內參數矩陣
float?leftIntrinsic[3][3]?=?{4037.82450			?0		947.65449
									??0	3969.79038		455.48718
									??0			?0				1};
//左相機畸變系數
float?leftDistortion[1][5]?=?{0.18962?-4.05566?-0.00510?0.02895?0};
//左相機旋轉矩陣
float?leftRotation[3][3]?=?{0.912333		-0.211508		?0.350590?
							0.023249		-0.828105		-0.560091?
							0.408789		?0.519140		-0.750590};
//左相機平移向量
float?leftTranslation[1][3]?=?{-127.199992?28.190639?1471.356768};
?
//右相機內參數矩陣
float?rightIntrinsic[3][3]?=?{3765.83307			?0		339.31958
										0	3808.08469		660.05543
										0			?0				1};
//右相機畸變系數
float?rightDistortion[1][5]?=?{-0.24195?5.97763?-0.02057?-0.01429?0};
//右相機旋轉矩陣
float?rightRotation[3][3]?=?{-0.134947		?0.989568		-0.050442?
							??0.752355		?0.069205		-0.655113?
							?-0.644788		-0.126356		-0.753845};
//右相機平移向量
float?rightTranslation[1][3]?=?{50.877397?-99.796492?1507.312197};
?
?
int?main（）
{
	//已知空間坐標求成像坐標
	/*Point3f?point（700220530）;
	cout<<“左相機中坐標：“<	cout<	cout<<“右相機中坐標：“<	cout<
	//已知左右相機成像坐標求空間坐標
	//Point2f?l?=?xyz2uv（pointleftIntrinsicleftTranslationleftRotation）;
	//Point2f?r?=?xyz2uv（pointrightIntrinsicrightTranslationrightRotation）;
	Point2f?l?=（2000?1000）;
	Point2f?r?=（10001000）;
	Point3f?worldPoint;
	worldPoint?=?uv2xyz（lr）;
	cout<<“空間坐標為:“<?
	system（“pause“）;
?
	return?0;
}
?
?
//************************************
//?Description:?根據左右相機中成像坐標求解空間坐標
//?Method:????uv2xyz
//?FullName:??uv2xyz
//?Access:????public?
//?Parameter:?Point2f?uvLeft
//?Parameter:?Point2f?uvRight
//?Returns:???cv::Point3f
//?Author:????小白
//?Date:??????2017/01/10
//?History:
//************************************
Point3f?uv2xyz（Point2f?uvLeftPoint2f?uvRight）
{
	//??[u1]??????|X|					??[u2]??????|X|
	//Z*|v1|?=?Ml*|Y|					Z*|v2|?=?Mr*|Y|
	//??[?1]??????|Z|					??[?1]??????|Z|
	//			??|1|								|1|
	Mat?mLeftRotation?=?Mat（33CV_32FleftRotation）;
	Mat?mLeftTranslation?=?Mat（31CV_32FleftTranslation）;
	Mat?mLeftRT?=?Mat（34CV_32F）;//左相機M矩陣
	hconcat（mLeftRotationmLeftTranslationmLeftRT）;
	Mat?mLeftIntrinsic?=?Mat（33CV_32FleftIntrinsic）;
	Mat?mLeftM?=?mLeftIntrinsic?*?mLeftRT;
	//cout<<“左相機M矩陣?=?“<?
	Mat?mRightRotation?=?Mat（33CV_32FrightRotation）;
	Mat?mRightTranslation?=?Mat（31CV_32FrightTranslation）;
	Mat?mRightRT?=?Mat（34CV_32F）;//右相機M矩陣
	hconcat（mRightRotationmRightTranslationmRightRT）;
	Mat?mRightIntrinsic?=?Mat（3

?屬性????????????大小?????日期????時間???名稱
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?????文件??????80384??2018-11-12?17:44??xyz2uv\Debug\myfirst_opencv.exe

?????文件?????419016??2018-11-12?17:44??xyz2uv\Debug\myfirst_opencv.ilk

?????文件????2108416??2018-11-12?17:44??xyz2uv\Debug\myfirst_opencv.pdb

?????文件??????26563??2018-11-08?19:15??xyz2uv\girl.jpg

?????文件???????1322??2018-11-12?17:43??xyz2uv\myfirst_opencv\Debug\cl.command.1.tlog

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?????文件??????????2??2018-11-12?17:44??xyz2uv\myfirst_opencv\Debug\link.3688-cvtres.read.1.tlog

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?????文件??????????2??2018-11-12?17:44??xyz2uv\myfirst_opencv\Debug\link.3688-rc.read.1.tlog

?????文件??????????2??2018-11-12?17:44??xyz2uv\myfirst_opencv\Debug\link.3688-rc.write.1.tlog

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?????文件??????????2??2018-11-12?17:44??xyz2uv\myfirst_opencv\Debug\link.4136-cvtres.read.1.tlog

?????文件??????????2??2018-11-12?17:44??xyz2uv\myfirst_opencv\Debug\link.4136-cvtres.write.1.tlog

?????文件??????????2??2018-11-12?17:44??xyz2uv\myfirst_opencv\Debug\link.4136-rc.read.1.tlog

?????文件??????????2??2018-11-12?17:44??xyz2uv\myfirst_opencv\Debug\link.4136-rc.write.1.tlog

?????文件??????????2??2018-11-12?17:44??xyz2uv\myfirst_opencv\Debug\link.4136.read.1.tlog

?????文件??????????2??2018-11-12?17:44??xyz2uv\myfirst_opencv\Debug\link.4136.write.1.tlog

?????文件??????????2??2018-11-12?17:44??xyz2uv\myfirst_opencv\Debug\link.6344-cvtres.read.1.tlog

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