#include“opcv.h“
//初始化棋盤角點數據信息
int?initCornerData（int?nImages?cv::Size?imageSize?cv::Size?boardSize?float?squareWidth）
{
	cornerDatas.nImages?=?nImages;
	cornerDatas.imageSize?=?imageSize;
	cornerDatas.boardSize?=?boardSize;
	cornerDatas.nPoints?=?nImages*boardSize.width*boardSize.height;
	cornerDatas.nPointsPerImage?=?boardSize.width*boardSize.height;
	cornerDatas.objectPoints.resize（nImages?vector（cornerDatas.nPointsPerImage?cv::Point3f（0?0?0）））;
	cornerDatas.imagePointsl.resize（nImages?vector（cornerDatas.nPointsPerImage?cv::Point2f（0?0）））;
	cornerDatas.imagePointsr.resize（nImages?vector（cornerDatas.nPointsPerImage?cv::Point2f（0?0）））;
	//計算角點的世界坐標值
	int?i?j?k?n;
	for?（i?=?0;?i?	{
		n?=?0;
		for?（j?=?0;?j?			for?（k?=?0;?k?				cornerDatas.objectPoints[i][n++]?=?cv::Point3f（j*squareWidth?k*squareWidth?0）;
	}
	return?1;
}
//檢測棋盤角點
int?detectCorners（cv::Mat&?imgl?cv::Mat&?imgr?int?imageCount）
{
	bool?stereoMode?=?true;
	if?（!（!imgl.empty（））*（!imgr.empty（）））
	{
		stereoMode?=?false;
	}
	//?提取當前棋盤對應的角點坐標子矩陣
	vector&?cornersl?=?cornerDatas.imagePointsl[imageCount];
	vector&?cornersr?=?cornerDatas.imagePointsr[imageCount];
	bool?foundl?=?false;
	bool?foundr?=?true;
	int?flags?=?CV_CALIB_CB_ADAPTIVE_THRESH?|?CV_CALIB_CB_NORMALIZE_IMAGE;
	//?尋找棋盤及其角點
	if?（stereoMode）
	{
		foundl?=?findChessboardCorners（imgl?cornerDatas.boardSize?cornersl?flags）;
		foundr?=?findChessboardCorners（imgr?cornerDatas.boardSize?cornersr?flags）;
	}
	else
	{
		if?（!imgl.empty（））
			foundl?=?findChessboardCorners（imgl?cornerDatas.boardSize?cornersl?flags）;
		if?（!imgr.empty（））
			foundr?=?findChessboardCorners（imgr?cornerDatas.boardSize?cornersr?flags）;
	}
	//?若左右視圖都成功檢測到所有角點
	//?則將檢測到的角點坐標精確化
	if?（foundl?&&?foundr）
	{
		//轉換為灰度圖
		cv::Mat?grayl?grayr;
		cvtColor（imgl?grayl?CV_RGB2GRAY）;
		if?（stereoMode）
			cvtColor（imgr?grayr?CV_RGB2GRAY）;

		//計算角點的精確坐標
		cv::Size?regionSize（2?2）;
		cornerSubPix（grayl?cornersl?regionSize?cv::Size（-1?-1）?cv::TermCriteria（cv::TermCriteria::EPS?|?cv::TermCriteria::MAX_ITER?30?0.01））;
		if?（stereoMode）
			cornerSubPix（grayr?cornersr?regionSize?cv::Size（-1?-1）?cv::TermCriteria（cv::TermCriteria::EPS?|?cv::TermCriteria::MAX_ITER?30?0.01））;
	}
	//?顯示檢測到的角點
	if?（stereoMode）
	{
		drawChessboardCorners（imgl?cornerDatas.boardSize?cornersl?foundl）;
		drawChessboardCorners（imgr?cornerDatas.boardSize?cornersr?foundr）;
	}
	else
	{
		if?（!imgl.empty（））
			drawChessboardCorners（imgl?cornerDatas.boardSize?cornersl?foundl）;
		if?（!imgr.empty（））
			drawChessboardCorners（imgr?cornerDatas.boardSize?cornersr?foundr）;
	}
	if?（stereoMode?&&?foundl?&&?foundr）
		return?1;
	else
		return?0;
}
//執行雙目攝像機標定若每個攝像機尚未標定，則首先進行單目標定，再進行雙目標定
int?calibrateStereoCamera（bool?cameraUncalibrated）
{
	if?（cameraUn

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2016-01-29?18:19??binocularvision2\
?????目錄???????????0??2016-01-29?18:16??binocularvision2\binocularvision2\
?????文件????16121856??2016-01-29?18:19??binocularvision2\binocularvision2.sdf
?????文件?????????994??2016-01-15?17:07??binocularvision2\binocularvision2.sln
?????文件???????35328??2016-01-29?18:19??binocularvision2\binocularvision2.v12.suo
?????文件????????5202??2016-01-16?16:01??binocularvision2\binocularvision2\binocularvision2.vcxproj
?????文件????????1342??2016-01-16?15:50??binocularvision2\binocularvision2\binocularvision2.vcxproj.filters
?????目錄???????????0??2016-01-29?11:29??binocularvision2\binocularvision2\Debug\
?????文件????????2280??2016-01-29?11:29??binocularvision2\binocularvision2\Debug\binocularvision2.log
?????目錄???????????0??2016-01-29?11:29??binocularvision2\binocularvision2\Debug\binocularvision2.tlog\
?????文件?????????166??2016-01-29?11:29??binocularvision2\binocularvision2\Debug\binocularvision2.tlog\binocularvision2.lastbuildstate
?????文件????????1570??2016-01-29?11:29??binocularvision2\binocularvision2\Debug\binocularvision2.tlog\cl.command.1.tlog
?????文件???????38676??2016-01-29?11:29??binocularvision2\binocularvision2\Debug\binocularvision2.tlog\CL.read.1.tlog
?????文件????????1674??2016-01-29?11:29??binocularvision2\binocularvision2\Debug\binocularvision2.tlog\CL.write.1.tlog
?????文件????????2188??2016-01-29?11:29??binocularvision2\binocularvision2\Debug\binocularvision2.tlog\link.command.1.tlog
?????文件????????5108??2016-01-29?11:29??binocularvision2\binocularvision2\Debug\binocularvision2.tlog\link.read.1.tlog
?????文件?????????572??2016-01-29?11:29??binocularvision2\binocularvision2\Debug\binocularvision2.tlog\link.write.1.tlog
?????文件??????882972??2016-01-20?11:20??binocularvision2\binocularvision2\Debug\initCornerData.obj
?????文件??????242970??2016-01-29?11:29??binocularvision2\binocularvision2\Debug\main.obj
?????文件??????871424??2016-01-29?11:29??binocularvision2\binocularvision2\Debug\vc120.idb
?????文件?????1650688??2016-01-29?11:29??binocularvision2\binocularvision2\Debug\vc120.pdb
?????文件???????23815??2016-01-29?17:58??binocularvision2\binocularvision2\initCornerData.cpp
?????文件?????????485??2016-01-16?17:27??binocularvision2\binocularvision2\initialboard.h
?????文件????????6575??2016-01-29?18:16??binocularvision2\binocularvision2\main.cpp
?????文件????????1865??2016-01-16?17:21??binocularvision2\binocularvision2\opcv.h
?????文件????????2229??2016-01-29?17:57??binocularvision2\binocularvision2\touwen.h
?????目錄???????????0??2016-01-20?11:20??binocularvision2\Debug\
?????文件??????201728??2016-01-29?11:29??binocularvision2\Debug\binocularvision2.exe
?????文件??????860860??2016-01-29?11:29??binocularvision2\Debug\binocularvision2.ilk
?????文件?????2772992??2016-01-29?11:29??binocularvision2\Debug\binocularvision2.pdb