#include?“Calibrate.h“
/*
Mat?R_image?//左相機圖片
Mat?L_image?//右相機圖片
char?save?//鍵盤響應按鍵
int?cnt?//照片計數（cnt初值為1）
String?Photo_Save_Filename?//保存路徑文件夾
*/
void?SavePhoto（Mat?R_image?Mat?L_imagechar?saveint?cnt?String?Photo_Save_Filename）
{
	
	String?Photoname;
	cv::imshow（“Rimage“?R_image）;
	cv::imshow（“Limage“?L_image）;
	if?（save?==?‘Y‘）
	{
		//左相機存儲
		Photoname?=?“Left“?+?std::to_string（cnt）?+?“.jpg“;
		Photoname?=?Photo_Save_Filename?+?Photoname;
		cout?<		cv::imwrite（Photoname?L_image）;

		//右相機存儲
		Photoname?=?“Right“?+?std::to_string（cnt）?+?“.jpg“;
		Photoname?=?Photo_Save_Filename?+?Photoname;
		cout?<		cv::imwrite（Photoname?R_image）;
		cnt++;

	}

}




/*
	Size?board_size//標定板行列數
	string?Left_Calibrate_photo_file//標定照片路徑
	string?Right_Calibrate_photo_file//標定照片路徑
	string?Save_Calibrate_Data_file//校正參數保存文件
	int?photo_num?//標定照片數量???#define?photo_num?23?//標定照片數量
*/
?

void?BB2_Calibrate（Size?board_size?string?Left_Calibrate_photo_file?string?Right_Calibrate_photo_file?string?Save_Calibrate_Data_file
					int?photo_num）
{
	?//********STEP1:單目相機標定***********
	?//左相機標定
	ifstream?Lfin（Left_Calibrate_photo_file）;?/*?標定所用圖像文件的路徑?*/
	string?Lfilename;
	Size?L_image_size;??/*?圖像的尺寸?*/
	int?L_image_count?=?0;??/*?圖像數量?*/
	vector>?Left_image_points_all;?/*?保存檢測到的所有角點?*/
	vector?L_image_points_buf;??/*?緩存每幅圖像上檢測到的角點?*/
										?//文件操作
	while?（L_image_count	{
		getline（Lfin?Lfilename）;
		L_image_count++;
		Mat?imageInput?=?imread（Lfilename）;

		if?（L_image_count?==?1）??//讀入第一張圖片時獲取圖像寬高信息
		{
			L_image_size.width?=?imageInput.cols;
			L_image_size.height?=?imageInput.rows;
		}

		/*?提取角點?*/
		if?（findChessboardCorners（imageInput?board_size?L_image_points_buf）?==?0）
		{
			std::cout?<			exit（1）;
		}
		else
		{
			Mat?view_gray;
			cvtColor（imageInput?view_gray?CV_RGB2GRAY）;//轉灰度圖像
			cornerSubPix（view_gray?L_image_points_buf?Size（5?5）?Size（-1?-1）?TermCriteria（CV_TERMCRIT_EPS?+?CV_TERMCRIT_ITER?30?0.1））;//亞像素處理
			Left_image_points_all.push_back（L_image_points_buf）;??//保存亞像素角點
			drawChessboardCorners（imageInput?board_size?L_image_points_buf?true）;//用于在圖片中標記角點
			imshow（“Left?Camera?Calibration“?imageInput）;//顯示圖片
			//imwrite（“G:/bd/Left“+to_string（L_image_count）+“.jpg“?imageInput）;
			waitKey（400）;//暫停		
		}
	}
	int?L_CornerNum?=?board_size.width*board_size.height;??//每張圖片上總的角點數
	std::cout?<

	//標定過程
	Size?square_size?=?Size（31.5f?31.5f）;??//實際測量得到的標定板上每個棋盤格的大小
	vector>?Left_object_points;?//?保存標定板上角點的三維坐標	
	vector?Left_point_counts;??//?每幅圖像中角點的數量
	Mat?Left_cameraMatrix?=?Mat（3?3?CV_32FC1?Scalar::all（0））;//?攝像機內參數矩陣（FxFyCxCy）?
	Mat?Left_distCoeffs?=?Mat（1?5?CV_32FC1?Scalar::all（0））;??//?攝像機的5個畸變系數：k1k2p1p2k3
	vector?Left_tvecsMat;?

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

????..A..H.?????53760??2018-10-04?18:11??TWO\.vs\TWO\v14\.suo

?????文件??????61440??2018-09-11?16:19??TWO\Debug\TWO.pdb

?????文件??????12784??2018-10-02?14:41??TWO\TWO\Calibrate.cpp

?????文件????????818??2018-09-25?12:08??TWO\TWO\Calibrate.h

?????文件???????5981??2018-09-14?09:20??TWO\TWO\camera_configuration_tool.cpp

?????文件???????2471??2018-09-12?11:46??TWO\TWO\camera_configuration_tool.h

?????文件?????290395??2018-09-11?16:08??TWO\TWO\Debug\Example_Exception.obj

?????文件?????193750??2018-09-11?16:19??TWO\TWO\Debug\grab_stereo.obj

?????文件???????4346??2018-09-11?16:08??TWO\TWO\Debug\stdafx.obj

?????文件???????9354??2018-09-11?16:19??TWO\TWO\Debug\TWO.log

?????文件?????179220??2018-09-11?16:19??TWO\TWO\Debug\TWO.obj

?????文件???????3638??2018-09-11?16:19??TWO\TWO\Debug\TWO.tlog\CL.command.1.tlog

?????文件??????78216??2018-09-11?16:19??TWO\TWO\Debug\TWO.tlog\CL.read.1.tlog

?????文件???????2260??2018-09-11?16:19??TWO\TWO\Debug\TWO.tlog\CL.write.1.tlog

?????文件??????????2??2018-09-11?16:19??TWO\TWO\Debug\TWO.tlog\link-cvtres.read.1.tlog

?????文件??????????2??2018-09-11?16:19??TWO\TWO\Debug\TWO.tlog\link-cvtres.write.1.tlog

?????文件??????????2??2018-09-11?16:19??TWO\TWO\Debug\TWO.tlog\link-rc.read.1.tlog

?????文件??????????2??2018-09-11?16:19??TWO\TWO\Debug\TWO.tlog\link-rc.write.1.tlog

?????文件??????????2??2018-09-11?16:19??TWO\TWO\Debug\TWO.tlog\link.command.1.tlog

?????文件??????????2??2018-09-11?16:19??TWO\TWO\Debug\TWO.tlog\link.read.1.tlog

?????文件??????????2??2018-09-11?16:19??TWO\TWO\Debug\TWO.tlog\link.write.1.tlog

?????文件????????192??2018-09-11?16:19??TWO\TWO\Debug\TWO.tlog\TWO.lastbuildstate

?????文件??????????0??2018-09-11?16:19??TWO\TWO\Debug\TWO.tlog\unsuccessfulbuild

?????文件????1059840??2018-09-11?16:19??TWO\TWO\Debug\vc140.idb

?????文件?????585728??2018-09-11?16:19??TWO\TWO\Debug\vc140.pdb

?????文件?????154165??2018-09-11?17:39??TWO\TWO\disparity.png

?????文件???????1257??2018-09-03?16:21??TWO\TWO\Example_Exception.cpp

?????文件???????2491??2017-03-26?18:40??TWO\TWO\Example_Exception.h

?????文件???????7412??2017-03-26?18:40??TWO\TWO\getopt.c

?????文件???????8516??2017-03-26?18:40??TWO\TWO\getopt.h

............此處省略51個文件信息