StereoMatch立体匹配

int StereoMatch::loadCalibData(const char* xmlFilePath)
{
	// 读入摄像头定标参数 Q roi1 roi2 mapx1 mapy1 mapx2 mapy2
	try
	{
		cv::FileStorage fs(xmlFilePath, cv::FileStorage::READ);		
		if ( !fs.isOpened() )
		{
			return (0);
		}

		cv::Size imageSize;
		cv::FileNodeIterator it = fs["imageSize"].begin(); 
		it >> imageSize.width >> imageSize.height;
		if (imageSize.width != m_frameWidth || imageSize.height != m_frameHeight)
		{
			return (-1);
		}

		vector<int> roiVal1;
		vector<int> roiVal2;

		fs["leftValidArea"] >> roiVal1;
		m_Calib_Roi_L.x = roiVal1[0];
		m_Calib_Roi_L.y = roiVal1[1];
		m_Calib_Roi_L.width = roiVal1[2];
		m_Calib_Roi_L.height = roiVal1[3];

		fs["rightValidArea"] >> roiVal2;
		m_Calib_Roi_R.x = roiVal2[0];
		m_Calib_Roi_R.y = roiVal2[1];
		m_Calib_Roi_R.width = roiVal2[2];
		m_Calib_Roi_R.height = roiVal2[3];

		fs["QMatrix"] >> m_Calib_Mat_Q;
		fs["remapX1"] >> m_Calib_Mat_Remap_X_L;
		fs["remapY1"] >> m_Calib_Mat_Remap_Y_L;
		fs["remapX2"] >> m_Calib_Mat_Remap_X_R;
		fs["remapY2"] >> m_Calib_Mat_Remap_Y_R;

		cv::Mat lfCamMat;
		fs["leftCameraMatrix"] >> lfCamMat;
		m_FL = lfCamMat.at<double>(0,0);