OpenCV编程->双目标定（一）

static void
StereoCalib(const vector<string>& imagelist, Size boardSize, bool useCalibrated = true, bool showRectified = true)
{
	//SingleCameraCalibR(); //右相机内参及焦距测试函数
	//SingleCameraCalibL(); //左相机内参及焦距测试函数
	if (imagelist.size() % 2 != 0)
	{
		cout << "Error: the image list contains odd (non-even) number of elements\n";
		return;
	}

	//bool displayCorners = false;//true;
	bool displayCorners = true;//true;
	const int maxScale = 2;
	//const float squareSize = 1.f;  // Set this to your actual square size
	const float squareSize = 20.f;  // Set this to your actual square size
	// ARRAY AND VECTOR STORAGE:

	vector<vector<Point2f> > imagePoints[2];
	vector<vector<Point3f> > objectPoints;
	Size imageSize;

	int i, j, k, nimages = (int)imagelist.size() / 2;

	imagePoints[0].resize(nimages);
	imagePoints[1].resize(nimages);
	vector<string> goodImageList;

	for (i = j = 0; i < nimages; i++)
	{
		for (k = 0; k < 2; k++)
		{
			const string& filename = imagelist[i * 2 + k];
			Mat img = imread(filename, 0);
			if (img.empty())
				break;
			if (imageSize == Size())
				imageSize = img.size();
			else if (img.size() != imageSize)
			{
				cout << "The image " << filename << " has the size different from the first image size. Skipping the pair\n";
				break;
			}
			bool found = false;
			vector<Point2f>& corners = imagePoints[k][j];
			for (int scale = 1; scale <= maxScale; scale++)
			{
				Mat timg;
				if (scale == 1)
					timg = img;
				else
					resize(img, timg, Size(), scale, scale);
				found = findChessboardCorners(timg, boardSize, corners,
					CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_NORMALIZE_IMAGE);
				//角点绘制   测试通过
			//	cv::drawChessboardCorners(img, cv::Size(3, 7), corners, found);
				cv::imshow("chessboard corners", img);
			//	waitKey(100);
				if (found)
				{
					if (scale > 1)
					{
						Mat cornersMat(corners);
						cornersMat *= 1. / scale;
					}
					break;
				}
			}
			//角点检测 测试成功
			if (displayCorners)
			{
				cout << filename << endl;
				Mat cimg, cimg1;
				cvtColor(img, cimg, COLOR_GRAY2BGR);
				drawChessboardCorners(cimg, boardSize, corners, found);
				double sf = 640. / MAX(img.rows, img.cols);
				resize(cimg, cimg1, Size(), sf, sf);
				imshow("corners", cimg1);
				char c = (char)waitKey(500