matlab 的测距函数 triangulate demo

最新推荐文章于 2024-07-12 23:34:20 发布

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最新推荐文章于 2024-07-12 23:34:20 发布

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本文链接：https://blog.csdn.net/hankerbit/article/details/80685851

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打开matlab在命令窗口输入：openExample('vision/MeasureDistanceFromStereoCameraToAFaceExample')

enjoy！！

%% Measure Distance from Stereo Camera to a Face
%%
% Load stereo parameters.
load('webcamsSceneReconstruction.mat');
%%
% Read in the stereo pair of images.
I1 = imread('sceneReconstructionLeft.jpg');
I2 = imread('sceneReconstructionRight.jpg');
%%
% Undistort the images.
I1 = undistortImage(I1,stereoParams.CameraParameters1);
I2 = undistortImage(I2,stereoParams.CameraParameters2);
%%
% Detect a face in both images.
faceDetector = vision.CascadeObjectDetector;
face1 = faceDetector(I1);
face2 = faceDetector(I2);

%%
% Find the center of the face.
center1 = face1(1:2) + face1(3:4)/2;
center2 = face2(1:2) + face2(3:4)/2;
%%
% Compute the distance from camera 1 to the face.
point3d = triangulate(center1, center2, stereoParams);
distanceInMeters = norm(point3d)/1000;
%%
% Display the detected face and distance.
distanceAsString = sprintf('%0.2f meters', distanceInMeters);
I1 = insertObjectAnnotation(I1,'rectangle',face1,distanceAsString,'FontSize',18);
I2 = insertObjectAnnotation(I2,'rectangle',face2, distanceAsString,'FontSize',18);
I1 = insertShape(I1,'FilledRectangle',face1);
I2 = insertShape(I2,'FilledRectangle',face2);

imshowpair(I1, I2, 'montage');