Fifth calibration example - Calibrating a stereo system

Fifth calibration example - Calibrating a stereo system, stereo image rectification and 3D stereo triangulation

第5个例子---标定立体系统，立体图像矫正以及3D立体三角校正

This example shows how to use the toolbox for calibrating a stereo system (intrinsically and extrinsically) and use the result of stereo calibration for stereo image rectification and 3D stereo triangulation.

这个例子显示怎样用工具箱来标定立体系统（内部参数和外部参数），用得到的结果来矫正立体图像以及3D立体三角校正。

Download the stereo data set stereo_example.zip (853Kb zipped) consisting of 14 pairs of corresponding left and right images. The images are namedleft01.jpg,...,left14.jpg andright01.jpg,...,right14.jpg. The package contains the two individual calibration results filesCalib_Results_left.mat andCalib_Results_right.mat produced after separately calibrating the two cameras using the standard procedure described in thefirst example. The only difference is that after each calibration, the calibration result fileCalib_Results.mat has been renamed to eitherCalib_Results_left.mat for the left camera orCalib_Results_right.mat for the right camera.
下载立体图像数据包stereo_example.zip，其中含有14对对应的左图像和右图像。被命名为left01.jpg,...,left14.jpg andright01.jpg,...,right14.jpg. 这个包中还有两个独立的标定数据结果Calib_Results_left.mat和Calib_Results_right.mat(是用例子1中的方式获得的)。只是名字改了一下。

Run the main stereo calibration toolbox by typing stereo_gui in the main matlab window. The toolbox window should turn into:

在命令行中，键入stereo_gui，出现：

From within the folder containing the stereo data, click on the first button of the stereo toolbox Load left and right calibration files. The main matlab window will prompt you for the left and right camera calibration files:
点击按钮Load left and right calibration files。会出现：