第五讲5.4.1双目视觉生成点云

一、CMakeLists文件

cmake_minimum_required(VERSION 3.15)
project(stereoVision)
find_package(Pangolin REQUIRED)
find_package(OpenCV REQUIRED)

include_directories(${
   OpenCV_INCLUDE_DIRS})
include_directories(${
   Pangolin_INCLUDE_DIRS})

set(CMAKE_CXX_STANDARD 14)

add_executable(stereoVision main.cpp)
target_link_libraries(stereoVision ${
   OpenCV_LIBS} ${
   Pangolin_LIBRARIES})

二、.cpp文件

#include <opencv2/opencv.hpp>
//容器vector的头文件，vector是可以存放任意类型的动态数组
#include <vector>
#include <string>
#include <Eigen/Core>
//用于显示3D视觉图像
#include <pangolin/pangolin.h>
//Linux系统服务头文件
#include <unistd.h>

using namespace std;
using namespace Eigen;

// 文件路径
string left_file = "/home/zhangman/slambook2-master/ch5/stereo/left.png";
string right_file = "/home/zhangman/slambook2-master/ch5/stereo/right.png";

// 函数声明，在pangolin中画图，已写好，无需调整
void showPointCloud(
        const vector<Vector4d, Eigen::aligned_allocator<Vector4d>> &pointcloud);

int main(int argc, char **argv) {
   

    // 内参
    double fx = 718.856, fy = 718.856, cx = 607.1928, cy = 185.2157;
    // 基线
    double b = 0.573