【双目视觉探索路3】分析整理Learning OpenCV3书中立体标定、校正以及对应代码（1）之总体

最新推荐文章于 2020-12-21 04:37:00 发布

Guerrouj

最新推荐文章于 2020-12-21 04:37:00 发布

阅读量2.2k

点赞数 3

分类专栏：双目立体视觉文章标签：立体视觉

本文链接：https://blog.csdn.net/u010369450/article/details/78809423

版权

----------------------------------------------------------------------------------------------

*******由于本部分内容太长，建议同时打开两个窗口进行阅读***********

----------------------------------------------------------------------------------------------

其实上一篇还没写完，但网上各种参考资源交杂于OpenCV1.0和OpenCV3之间，看的脑袋有点乱，个人不太喜欢先扔一大段原理，然后没有程序示意的方式；倾向于简单粗暴的直接展示的模式

想了下还是先分析书上的源码可能比较靠谱。

配置

VS2017+OpenCV3.3

配置方法参见：OpenCV3.3.0在Visual Studio 2017上的配置

本部分内容为

基本原理+书上代码

书上down下来的源代码有点错误，在调试的过程中不断更改

基本原理

回顾一下立体视觉的基本内容

代码

代码来源:书上Stereo Calibration,Rectification and Correspondence Code Example

Raw Data

包含一个读取名称流的.txt文件，以及畸变很大的左右棋盘格图像各14幅

书上的代码样例，进行一段一段的分析：

#include <opencv2/opencv.hpp>
#include <iostream>
#include <string.h>
#include <stdlib.h>
#include <stdio.h>
#include <math.h>

using namespace std;

void help(char *argv[]) {
  cout
      << "\n\nExample 19-3. Stereo calibration, rectification, and "
         "correspondence"
      << "\n    Reads in list of locations of a sequence of checkerboard "
         "calibration"
      << "\n    objects from a left,right stereo camera pair. Calibrates, "
         "rectifies and then"
      << "\n    does stereo correspondence."
      << "\n"
      << "\n    This program will run on default parameters assuming you "
         "created a build directory"
      << "\n    directly below the Learning-OpenCV-3 directory and are "
         "running programs there.   NOTE: the list_of_stereo_pairs> must"
      << "\n    give the full path name to the left right images, in "
         "alternating"
      << "\n    lines: left image, right image, one path/filename per line, see"
      << "\n    stereoData/example_19-03_list.txt file, you can comment out "
         "lines"
      << "\n    there by starting them with #."
      << "\n"
      << "\nDefault Call (with parameters: board_w = 9, board_h = 6, list = "
         "../stereoData_19-03_list.txt):"
      << "\n" << argv[0] << "\n"
      << "\nManual call:"
      << "\n" << argv[0] << " [<board_w> <board_h> <path/list_of_stereo_pairs>]"
      << "\n\n PRESS ANY KEY TO STEP THROUGH RESULTS AT EACH