Stereo Matching

GitHub - DLuensch/StereoVision-ADCensus: All in one solution for stereo vision with algorithms such as ADCensus, SGBM, BM.

star还不错，但是时间太久了，14年的，而且没有现成的例子

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​​​​​​​GitHub - guimeira/stereo-tuner: Parameter tuner for OpenCV stereo-matching algorithms

带调参界面的；

这个也有实现了rectify. 直接用这个就好了

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GitHub - sourishg/stereo-calibration: Stereo camera calibration using OpenCV and C++

这个有从原始图像到最后rectify的完整过程

从原始图像到undistort和rectify的过程是：

cv::Mat lmapx, lmapy, rmapx, rmapy;
  cv::Mat imgU1, imgU2;

  cv::initUndistortRectifyMap(K1, D1, R1, P1, img1.size(), CV_32F, lmapx, lmapy);
  cv::initUndistortRectifyMap(K2, D2, R2, P2, img2.size(), CV_32F, rmapx, rmapy);
  cv::remap(img1, imgU1, lmapx, lmapy, cv::INTER_LINEAR);
  cv::remap(img2, imgU2, rmapx, rmapy, cv::INTER_LINEAR);
  
  imwrite(leftout_filename, imgU1);
  imwrite(rightout_filename, imgU2);