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stereocalib's Introduction

双目标定测定距离流程

  • 获取左右相机内外参数
    相机内参:(1/dx, 1/dy, Cx, Cy, f)表征了相机的内部结构参数
    dx和dy是相机单个感光单元芯片的长度和宽度,是一个物理参数,Cx,Cy分别代表相机感光芯片的中心点在x和y方向可能存在的偏移,f代表相机的焦距 **相机外参:**相机的旋转矩阵R和平移向量t
  • 立体标定
    对左右两幅图像进行立体校准和对齐(确定两个相机的相对位置关系,即中心距) 获取视差图,获取点云数据
  • 四面体抛分
    将点云数据抛分为一个个四面体,通过所有四面体体积之和得到物体的体积

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