opencv双目校正代码
时间: 2023-12-14 20:34:32 浏览: 32
以下是OpenCV双目校正的Python代码示例:
```python
import cv2
import numpy as np
# 读取相机标定参数
camera_matrix_left = np.loadtxt('camera_matrix_left.txt')
dist_coeffs_left = np.loadtxt('dist_coeffs_left.txt')
camera_matrix_right = np.loadtxt('camera_matrix_right.txt')
dist_coeffs_right = np.loadtxt('dist_coeffs_right.txt')
R = np.loadtxt('R.txt')
T = np.loadtxt('T.txt')
# 读取图像
img_left = cv2.imread('left.jpg')
img_right = cv2.imread('right.jpg')
# 双目校正
R1, R2, P1, P2, Q, valid_roi_left, valid_roi_right = cv2.stereoRectify(camera_matrix_left, dist_coeffs_left, camera_matrix_right, dist_coeffs_right, img_left.shape[::-1], R, T)
# 生成映射矩阵
map_left_x, map_left_y = cv2.initUndistortRectifyMap(camera_matrix_left, dist_coeffs_left, R1, P1, img_left.shape[::-1], cv2.CV_32FC1)
map_right_x, map_right_y = cv2.initUndistortRectifyMap(camera_matrix_right, dist_coeffs_right, R2, P2, img_right.shape[::-1], cv2.CV_32FC1)
# 映射图像
img_left_rectified = cv2.remap(img_left, map_left_x, map_left_y, cv2.INTER_LINEAR)
img_right_rectified = cv2.remap(img_right, map_right_x, map_right_y, cv2.INTER_LINEAR)
# 显示结果
cv2.imshow('Left Image', img_left_rectified)
cv2.imshow('Right Image', img_right_rectified)
cv2.waitKey(0)
cv2.destroyAllWindows()
```
其中,`camera_matrix_left`、`dist_coeffs_left`、`camera_matrix_right`、`dist_coeffs_right`、`R`和`T`是相机标定参数,需要根据实际情况进行修改。`img_left`和`img_right`是左右相机的图像,需要根据实际情况进行读取。`stereoRectify`函数用于计算双目校正的参数,`initUndistortRectifyMap`函数用于生成映射矩阵,`remap`函数用于映射图像。最后,使用`imshow`函数显示校正后的图像。