合并瑞瑞双目标定文档

Reviewed-on: logzhan/RobotKernal-UESTC#3

Code/RK3588/stereo_yolo/catpure_photo.py

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+import numpy as np
+import cv2
+
+cap = cv2.VideoCapture(0)
+
+i = 0
+cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1280)
+# # cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 680)
+while(cap.isOpened()):
+    ret, frame = cap.read()
+    # height, width, channels = frame.shape
+    # print(f"Image size: {width} x {height}")
+    if ret==True:
+        left = frame[:,0:640]
+        right = frame[:,640:1280]
+	#cv2.nameswindow(0)
+        cv2.imshow('frame', frame)
+        if cv2.waitKey(10)  == ord('q'):
+            cv2.imwrite("D:\code\python\l\l_" + str(i) + ".jpg",left)
+            cv2.imwrite("D:\code\python\s\s_" + str(i) + ".jpg",right)
+            i = i +1
+    else:
+        break

Docs/双目标定流程.md

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+# 双目标定
+
+使用matlab对双目图像进行标定
+
+1. 拍摄双目图像然后将左右目图像进行分割。拍摄和分割均在`catpture_photo.py`完成。完成后图片自动保存在文件夹中。
+2. 打开matlab
+
+![Untitled](./image/Untitled.png)
+
+点击New Session后Add Images分别添加左右目图像。
+
+点击Calibrate进行标定
+
+1. 标定完成后Export Camera Parameters
+2. 获得标定结果
+
+![Untitled](./image/Untitled 1.png)
+
+```cpp
+
+new_stereo:
+
+Mat cam_matrix_left = (Mat_<double>(3, 3) << 
+ 4.869084743604942e+02, 0, 0,
+        0,4.859921620798602e+02, 0,
+      2.813183643903652e+02, 2.267657091677993e+02, 1);
+    Mat cam_matrix_right = (Mat_<double>(3, 3) << 
+     4.859133331805883e+02, 0, 0,
+        0,4.850356748771951e+02, 0,
+       2.970046483040089e+02, 2.324763397214774e+02, 1);
+    Mat distortion_l = (Mat_<double>(1, 5) <<0.121235284781974,-0.161097849662596, 0,
+        0, 0);
+
+    Mat distortion_r = (Mat_<double>(1, 5) <<0.105479235005840,-0.120347246815955, 0,
+        0, 0);
+    Mat rotate = (Mat_<double>(3, 3) << 
+     0.999921984818601, 3.753847738839353e-04, -0.012485325894835,
+       -4.085449515452996e-04, 0.999996396040715, -0.002653487630467,
+       0.012484284819374, 0.002658381435011,0.999918534502034);
+    Mat trans = (Mat_<double>(3, 1) << 
+       -60.319997608188590, -0.019664800882533, -0.638993708428792);
+```
+
+old stereo
+
+```jsx
+Mat cam_matrix_left = (Mat_<double>(3, 3) << 
+4.809895643547006e+02, 0, 0,
+        0,4.807599168204821e+02, 0,
+     3.362108165786334e+02, 2.298502481932070e+02, 1);
+    Mat cam_matrix_right = (Mat_<double>(3, 3) << 
+     4.903260126250775e+02, 0, 0,
+        0,4.900310486342847e+02, 0,
+      3.230124997386542e+02, 2.346297967642670e+02, 1);
+    Mat distortion_l = (Mat_<double>(1, 5) <<0.113688825569154,-0.106166584327678, 0,
+        0, 0);
+
+    Mat distortion_r = (Mat_<double>(1, 5) <<0.121425307936153,-0.141892782717707, 0,
+        0, 0);
+    Mat rotate = (Mat_<double>(3, 3) << 
+    0.999996295879846, 8.723884080433472e-04, 0.002578209660240,
+      -8.682590894537506e-04,0.999998339366207, -0.001602308016931,
+      -0.002579603213718,0.001600063527818,0.999995392711370);
+    Mat trans = (Mat_<double>(3, 1) << 
+       -60.348359844102470,-0.030699794141365, 0.495248628081046);
+```
+
+注意：拍摄和分割程序在windows下完成，在linux下拍摄，标定结果精度不高。