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0 准备工作

• VMware安装uabntu16.04
• 
  ubantu下安装anaconda3
  
• 
  在anaconda新建环境：opencv
  
• 
  在新建环境opencv下安装opencv-python库
  
  ：pip install opencv-python -i https://pypi.douban.com/simpl
• 在新建环境opencv下安装opencv库：conda install opencv
• 
  在jupyter notebook中嵌入新建环境opencv
  
• windows10 下安装Matlab
• 单usb双目摄像头：本人使用的是lenaCV 3D Camera
• 棋盘格：可以下载打印
  

1 双目相机标定

1.1  获取标定图片并分割左右图片

python代码

import cv2

#分割双目图片
def divide_img(img): #i=0横向分割 默认i=1纵向分割
    h = img.shape[0]
    w = img.shape[1]
    L_img = img[0:h, 0:int(w/2), :]
    R_img = img[0:h, int(w/2):w, :]
    return L_img, R_img

#读取摄像头
cap=cv2.VideoCapture(0)
i=1
while True:
    ret, frame=cap.read()
    #frame = cv2.flip(frame,1) 
    cv2.imshow('frame',frame)
    if cv2.waitKey(1)==ord('s'):
        #cv.resize(frame,(640，480))
        cv2.imwrite('./cap_data/img%d.jpg'%i,frame)
        print('had written img%d.jpg'%i, frame.shape)
        L_img, R_img = divide_img(frame)
        cv2.imwrite('./cap_data/L_img/L_img%d.jpg'%i,L_img)
        cv2.imwrite('./cap_data/R_img/R_img%d.jpg'%i,R_img)
        #print('had written img%d.jpg'%i, frame.shape)
        i+=1   
    elif cv2.waitKey(5)==ord('q'):
        break

1.2 用Matlab进行标定