Opencv 双目标定之后，校正图像出现错误，求大神指导

最新推荐文章于 2025-07-06 22:08:15 发布

hejiayu64

最新推荐文章于 2025-07-06 22:08:15 发布

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本文链接：https://blog.youkuaiyun.com/hejiayu64/article/details/86254669

在使用OpenCV进行双目标定后，校正图像出现了错误。已确认角点顺序正确，但标定后的图像不正常。问题可能出现在标定代码的某个环节，例如图像大小不一致、角点检测、参数设置等。目前尚未找到解决方案。

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左右图像标定结果如下

角点顺序左右图都没错。

可是标定之后，校正的图像如下错误

标定代码如下

void main()

{

Size boardSize;
boardSize.width = 11;
boardSize.height = 8;

vector<string> imagelist;
bool ok = readStringList("D:/Code/vision/Binocular_Demo/Binocular_Calibration/Image/stereo_calib.xml", imagelist);

StereoCalib(imagelist, boardSize, true, true, true);

}

bool Binocular_Calibration::StereoCalib(const vector<string>& imagelist, Size boardSize, bool displayCorners = false, bool useCalibrated = true, bool showRectified = true)
{
   if (imagelist.size() % 2 != 0)
   {
       cout << "Error: the image list contains odd (non-even) number of elements\n";
       return false;
   }

   const int maxScale = 2;
   const float squareSize = 1.f; // Set this to your actual square size
                               // ARRAY AND VECTOR STORAGE:

   vector<vector<Point2f> > imagePoints[2];
   vector<vector<Point3f> > objectPoints;
   Size imageSize;

int i, j, k, nimages = (int)imagelist.size() / 2;

   imagePoints[0].resize(nimages);
   imagePoints[1].resize(nimages);
   vector<string> goodImageList;

   for (i = j = 0; i < nimages; i++)
   {
       for (k = 0; k < 2; k++)
       {
           const string& filename = imagelist[i * 2 + k];
           Mat img = imread(filename, 0);
           if (img.empty())
               break;
           if (imageSize == Size())
               imageSize = img.size();
           else if (img.size() != imageSize)
           {
               cout << "The image " << filename << " has the size different from the first image size. Skipping the pair\n";
               break;
           }
           bool fou