OpenCV 双光融合开发全攻略（C++ 版）

原创

已于 2025-03-31 11:23:30 修改 · 369 阅读

3 ·

CC 4.0 BY-SA版权

文章标签：

#opencv #c++ #人工智能 #linux #计算机视觉 #算法

于 2025-03-31 11:21:51 首次发布

OpenCV 双光融合开发全攻略（C++ 版）

一、环境搭建与项目配置

1. 依赖安装（Ubuntu 20.04）

# 安装OpenCV官方库

sudo apt install libopencv-dev python3-opencv

# 验证安装

pkg-config --modversion opencv # 应输出4.5.5+

2. CMake 项目结构

# CMakeLists.txt

cmake_minimum_required(VERSION 3.10)

project(opencv_fusion)

find_package(OpenCV REQUIRED COMPONENTS core highgui imgproc calib3d)

include_directories(${OpenCV_INCLUDE_DIRS})

add_executable(fusion_main

src/calibration.cpp

src/stereo_disparity.cpp

src/image_fusion.cpp

)

target_link_libraries(fusion_main ${OpenCV_LIBS})

3. 核心头文件包含

#include <opencv2/opencv.hpp>

#include <opencv2/calib3d.hpp>

#include <opencv2/imgproc.hpp>

using namespace cv;

using namespace std;

二、双目视觉融合实现

1. 棋盘格校准（C++ 实现）

（1）角点检测与数据采集

Mat img = imread("calib_01.jpg");

Mat gray;

cvtColor(img, gray, COLOR_BGR2GRAY);

Size chessboardSize(8, 6);

vector<Point2f> corners;

bool found = findChessboardCorners(gray, chessboardSize, corners,

CALIB_CB_ADAPTIVE_THRESH | CALIB_CB_FAST_CHECK);

if(found) {

cornerSubPix(gray, corners, Size(11, 11), Size(-1, -1),

TermCriteria(TermCriteria::EPS + TermCriteria::MAX_ITER, 30, 0.1));

drawChessboardCorners(img, chessboardSize, corners, found);

}

（2）相机参数计算

vector<vector<Point3f>> objPoints;

vector<vector<Point2f>> imgPoints;

// 世界坐标系角点（Z=0）

vector<Point3f> objp;

for(int i=0; i<chessboardSize.height; i++) {

for(int j=0; j<