Binocular stereo imaging: the desktop all-in-one machine of zspace, intel's RealSense active binocular series, and the future stereo desktop all-in-one machine.
The refresh rate of structured light is very high; Active binocular can obtain higher image resolution; TOF has high accuracy and strong anti-interference.
Binocular vision three-dimensional reconstruction, camera calibration, if calibrated by matlab, the corrected image is line-aligned, but if calibrated directly by opencv, the image cannot be line-aligned, and the depth map generated by SGBM algorithm is matched later.
Stereo correction is mainly divided into two steps to align the image coordinate system of the left and right cameras:
1, according to the rotation matrix r obtained by stereo calibration, rotate the two coordinate systems to make them * * * planes.
Note that at this time, the two image coordinate systems are aligned in the * * * plane, but not necessarily in the line, that is, their X coordinate axis is not a * * * line, because there is still an offset between the two coordinate systems.
The translation matrix T obtained by stereo calibration is used to transform the two coordinate systems to align them.
Bouguer algorithm for stereo correction