1. 基于findChessboardCorners的双目精度评估

原理：

代码：

#include <iostream>
#include <opencv2/opencv.hpp>using namespace std;
using namespace cv;int main()
{// 加载图像auto srcimage = imread("/home/oem/data/steroe_precision_evo/left1.jpg");if(srcimage.empty()){cout << "Image not found." << endl;return -1;}// 棋盘格尺寸Size patternSize(6, 8); // 直接指定棋盘格内角点数量，减1已在此处处理// 检测棋盘格角点vector<Point2f> corners;bool found = findChessboardCorners(srcimage, patternSize, corners);cout << " ret:" << found << endl;cout << " corners_size:" << corners.size() << endl;// 如果找到足够角点，进行亚像素精确化if(found){cvtColor(srcimage, srcimage, COLOR_BGR2GRAY); // 重用srcimage, 减少Mat对象的创建cornerSubPix(srcimage, corners, Size(11,11), Size(-1,-1),TermCriteria(TermCriteria::EPS + TermCriteria::COUNT, 30, 0.1));cvtColor(srcimage, srcimage, COLOR_GRAY2BGR); // 转回彩色图用于显示}// 绘制检测到的角点drawChessboardCorners(srcimage, patternSize, corners, found);// 显示图像namedWindow("chessboard corners", WINDOW_AUTOSIZE);imshow("chessboard corners", srcimage);waitKey(0);return 0;
}

cmakelists:

find_package(OpenCV 4)target_link_libraries(${PROJECT_NAME}
${OpenCV_LIBS}
)add_executable(stereo_evo Examples/stereo_evo.cc)
target_link_libraries(stereo_evo${PROJECT_NAME})

输入：

输出：

注意点：
其中棋盘格尺寸尤其容易出错！！！，且注意检查

// 棋盘格尺寸
Size patternSize(6, 8); // 直接指定棋盘格内角点数量，减1已在此处处理