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smith's Introduction

说明文档

编译环境及安装

  • 本次大作业采用Python3.6编译完成
  • 考虑到安装环境比较复杂，故附上requirement.txt文件可一键安装运行环境，步骤如下：

在项目路径下运行cmd,输入pip install -r requirements.txt，等待安装完成即可

代码组成及运行方法

代码组成

  • calibration.py为相机内参标定文档，代码从网上参考得来
  • restoration.py为图像去畸变
  • Featurematching.py中包括了两幅图像的特征点匹配与初步筛选
  • RANSC.py（少打了一个A）中为ransac求取基础矩阵
  • plot.py中为R,t求解与三角化和最后的三维点云重构
  • estimator.py为第三幅图像的位姿估算与3D-2D关系矩阵求解
  • main.py为主文档，运行该文档即可

运行方法

  • 在项目路径下打开cmd，输入python main.py即可
  • 项目分为两个阶段，第一个阶段为输出点云建模，观察完点云后即可关闭窗口，程序继续运行输出各参数结果

其他文件

  • biaoding中存放相机标定所用的照片
  • matchdemo中存放匹配所用的三张照片

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