OpenCV-based-Distance-Estimation-with-Binocular-Fisheye-Camera

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OpenCV-based-Distance-Estimation-with-Binocular-Fisheye-Camera

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Measure binocular distance with opencv

OpenCV-based-Distance-Estimation-with-Binocular-Fisheye-Camera 최신버젼 다운로드

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# OpenCV-based Distance Estimation with Binocular Fisheye Camera
Measure binocular distance with opencv
## Version of package
|package|version|
|------|------|
|opencv| 3.4.3|
|opencv-contrib| |

## Code part
### main.cpp 
　　We calibrate each camera with their chessboard images and get the calibration param (K1, D1, K2, D2, R, T). Then, get the stereo param (R1, R2, P1, P2, Q) with the param above.
### test.cpp
　　We firstly check the correction of param by function 'check_rectify' which would draw lines for checking the alignment of undistorted left_img and undistorted right_img.  
  
　　Then, undistort the test_img with function 'initUndistortRectifyMap' and 'remap'. After that, we can get disparity with SGBM or other algorithm. The last step getting depth translated from disparity is easy.

## Result

![alignment of left_img and right_img](https://github.com/mt-cly/Fisheye_getDistance_baseOn_OPENCV/blob/master/resource/some_result/combine_1.jpg)
![original_img/undistort_img/disparity_img](https://github.com/mt-cly/Fisheye_getDistance_baseOn_OPENCV/blob/master/resource/some_result/disp.png)
![original_img/undistort_img/disparity_img/depth_img](https://github.com/mt-cly/Fisheye_getDistance_baseOn_OPENCV/blob/master/resource/some_result/depth.png)

OpenCV-based-Distance-Estimation-with-Binocular-Fisheye-Camera

OpenCV-based-Distance-Estimation-with-Binocular-Fisheye-Camera 최신버젼 다운로드

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