TEAM PLATINUM
##Compilation
To compile follow these directions:
> cd <cloned directory>
> cmake .
> make
##Usage
###stereo_calib
The purpose of this program is to generate the stereo camera parameters. It
creates two files, intrinsics.yml and extrinsics.yml which contain the
data.
To run:
> ./stereo_calb -w <X> -h <Y> <pics.xml>
Where <X> is the number of checkerboard intersections along the x-axis,
and <Y> is the number of checkerboard intersections along the y-axis,
and <pics.xml> is an xml file that specifies the desired calibration photos
which should be used.
###stereo_rect The purpose of this program is to rectify a pair of stereo images given the camera parameters generated by stereo_calib.
To run:
> ./stereo_rect <intrinsics.yml> <extrinsics.yml> <left photo> <right photo>
where <extrinsics.yml> is a yaml file that contains the extrinsic data
generated from stere_calib,
and <intrinsics.yml> is a yaml file that contains the intrinsic data
generated from stere_calib,
and <left photo> is the name of the left stereo image file,
and <right photo> is the name of the right stereo image file.
###find_dist The purpose of this program is to find the real world distance between two points in a stereo image.
To run:
> ./find_dist <extrinsics.yml> <width> <height> <L1x> <L1y> <R1x> <R1y> <L2x> <L2y> <R2x> <R2y>
Where <extrinsics.yml> is a yaml file that contains the extrinsic data
generated from stereo_calib,
and <width> is the width of the images in pixels,
and <height> is the height of the images in pixels,
and <L1x>is the x-coordinate of the first point in the left photo,
and <L1y>is the y-coordinate of the first point in the left photo,
and <R1x>is the x-coordinate of the first point in the right photo,
and <R1y>is the y-coordinate of the first point in the right photo,
and <L2x>is the x-coordinate of the second point in the left photo,
and <L2y>is the y-coordinate of the second point in the left photo,
and <R2x>is the x-coordinate of the second point in the right photo,
and <R2y>is the y-coordinate of the second point in the right photo.