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Author:?smilealvin92
Time:?11/21/2019
Version:?1.0
Reference:?Stephane?Vujasinovic?and?Frederic?Uhrweiller
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import?numpy?as?np
import?os
import?cv2

#?應該要降低圖片的分辨率，才能符合原項目的參數
#?Filtering對于分辨率比較大的圖像，是否要增大濾波器？
kernel?=?np.ones（（3?3）?np.uint8）


class?StereoVision:
????def?__init__（self?corner_num_w?corner_num_h?frame_w
?????????????????frame_h?mouse_event?chess_img_dir?chess_img_num?camera_id）:
????????#?Termination?criteria
????????#?設置尋找亞像素角點的參數，采用的停止準則是最大循環次數30和最大誤差限度0.001
????????self.criteria?=?（cv2.TERM_CRITERIA_EPS?+?cv2.TERM_CRITERIA_MAX_ITER?30?0.001）
????????self.criteria_stereo?=?（cv2.TERM_CRITERIA_EPS?+?cv2.TERM_CRITERIA_MAX_ITER?30?0.001）
????????self.img_channel?=?3
????????self.corner_num_h?=?corner_num_h
????????self.corner_num_w?=?corner_num_w
????????sel