基于C++的双目视觉生成三维点云及几种不同的计算重投影残差的方法源码.zip

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matcher=[1027.033905486514, -161.5085476860212] ; dev=1.22144 coord_3D=[-50.36091548795041, 54.94608399008133, -1078.187742915822] ; res_2d=[1117.138515468208, -154.1569722686395] ; matcher=[1116.423392838443, -153.1073724386059] ; dev=1.27006 coord_3D=[-37.94561660933748, 54.23785291483282, -1088.979252645216] ; res_2d=[976.5782904962116, -140.4620692019694] ; matcher=[976.0448041556735, -139.4362654580453] ; dev=1.15624 coord_3D=[-41.71557894708309, 51.30493186191824, -1082.381420603319] ; res_2d=[1020.361347416491, -111.9422394914565] ; matcher=[1019.771283249675, -110.9659914340765] ; dev=1.14072 coord_3D=[-37.65421007666022, 51.25242418952185, -1086.415943474591] ; res_2d=[974.3744260136701, -109.2829043027656] ; matcher=[973.8437875752797, -108.3112770717497] ; dev=1.10708 coord_3D=[-49.97903354202762, 49.77597523568669, -1072.251936059824] ; res_2d=[1115.982432808857, -100.3481044292732] ; matcher=[1115.268804105018, -99.39200219074007] ; dev=1.19306 coord_3D=[-39.45843981552053, 49.42510950317303, -1083.743656703654] ; res_2d=[995.1114900397079, -90.67592768672171] ; matcher=[994.554054522984, -89.73663169716394] ; dev=1.09225 coord_3D=[-39.83457443848534, 38.18587514389882, -1074.63927722921] ; res_2d=[1002.912991383751, 28.71208958488018] ; matcher=[1002.345474524636, 29.4439385026613] ; dev=0.926109 coord_3D=[-39.83457443848534, 38.18587514389882, -1074.63927722921] ; res_2d=[1002.912991383751, 28.71208958488018] ; matcher=[1002.345474524636, 29.4439385026613] ; dev=0.926109 coord_3D=[-37.8928487272351, 37.58422561519489, -1075.834628180322] ; res_2d=[981.0412956718756, 35.80883593893458] ; matcher=[980.5020420974058, 36.52835364221079] ; dev=0.899166 coord_3D=[-48.97157506545197, 13.34563956883767, -1045.646790388686] ; res_2d=[1118.618418614912, 298.616319831724] ; matcher=[1117.901383608327, 298.8791866564577] ; dev=0.7637 coord_3D=[-44.45227410795681, 12.60043264995948, -1052.12746923841] ; res_2d=[1064.309217992415, 307.9435975948709] ; matcher=[1063.662363021996, 308.1902574626266] ; dev=0.692288 coord_3D=[-47.28618950294494, 10.53998449095748, -1045.937486758433] ; res_2d=[1099.372938042286, 330.4536986382554] ; matcher=[1098.680772643561, 330.6612452461248] ; dev=0.722612 coord_3D=[-10.36772613270525, 10.22533982243392, -1081.53289887778] ; res_2d=[677.3125634617759, 337.8332653426342] ; matcher=[677.1657975904336, 338.0279893110227] ; dev=0.243839 coord_3D=[-25.08297057628198, 8.861027167982829, -1067.66453161713] ; res_2d=[842.0831837741613, 351.5241507490883] ; matcher=[841.7234961886344, 351.6950856124016] ; dev=0.398238 coord_3D=[-25.08297057628198, 8.861027167982829, -1067.66453161713] ; res_2d=[842.0831837741613, 351.5241507490883] ; matcher=[841.7234961886344, 351.6950856124016] ; dev=0.398238 coord_3D=[-10.62089894553446, 7.600790736281869, -1079.782523072563] ; res_2d=[680.274608327985, 366.4622634756447] ; matcher=[680.1240148102503, 366.607242067853] ; dev=0.209039 coord_3D=[-26.80283567967077, 6.169977186293532, -1063.535370607487] ; res_2d=[862.323332130127, 381.1341583295214] ; matcher=[861.9374895961322, 381.2536432273506] ; dev=0.40392 coord_3D=[-47.44241012901503, 5.34123886530699, -1041.854598383041] ; res_2d=[1103.248552730647, 389.1317315525636] ; matcher=[1102.551379142225, 389.2373199707933] ; dev=0.705124 coord_3D=[-10.08763689203796, 3.43955016199947, -1076.103085312778] ; res_2d=[674.801862381552, 412.0126647296985] ; matcher=[674.6583409161408, 412.0784955349316] ; dev=0.157899 coord_3D=[-13.38641293117372, -2.074239172505608, -1069.598861142769] ; res_2d=[712.0176236167523, 472.8854935395433] ; matcher=[711.8260107885613, 472.8455525062289] ; dev=0.195731 coord_3D=[-7.750577383793367, -3.119995552650136, -1073.995463582755] ; res_2d=[649.2383019494963, 484.3329112050407] ; matcher=[649.12781451101, 484.2730792871267] ; dev=0.125648 coord_3D=[-33.75353922105717, -4.382888605429462, -1049.318628297825] ; res_2d=[944.849376599255, 499.4084243996303] ; matcher=[944.3568913469168, 499.3223974653386] ; dev=0.499942 coord_3D=[-6.069029236478315, -5.047478015443035, -1072.137884896163] ; res_2d=[630.8041274223526, 505.7021379128074] ; matcher=[630.71746119685, 505.6051751034693] ; dev=0.130049 coord_3D=[-1.051326790816515, -6.032965069055258, -1071.885558440464] ; res_2d=[575.3576502432599, 516.6130365084738] ; matcher=[575.3426336780187, 516.4971150631197] ; dev=0.11689 coord_3D=[-5.059299392344896, -6.836498882226601, -1072.104891651393] ; res_2d=[619.6476087468549, 525.4832480389996] ; matcher=[619.5753593213632, 525.3519138290307] ; dev=0.149895 coord_3D=[-33.74034701795897, -7.03899206206611, -1047.009420117323] ; res_2d=[945.5406483251535, 529.5873277947858] ; matcher=[945.0472697900167, 529.4488623890139] ; dev=0.51244 coord_3D=[-40.44995035430777, -9.037142194541705, -1037.936222965198] ; res_2d=[1025.467371549674, 553.1027015735662] ; matcher=[1024.870709219854, 552.9233761590294] ; dev=0.623028 coord_3D=[-8.523675211371327, -17.59481170155539, -1062.300349655358] ; res_2d=[658.8020074493295, 646.2224268885051] ; matcher=[658.6791614934989, 645.8812978459101] ; dev=0.362574 coord_3D=[-29.47692429806847, -19.1530387093588, -1041.931619291714] ; res_2d=[898.9216074879969, 667.7869916916627] ; matcher=[898.4884715256553, 667.4083923407002] ; dev=0.575278 coord_3D=[-2.457442106646887, -29.93950731846957, -1056.678183753277] ; res_2d=[591.2908108289192, 785.7423362614712] ; matcher=[591.255204938604, 785.1587792322541] ; dev=0.584642 coord_3D=[-17.78713723996402, 90.86388816790998, -1128.408779770449] ; res_2d=[750.4956463632975, -504.5652965004674] ; matcher=[750.2543110387895, -502.906831706853] ; dev=1.67593 coord_3D=[-37.74203465855329, 72.72656315611351, -1102.60494556938] ; res_2d=[969.2889473606191, -331.9231235444732] ; matcher=[968.7648805357251, -330.5646395534834] ; dev=1.45606 coord_3D=[-37.74203465855329, 72.72656315611351, -1102.60494556938] ; res_2d=[969.2889473606191, -331.9231235444732] ; matcher=[968.7648805357251, -330.5646395534834] ; dev=1.45606 coord_3D=[-41.82306625027447, 69.43838782858107, -1096.429282510034] ; res_2d=[1015.672401393208, -300.7792459877902] ; matcher=[1015.088396428106, -299.4748771948792] ; dev=1.42914 coord_3D=[-41.82306625027447, 69.43838782858107, -1096.429282510034] ; res_2d=[1015.672401393208, -300.7792459877902] ; matcher=[1015.088396428106, -299.4748771948792] ; dev=1.42914 coord_3D=[-42.87861755507731, 69.00397617803861, -1095.387328256048] ; res_2d=[1027.519311106131, -296.7925406800339] ; matcher=[1026.919997196273, -295.4950991346059] ; dev=1.42917 coord_3D=[-40.71716485812677, 68.83547473122709, -1096.398442141017] ; res_2d=[1003.734530226025, -294.2822599122171] ; matcher=[1003.165951748896, -292.9891801981229] ; dev=1.41256 coord_3D=[-42.63882702566562, 62.84266332675186, -1090.467778298256] ; res_2d=[1027.006309014063, -233.1888684729189] ; matcher=[1026.407658021444, -232.0019438441392] ; dev=1.32935 co