Stereo vision procedure, this part of the need to understand the antagonistic relationship between the image and the camera, and a better understanding of epipolar geometry, the first principle is familiar, specific to the programming will be a little easier, overall it is quite time-consuming . Specifically, the program uses the SSD to give the matching point, a fundamental matrix is 琠栀攀渀 calculated according to the matching point, the final calculation of the matching points relevant to the lines

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