kongyulvbo

说明：  基于opencv平台编写的单目相机标定程序，使用的张正友的方法，只要准备十二张单目相机拍摄的棋盘格的图片就可以标定出单目相机的焦距等参数，建立单目相机坐标系。可以用于机器视觉测量中，也可以用于双面相机标定的前一步，精度很高。(Based on the monocular camera calibration program compiled by the OpenCV platform, the method of Zhang Zhengyou is used to calibrate the focal length and other parameters of the monocular camera and establish a monocular camera coordinate system as long as 12 pieces of chessboard pictures taken by the monocular camera are prepared. It can be used in machine vision measurement, and it can also be used in the previous step of the calibration of the double-sided camera, with high precision.)

说明：  最二小乘影像匹配，精度可以达到0.01个像素，也可以最二小乘影像模板匹配。经过修改后可以直接用，只要调用一个函数就搞定，函数参数的说明很清楚，绝对不会有任何困难，非常好用。(Most two Theravada image matching accuracy can reach 0.01 pixel images can also be the most two Theravada template matching. After modifications can be directly used, as long as is you call a function, function parameters, the description is clear and will not have any difficulties, very easy to use.)

说明：  直方图均衡化,matlab做的,大家可以下载分析,便于图象处理编程学习(histogram equalization, Matlab done, we can download analysis, image processing program to facilitate learning)

读取图像，将RGB图像转化为灰度图像，显示并保存(The RGB image is transformed into gray image)

基于LDA的人脸识别技术，从ORL数据库读数据，然后从中取一部分进行训练，一部分进行测试。(This code is LDA base face recognition programme. It reads nots faces from ORL database and the rest (noc-nots) are used as test. LDA_Performance shows the recognition performance. )

这里的图像增强包括灰度修正、平滑、滤波、锐化等，是图像处理的基本操作，本代码调试通过(Here, including gray-level correction image enhancement, smoothing, filtering, sharpening, etc., is the basic image processing operations, the code debugging by)

内含张正友，tsai的标定方法，可以求解摄像机内参数u轴尺度因子，v轴尺度因子，摄像机外参数：两摄像机坐标系原点之间的旋转矩阵和评议矩阵，可以得出摄像机像素参数，焦距，畸变系数，并且带有优化结果。(Containing Zhang Zhengyou, tsai calibration method that can solve the camera parameters u-axis scale factor v The axis scale factor, the camera extrinsic parameters: the rotation matrix between the two camera coordinate origin, and appraisal matrix can be drawn from the camera pixel parameters, focal length distortion coefficient, and with optimal results. )

IMU姿态跟踪，利用粒子滤波器实现，可用于机器人姿态确定(IMU orientation tracking algorithm using particle filter.)

这是二维图像双边滤波的相关程序，具有保边去噪的效果，适合对图像进行处理。(This is the two-dimensional image bilateral filtering procedures, with the edge-preserving denoising effect, suitable for image processing.)

用CPHD的方法实现多目标跟踪，及对CPHD性能的检测。(With CPHD method to achieve multi-target tracking, and performance testing for CPHD.)