使用openCV进行图像校正

Question

我尝试使用openCV编写代码，基于Trucco＆amp; Verri book pp.159。，以纠正立体图像。整改的目的是在生成DSM时使用它们，尽管代码工作正常但结果是错误的。

小组中的任何人都可以帮我解决问题。

输入如下：

目前的结果是：

#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <iostream>
#include <iomanip>
#include <opencv2/opencv.hpp>

using namespace cv;
using namespace std;

int main()
{
    Mat input, output;

    input = imread("E:\\Gray_Image.bmp", 1);

    double alpha = -0.0426, beta = -0.1871, gamma = -179.8781,
         dx =1, dy = 1, dz = 16750., f = 16750.;
    double w = (double)input.cols;

    double h = (double)input.rows;
    //the cmera intresic file is 

    Mat CAM = (Mat_<double>(3, 3) <<
            f, 0, w / 2, 
            0, f, h / 2 - 20, 
            0, 0, 1 );

    // Rotation matrices around the X, Y, and Z axis
    Mat RX = (Mat_<double>(3, 3) <<
            1, 0, 0, 
            0, cos(alpha), sin(alpha), 
            0, -sin(alpha), cos(alpha));

    Mat RY = (Mat_<double>(3, 3) <<
            cos(beta), 0, -sin(beta), 
            0, 1, 0, 
            sin(beta), 0, cos(beta));

    Mat RZ = (Mat_<double>(3, 3) <<
            cos(gamma), sin(gamma), 0, 
            -sin(gamma), cos(gamma), 0, 
            0, 0, 1);

    // Composed rotation matrix with (RX, RY, RZ)
    Mat R = RX * RY * RZ;
    //  cout << R << endl;

    Mat Te1 = (Mat_<double>(3, 1) <<
                    dx,
                    dy,
                    dz);

    Mat Te2 = (Mat_<double>(3, 1) <<
                    -dy,
                    dx,
                    0);

    Mat Te3 = (Mat_<double>(3, 1) <<
                -(dx * dz),
                -(dy * dz),
                -(dx*dx + dy*dy));

    Mat e1 =  Te1 * (1.0 / (sqrt(dx*dx + dy*dy + dz*dz)));// * T;
    transpose(e1, Te1);

    Mat e2 = Te2 * (1.0 / (sqrt(dx*dx + dy*dy)));// * T;
    transpose(e2, Te2);
    Mat e3 = Te3 * (1.0 / (sqrt((dx*dx + dy*dy)*(dx*dx + dy*dy + dz*dz))));// * T;                                   
    transpose(e3, Te3);

    Mat Re(3, 3, CV_32F); // 
    // add the above row matrix into one
    Te1.copyTo(Re.row(0));
    Te2.copyTo(Re.row(1));
    Te3.copyTo(Re.row(2));

    cout << CAM << endl;
    cout << Re << endl;
    warpPerspective(input, output, Re, input.size(), INTER_LANCZOS4);
    imshow("Input", input);
    imshow("Output", output);

    ////////////////////////////
    waitKey(0);
    return 0;
}