双目标定流程

StereoCalib()

      found = findChessboardCorners(timg, boardSize, corners,

                    CALIB_CB_ADAPTIVE_THRESH | CALIB_CB_NORMALIZE_IMAGE);

      cornerSubPix(img, corners, Size(11,11), Size(-1,-1)...)

      double rms = stereoCalibrate(objectPoints, imagePoints[0], imagePoints[1],

                    cameraMatrix[0], distCoeffs[0],

                    cameraMatrix[1], distCoeffs[1]...)

      intrinsics.yml    (M1 M2 D1 D2)

      stereoRectify(cameraMatrix[0], distCoeffs[0],

                            cameraMatrix[1], distCoeffs[1]..R, T, R1, R2, P1, P2, Q)

      extrinsics.yml    (R, T, R1, R2, P1, P2, Q)

      initUndistortRectifyMap()

      initUndistortRectifyMap()

      Mat img = imread()

      remap(img, rimg, rmap[k][0], rmap[k][1], INTER_LINEAR); 

      imshow("rectified", canvas);