利用matlab和opencv进行摄像头校正

在进行摄像头校正过程中，踌躇了许久，现在写出来方便其他人。

1、首先利用matlab的摄像头校正工具箱，下载地址：http://www.vision.caltech.edu/bouguetj/calib_doc/index.html#examples

不得不说matlab非常强大。下载解压之后放到matlab目录下，如：D:\Program Files\MATLAB\R2009b

matlab的运行目录在此下在运行窗口运行calib_gui命令，出现gui窗口


之后的步骤参考http://www.vision.caltech.edu/bouguetj/calib_doc/htmls/example.html第一个例子和/article/8124937.html

matlab得到所需参数之后opencv将参数存入xml文件，参考/article/1843870.html。剩余校正过程参考学习opencv的第十一章11.1例子。

自己的粘下：

#include "stdafx.h"

#include "opencv2/opencv.hpp"

#include "highgui.h"

#include "stdio.h"

#include "cxcore.h"

using namespace std;

int _tmain(int argc, _TCHAR* argv[])

{

CvCapture* capture = cvCreateCameraCapture(0);

if (!capture)

{

fprintf(stderr,"Could not initialize captureing...\n");

return -1;

}

IplImage* Img = cvQueryFrame(capture);

if (!Img)

{

fprintf(stderr, "Could not catch image from capture...\n");

return 0;

}

cvShowImage("UN", Img);

//IplImage* col = 0;

//col = cvCreateImage(cvGetSize(Img), Img->depth, Img->nChannels);

//cvCopy(Img, col, NULL);

CvMat* intrinsic_matrix = cvCreateMat(3, 3, CV_32FC1);

CvMat* distortion_coeffs = cvCreateMat(5, 1, CV_32FC1);

CV_MAT_ELEM(*intrinsic_matrix,float,0,0) = 1.0f;

CV_MAT_ELEM(*intrinsic_matrix, float, 1, 1) = 1.0f;

float a[3][3]= { 1555.84462, 0, 566.84605, 0, 1661.99293, 666.76700, 0, 0, 1 };

float b[5][1] = { -0.19855, 0.05405, 0.00026, 0.00082, 0.00000};

cvInitMatHeader(intrinsic_matrix, 3, 3, CV_32FC1, a);

cvInitMatHeader(distortion_coeffs, 5, 1, CV_32FC1, b);

cvSave("Intrinsics.xml", intrinsic_matrix);

cvSave("Distortion.xml", distortion_coeffs);

CvMat* intrinsic = (CvMat*)cvLoad("Intrinsics.xml");

CvMat* distortion = (CvMat*)cvLoad("Distortion.xml");

IplImage* mapx = cvCreateImage(cvGetSize(Img),IPL_DEPTH_32F,1);//The x coordinate of the image

IplImage* mapy = cvCreateImage(cvGetSize(Img), IPL_DEPTH_32F, 1);//The y coordinate of the image

cvInitUndistortMap(intrinsic, distortion, mapx, mapy);//caculat the distorted and undistorted images

//run the camera to the screen,now show the raw and the undistorted image

while (Img)

{

IplImage *t = cvCloneImage(Img);

cvShowImage("Calibration", t);//show the raw image

cvRemap(t, Img, mapx, mapy);//undistort image

cvReleaseImage(&t);

cvShowImage("Undistorted", Img);//show the corrected image

int c = cvWaitKey(15);

if (c=='p')

{

c = 0;

while (c!='p'&&c!=27)

{

c = cvWaitKey(200);

}

}

if (c==27)

break;

Img = cvQueryFrame(capture);

}

cvDestroyAllWindows();

return 0;

}