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http://blog.csdn.net/sunanger_wang/article/details/7744025

matlab得到所需参数之后opencv将参数存入xml文件，参考http://blog.csdn.net/ilyhlf5201314/article/details/14533013。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;
}