MATLAB双目标定与OpenCV计算矫正参数矩阵

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MATLAB标定工具箱使用bouguetj的工具箱，双目标定的过程见
 
http://www.vision.caltech.edu/bouguetj/calib_doc/
点击打开链接中的
First calibration example - Corner extraction, calibration, additional tools和
Fifth calibration example - Calibrating a stereo system, stereo image rectification and 3D stereo triangulation
生成的双目相机内外参如下：

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Intrinsic parameters of left camera:


Focal Length:          fc_left = [ 320.53138   321.62046 ] ?[ 1.32444   1.28994 ]
Principal point:       cc_left = [ 189.07393   138.31678 ] ?[ 1.46055   1.15690 ]
Skew:             alpha_c_left = [ 0.00000 ] ?[ 0.00000  ]   => angle of pixel axes = 90.00000 ?0.00000 degrees
Distortion:            kc_left = [ 0.04024   -0.03178   0.00151   -0.00474  0.00000 ] ?[ 0.01025   0.04459   0.00135   0.00163  0.00000 ]




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