matlab双目立体矫正_FPGA 的双目视觉毕业设计（四）之matlab 摄像头畸变矫正算法实现...

1.简述

     有很多大佬对摄像头畸变矫正理论原理进行了推理和实践，我就不重写了，推荐给你们吧

    1.双目相机的畸变校正以及平行校正(极线校正)的入门问题总结

     2. 畸变校正详解

2.我的matlab畸变矫正源码

clear;clc;close all;  image_left = imread('./IMAG_L1.BMP');image_right= imread('./IMAG_R1.BMP'); [H, W, C] = size(image_left);%内参A_L = [727.16981    0           375.50000;      0             726.44894   239.50000;      0             0           1       ];  A_R = [731.58976    0           381.09402;       0            730.18323   246.16608;       0            0           1       ];fx1 = A_L(1,1);fy1 = A_L(2,2);cx1 = A_L(1,3);cy1 = A_L(2,3); fx2 = A_R(1,1);fy2 = A_R(2,2);cx2 = A_R(1,3);cy2 = A_R(2,3);%外参 D_L = [ -0.50296   0.36519   -0.00268   0.00240  0.00000 ];D_R = [ -0.46867   0.27536   -0.00327   0.00309  0.00000 ]; k11 = D_L(1,1);k12 = D_L(1,2);k13 = D_L(1,5);p11 = D_L(1,3);p12 = D_L(1,4); k21 = D_R(1,1);k22 = D_R(1,2);k23 = D_R(1,5);p21 = D_R(1,3);p22 = D_R(1,4); %旋转与平移R = [ -0.00815   -0.00416  0.00418 ];T = [ -104.30359   -3.38916  -5.23585 ]; for v = 1 : H    for u = 1 : W                  B_L = inv(A_L)*[u v 1]';        B_R = inv(A_R)*[u v 1]';                x1 = B_L(1,1);        y1 = B_L(2,1);        r1 = x1^2 + y1^2;                x2 = B_R(1,1);        y2 = B_R(2,1);        r2 = x2^2 + y2^2;                xx1 =  x1*(1 + k11*r1 + k12*r1^2 ) + 2*p11*x1*y1 + p12*(r1 + 2*x1^2) ;        yy1 =  y1*(1 + k11*r1 + k12*r1^2 ) + 2*p12*x1*y1 + p11*(r1 + 2*y1^2) ;                        xx2 =  x2*(1 + k21*r2 + k22*r2^2 ) + 2*p21*x2*y2 + p22*(r2 + 2*x2^2) ;        yy2 =  y2*(1 + k21*r2 + k22*r2^2 ) + 2*p22*x2*y2 + p21*(r2 + 2*y2^2) ;                xxx1 = xx1*fx1 + cx1;        yyy1 = yy1*fy1 + cy1;                xxx2 = xx2*fx2 + cx2;        yyy2 = yy2*fy2 + cy2;                if (xxx1>1 && xxx1<=W && yyy1>1 && yyy1<=H)            w1 = xxx1;            h1 = yyy1;            new_image_L(v,u)=  (floor(w1+1)-w1) * (floor(h1+1)-h1) * image_left(floor(h1),floor(w1)) + (floor(w1+1)-w1) * (h1-floor(h1)) * image_left(floor(h1+1),floor(w1)) + (w1-floor(w1)) * (floor(h1+1)-h1) * image_left(floor(h1),floor(w1+1) ) + (w1-floor(w1)) * (h1-floor(h1)) * image_left(floor(h1+1),floor(w1+1));        end                if (xxx2>1 && xxx2<=W && yyy2>1 && yyy2<=H)            w2 = xxx2;            h2 = yyy2;            new_image_R(v,u)=  (floor(w2+1)-w2) * (floor(h2+1)-h2) * image_right(floor(h2),floor(w2)) + (floor(w2+1)-w2) * (h2-floor(h2)) * image_right(floor(h2+1),floor(w2)) + (w2-floor(w2)) * (floor(h2+1)-h2) * image_right(floor(h2),floor(w2+1) ) + (w2-floor(w2)) * (h2-floor(h2)) * image_right(floor(h2+1),floor(w2+1));        end    endend  subplot(2,2,1);imshow(image_left);title('左相机校正之前');subplot(2,2,3);imshow(new_image_L);title('左相机校正之后'); subplot(2,2,2);imshow(image_right);title('右相机校正之前');subplot(2,2,4);imshow(new_image_R);title('右相机校正之后'); 

3.矫正效果