OpenCV 3.0.0处理鱼眼镜头信息 - Fisheye camera model

此篇随笔主要参考OpenCV 3.0.0的官方文档翻译而来，主要用作理解OpenCV对鱼眼相机的标定、图像校正、3D重建功能的理解。

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参考链接：https://docs.opencv.org/3.0.0/db/d58/group__calib3d__fisheye.html#gad626a78de2b1dae7489e152a5a5a89e1

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 Namespace

1 cv::fisheye

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枚举类型

 1 enum      { 
 2   cv::fisheye::CALIB_USE_INTRINSIC_GUESS = 1, 
 3   cv::fisheye::CALIB_RECOMPUTE_EXTRINSIC = 2, 
 4   cv::fisheye::CALIB_CHECK_COND = 4, 
 5   cv::fisheye::CALIB_FIX_SKEW = 8, 
 6   cv::fisheye::CALIB_FIX_K1 = 16, 
 7   cv::fisheye::CALIB_FIX_K2 = 32, 
 8   cv::fisheye::CALIB_FIX_K3 = 64, 
 9   cv::fisheye::CALIB_FIX_K4 = 128, 
10   cv::fisheye::CALIB_FIX_INTRINSIC = 256 
11 }

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函数

//执行相机标定
double   cv::fisheye::calibrate (InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, const Size &image_size, InputOutputArray K, InputOutputArray D, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, int flags=0, TermCriteria criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 100, DBL_EPSILON))

//使用鱼眼模型为2D点叠加畸变效果
void     cv::fisheye::distortPoints (InputArray undistorted, OutputArray distorted, InputArray K, InputArray D, double alpha=0)

//为去畸变和图像校正估计新的相机矩阵
void     cv::fisheye::estimateNewCameraMatrixForUndistortRectify (InputArray K, InputArray D, const Size &image_size, InputArray R, OutputArray P, double balance=0.0, const Size &new_size=Size(), double fov_scale=1.0)

//通过cv::remap()计算去畸变和图像校正的映射，如果D为空，则使用零失真；如果R为空，则使用单位矩阵
void     cv::fisheye::initUndistortRectifyMap (InputArray K, InputArray D, InputArray R, InputArray P, const cv::Size &size, int m1type, OutputArray map1, OutputArray map2)    

//使用鱼眼模型映射点
void     cv::fisheye::projectPoints (InputArray objectPoints, OutputArray imagePoints, const Affine3d &affine, InputArray K, InputArray D, double alpha=