opencv图像去畸变

图像的去畸变是图像预处理的重要环节之一。
1、通过Matlab视觉工具箱对相机进行标定（opencv也可以），求得双目相机的内参矩阵K1和K2，径向畸变系数kl和kr，切向畸变系数pl和pr。
2、利用双目相机采集环境图像

3、通过c++编程去畸变

#include "opencv2/opencv.hpp"
#include <iostream>

using namespace cv;
using namespace std;

int main()
{
	Mat image = imread("c:\\Users\\yangg\\Desktop\\立体匹配\\1左.png");
	
	Mat frame;
	Mat imageCalibration;

	
	Mat cameraMatrix = Mat::eye(3, 3, CV_64F);
	cameraMatrix.at<double>(0, 0) = 7.298187226461823e+02;
	cameraMatrix.at<double>(0, 1) = 1.149701832336639;
	cameraMatrix.at<double>(0, 2) = 6.065109417414607e+02;
	cameraMatrix.at<double>(1, 1) = 7.303572590916242e+02;
	cameraMatrix.at<double>(1, 2) = 3.519951804735597e+02;

	Mat distCoeffs = Mat::zeros(5, 1, CV_64F);
	distCoeffs.