相机校正

int _tmain(int argc, _TCHAR* argv[])
{
	Mat cam_left;
	Mat cam_right;
	cam_left = imread("left.jpg");
	cam_right = imread("right.jpg");
	Size img_size = cam_left.size();
	/*---相机内参-----
	事先标定好的相机的参数
	fx 0 cx
	0 fy cy
	0 0  1
	---------------*/
	double M1[9] = { 3.3013e+03, 0, 1.5684e+03,
		0, 3.3141e+03, 2.0528e+03,
		0, 0, 1 };
	double D1[5] = { 0.0901, -0.0408, 0, 0, 0 };
	Mat cameraMatrix_L = Mat(3, 3, CV_64FC1, M1);
	Mat distortion_L = Mat(5, 1, CV_64FC1, D1);
	double M2[9] = { 3.3245e+03, 0, 1.5400e+03,
		0, 3.3099e+03, 2.0466e+03,
		0, 0, 1 };
	double D2[5] = { 0.1364, -0.3457, -8.9793e-04, -0.0036, 0.2408 };
	Mat cameraMatrix_R = Mat(3, 3, CV_64FC1, M1);
	Mat distortion_R = Mat(5, 1, CV_64FC1, D1);
	Mat T = (Mat_<double>(3, 1) << -65.47301045400828, 4.226403576803492, -2.926971574200593);//T平移向量
	Mat R = (Mat_<double>(3, 3) << 0.9981990515951071, 0.02792030732749352, -0.05309529012414368,
		-0.0275811104170411, 0.9995942783087172, 0.007110634334427643,
		0.05327227930914599, -0.005633401389326498, 0.9985641336669343);//rec旋转向量
	//畸变校正
	Mat mapLx, mapLy, mapRx, mapRy;
	Mat h = Mat::eye(3, 3, CV_32F);
	initUndistortRectifyMap(cameraMatrix_L, distortion_L, h, cameraMatrix_L, img_size, CV_32FC1, mapLx, mapLy);
	initUndistortRectifyMap(cameraMatrix_R, distortion_R, h, cameraMatrix_R, img_size, CV_32FC1, mapRx, mapRy);
	Mat rectify_L;
	cam_left.copyTo(rectify_L);
	Mat rectify_R = cam_right.clone();;
	remap(rectify_L, rectify_L, mapLx, mapLy, INTER_LINEAR);
	remap(rectify_R, rectify_R, mapRx, mapRy, INTER_LINEAR);

	/*
	立体校正
	*/
	Rect validROIL;//图像校正之后，会对图像进行裁剪，这里的validROI就是指裁剪之后的区域  
	Rect validROIR;
	Mat mapLx, mapLy, mapRx, mapRy; //映射表  
	Mat Rl, Rr, Pl, Pr, Q;       //校正旋转矩阵R，投影矩阵P 重投影矩阵Q
	stereoRectify(cameraMatrix_L, distortion_L, cameraMatrix_R, distortion_R, img_size, R, T, Rl, Rr, Pl, Pr, Q, CALIB_ZERO_DISPARITY,
		0, img_size, &validROIL, &validROIR);
	initUndistortRectifyMap(cameraMatrix_L, distortion_L, Rl, Pl, img_size, CV_32FC1, mapLx, mapLy);
	initUndistortRectifyMap(cameraMatrix_R, distortion_R, Rr, Pr, img_size, CV_32FC1, mapRx, mapRy);
	Mat rectify_L;
	cam_left.copyTo(rectify_L);
	Mat rectify_R = cam_right.clone();;
	remap(rectify_L, rectify_L, mapLx, mapLy, INTER_LINEAR);
	remap(rectify_R, rectify_R, mapRx, mapRy, INTER_LINEAR);

        return 0;
}