雙目視覺系統影象校正程式碼

//s_intrinsic_matrixL 左相機內參矩陣
//s_distortion_coeffsL 左相機係數
//s_intrinsic_matrixR 右相機內參矩陣
//s_distortion_coeffsR 右相機係數
//s_steroR 右相機相對左相機的旋轉矩陣
//s_steroT 右相機相對左相機的平移矩陣
//s_imgSize 需要校正的影象的大小
//s_imgL 需要校正的左影象
//s_imgR 需要校正的右影象
//s_reImgL 校正後的左影象
//s_reImgR 校正後的右影象

void CPreprocess::_RectifyImg()
{
cv::Mat R, T, R1, P1, R2, P2;
R1 = cv::Mat::zeros(3,3,CV_8UC1);
R2 = cv::Mat::zeros(3,3,CV_8UC1);
P1 = cv::Mat::zeros(3,4,CV_8UC1);
P2 = cv::Mat::zeros(3,4,CV_8UC1);
cv::Rect roi1, roi2;
//相機矯正
try
{
cv::stereoRectify( s_intrinsic_matrixL, s_distortion_coeffsL,
s_intrinsic_matrixR, s_distortion_coeffsR, s_imgSize,
s_steroR, s_steroT, R1, R2, P1, P2, s_Q, cv::CALIB_ZERO_DISPARITY,
-1, s_imgSize, &roi1, &roi2);
}
catch(…)
{
std::cout << “相機矯正錯誤:”<< std::endl;
}

//畸變校正
cv::Mat map11, map12, map21, map22;
initUndistortRectifyMap(s_intrinsic_matrixL, s_distortion_coeffsL, 
                    R1, P1, s_imgSize, CV_16SC2, map11, map12);
initUndistortRectifyMap(s_intrinsic_matrixR, s_distortion_coeffsR,
                    R2, P2, s_imgSize, CV_16SC2, map21, map22);
//影象幾何變換
remap(s_imgL, s_reImgL, map11, map12, cv::INTER_LINEAR);
remap(s_imgR, s_reImgR, map21, map22, cv::INTER_LINEAR);
//儲存Q矩陣
cv::FileStorage fs("s_Q.xml",CV_STORAGE_WRITE);  
fs << "s_Q"<< s_Q;
fs.release();
 

}
“`

左圖

右圖

校正後的左圖

校正後的右圖