Intrinsic parameters of left camera:
Focal Length: fc_left = [ 320.53138 321.62046 ] ?[ 1.32444 1.28994 ]
Principal point: cc_left = [ 189.07393 138.31678 ] ?[ 1.46055 1.15690 ]
Skew: alpha_c_left = [ 0.00000 ] ?[ 0.00000 ] => angle of pixel axes = 90.00000 ?0.00000 degrees
Distortion: kc_left = [ 0.04024 -0.03178 0.00151 -0.00474 0.00000 ] ?[ 0.01025 0.04459 0.00135 0.00163 0.00000 ]
Intrinsic parameters of right camera:
Focal Length: fc_right = [ 320.67065 321.90891 ] ?[ 1.37908 1.31535 ]
Principal point: cc_right = [ 173.92413 126.43983 ] ?[ 1.44923 1.13767 ]
Skew: alpha_c_right = [ 0.00000 ] ?[ 0.00000 ] => angle of pixel axes = 90.00000 ?0.00000 degrees
Distortion: kc_right = [ 0.01930 -0.00796 0.00184 -0.00471 0.00000 ] ?[ 0.00889 0.02241 0.00118 0.00162 0.00000 ]
Extrinsic parameters (position of right camera wrt left camera):
Rotation vector: om = [ -0.00097 -0.00406 -0.00463 ] ?[ 0.00351 0.00459 0.00029 ]
Translation vector: T = [ -50.53242 0.09040 -0.62284 ] ?[ 0.38731 0.32873 1.79637 ]
根据上面使用MATLAB得到的参数矩阵和R,T使用OPENCV计算mx1,my1,mx2,my2
左相机内参数矩阵
3
3
d
320.53138 0.00000 189.07393
0.00000 321.62046 138.31678
0.00000 0.00000 1.00000
右相机内参数矩阵
3
3
d
320.67065 0.00000 173.92413
0.00000 321.90891 126.43983
0.00000 0.00000 1.00000
左相机畸变参数矩阵
1
5
d
0.04024 -0.03178 0.00151 -0.00474 0.00000
右相机畸变参数矩阵
1
5
d
0.01930 -0.00796 0.00184 -0.00471 0.00000
左右相机间的旋转矩阵R
3
1
d
-0.00097 -0.00406 -0.00463
左右相机间的平移矩阵T
3
1
d
-50.53242 0.09040 -0.62284
最后使用OpenCV计算矫正参数矩阵
/// here used BOUGUET'S METHOD for calibration
/// as I have got the parameter from MATLAB Calib_ToolBox
///
#include
#include "cv.h"
#include "cxcore.h"
#include "highgui.h"
#pragma comment(lib, "cv")
#pragma comment(lib, "cxcore")
#pragma comment(lib, "highgui")
using namespace std;
#define WIDTH 320
#define HEIGHT 240
void main()
{
CvMat* _M1 = cvCreateMat(3, 3, CV_64F); // left camera intrinisc matrix
CvMat* _M2 = cvCreateMat(3, 3, CV_64F); // right camera intrinisc matrix
CvMat* _D1 = cvCreateMat(1, 5, CV_64F); // left camera distort matrix
CvMat* _D2 = cvCreateMat(1, 5, CV_64F); // right camera distort matrix
CvMat* _R = cvCreateMat(3, 3, CV_64F); // rotate matrix
CvMat* _T = cvCreateMat(3, 1, CV_64F); // transmit matrix
CvMat* _E = cvCreateMat(3, 3, CV_64F); // essential matrix
CvMat* _F = cvCreateMat(3, 3, CV_64F); // fundmental matrix
CvMat* RM = cvCreateMat(3, 1, CV_64F);
_M1 = (CvMat*)cvLoad("D:\\RectifiedParameter\\left_intrinsics.xml");
_M2 = (CvMat*)cvLoad("D:\\RectifiedParameter\\right_intrinsics.xml");
_D1 = (CvMat*)cvLoad("D:\\RectifiedParameter\\left_distorted.xml");
_D2 = (CvMat*)cvLoad("D:\\RectifiedParameter\\right_distorted.xml");
RM = (CvMat*)cvLoad("D:\\RectifiedParameter\\R.xml");
_T = (CvMat*)cvLoad("D:\\RectifiedParameter\\T.xml");
// Rodrigues transform
cvRodrigues2(RM, _R, 0);
double R1[3][3], R2[3][3], P1[3][4], P2[3][4];
CvMat _R1 = cvMat(3, 3, CV_64F, R1);
CvMat _R2 = cvMat(3, 3, CV_64F, R2);
CvMat _P1 = cvMat(3, 4, CV_64F, P1);
CvMat _P2 = cvMat(3, 4, CV_64F, P2);
cvStereoRectify( _M1,
_M2,
_D1,
_D2,
cvSize(WIDTH, HEIGHT),
_R,
_T,
&_R1, // 左右相机平面间的行对准的校正旋转矩阵
&_R2, // 左右相机平面间的行对准的校正旋转矩阵
&_P1, // 左右投影方程
&_P2, // 左右投影方程
0,
0/*CV_CALIB_ZERO_DISPARITY*/ );
CvMat* mx1 = cvCreateMat( HEIGHT, WIDTH, CV_32F );
CvMat* my1 = cvCreateMat( HEIGHT, WIDTH, CV_32F );
CvMat* mx2 = cvCreateMat( HEIGHT, WIDTH, CV_32F );
CvMat* my2 = cvCreateMat( HEIGHT, WIDTH, CV_32F );
cvInitUndistortRectifyMap(_M1,_D1,&_R1,&_P1,mx1,my1);
cvInitUndistortRectifyMap(_M2,_D2,&_R2,&_P2,mx2,my2);
cvSave("D:\\mymx1.xml", mx1);
cvSave("D:\\mymy1.xml", my1);
cvSave("D:\\mymx2.xml", mx2);
cvSave("D:\\mymy2.xml", my2);
system("pause");
}现在可以计算得到的参数矩阵做Remap了。
本文参考如下：
1. http://www.vision.caltech.edu/bouguetj/calib_doc/
2. /scyscyao/article/details/5443341
