使用OpneCV去畸变

// 不多哔哔,直接上代码片
/**
 *      @time: 2020.10,20
 * 
 */

#include <iostream>

// OpenCV
// 其实用不到这么多
#include <opencv2/core/core.hpp>
#include <opencv2/imgcodecs/imgcodecs.hpp>

// 文件输入输出流
#include <fstream>
#include <sstream>

// boost format格式控制
#include <boost/format.hpp>

// setw() setfill
// 格式化输出
#include <iomanip> 

#include <string.h>


using namespace std;
using namespace cv;

string dataset_path = "/home/wang/Ginger2020/Dataset/Bumblebee/01/image_0";

void ReadImg(int &index, 
             string &DatasetPath,
             cv::Mat &dataset);


int main ( int argc, char** argv )
{
    int img_file_index = 0;
    int filecount = 0;
    
    while (1)
    {
        cv::Mat dataset;

        ReadImg(img_file_index, dataset_path, dataset);

        if(dataset.data == 0) { cout<<"图像读取完毕"<<endl; break; }

        cout << " img_file_index " << img_file_index << endl;
        img_file_index++;

        // 去畸变
        cv::Mat K_img(3, 3, CV_64F);
        cv::Mat coeff(5, 1, CV_64F);

        K_img.at<double>(0, 0) = 1644.7156613466043;   // fx
        K_img.at<double>(0, 1) = 0;
        K_img.at<double>(0, 2) = 640.0;                // cx

        K_img.at<double>(1, 0) = 0;
        K_img.at<double>(1, 1) = 1644.7156613466043;   // fy
        K_img.at<double>(1, 2) = 480.0;                // cy\

        K_img.at<double>(2, 0) = 0;
        K_img.at<double>(2, 1) = 0;
        K_img.at<double>(2, 2) = 1;

        coeff.at<double>(0,0) = -0.54184704404293005; // k1 
        coeff.at<double>(1,0) = -1.1038602217192159;  // k2
        coeff.at<double>(2,0) = 0.0;                  // p1
        coeff.at<double>(3,0) = 0.0;                  // p2
        coeff.at<double>(4,0) = 7.8578495299742874;   // p3

        cv::Mat newimage;
        cv::Mat new_matrix;  // ???

        cv::undistort(dataset, newimage, K_img, coeff, new_matrix);

        // 保存去畸变后的图像
        string imgfilename;
        std::stringstream StrStm;     
    
        //从右往左  剩下的用0填满   一共填充5位   0 — ....      
        StrStm << setfill('0') << setw(5) << filecount;
        
        filecount++;
        
        StrStm >> imgfilename;

        imgfilename += ".jpg";

        imwrite(imgfilename, newimage);

        StrStm.clear(); // 循环，前边写入的会在流里，clear一下
        imgfilename.clear();

        // 先拿10幅图像试试
        if(index==10) { break; } 
    }
    
    return 0;

}


void ReadImg(int &index, 
             string &DatasetPath,
             cv::Mat &dataset)
{

        // format格式控制 %s路径： "/home/ginger/NCUTDataset/917/3/3"
        boost::format fmt("%s/my_video-3_%03d.jpg"); // my_video-3_000.jpg 000是变化的用%03d代替， 03是说从三个零开始：000 
        

        cv::Mat Lab;

        Lab = cv::imread((fmt % DatasetPath % index).str(), cv::IMREAD_GRAYSCALE);

        // 判定图像是否为空
        if ( Lab.data == 0 )
        {
            cout << " 图像读取完毕！ " << endl;
            break;
        }

        dataset = Lab;
}