initUndistortRectifyMap源码解析

最新推荐文章于 2025-01-06 12:32:20 发布

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最新推荐文章于 2025-01-06 12:32:20 发布

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本文链接：https://blog.youkuaiyun.com/sunboyiris/article/details/78085866

本文详细介绍了OpenCV中的initUndistortRectifyMap函数，包括参数解析、内部计算过程，涉及到相机内参、旋转矩阵、畸变矫正等多个关键步骤，帮助理解图像畸变矫正的实现细节。

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void cv::initUndistortRectifyMap( InputArray _cameraMatrix, InputArray _distCoeffs,
                              InputArray _matR, InputArray _newCameraMatrix,
                              Size size, int m1type, OutputArray _map1, OutputArray _map2 )
{
    //相机内参、畸变矩阵
    Mat cameraMatrix = _cameraMatrix.getMat(), distCoeffs = _distCoeffs.getMat();
    //旋转矩阵、摄像机参数矩阵
    Mat matR = _matR.getMat(), newCameraMatrix = _newCameraMatrix.getMat();

    if( m1type <= 0 )
        m1type = CV_16SC2;
    CV_Assert( m1type == CV_16SC2 || m1type == CV_32FC1 || m1type == CV_32FC2 );
    _map1.create( size, m1type );
    Mat map1 = _map1.getMat(), map2;
    if( m1type != CV_32FC2 )
    {
        _map2.create( size, m1type == CV_16SC2 ? CV_16UC1 : CV_32FC1 );
        map2 = _map2.getMat();
    }
    else
        _map2.release();

    Mat_<double> R = Mat_<double>::eye(3, 3);
    //A为相机内参
    Mat_<double> A = Mat_<double>(cameraMatrix), Ar;