首先就是进行标定板的图像采集

这里附上OpenCV简单的图片采集程序，按‘q' 获取，按esc退出！

#include "opencv2/opencv.hpp"
#include <string>
#include <iostream>using namespace cv;
using namespace std;int main()
{VideoCapture inputVideo(0);inputVideo.set(CV_CAP_PROP_FRAME_WIDTH, 800);inputVideo.set(CV_CAP_PROP_FRAME_HEIGHT, 600);if (!inputVideo.isOpened()){cout << "Could not open the input video " << endl;return -1;}Mat frame;string imgname;int f = 1;while (1) //Show the image captured in the window and repeat{inputVideo >> frame;              // readif (frame.empty()) break;         // check if at endimshow("Camera", frame);char key = waitKey(1);if (key == 27)break;if (key == 'q' || key == 'Q'){imgname = to_string(f++) + ".jpg";imwrite(imgname, frame);}}cout << "Finished writing" << endl;return 0;
}

注意这里inputVideo.set(CV_CAP_PROP_FRAME_WIDTH, 800);

MATLAB操作

为了防止可能产生极大的扭曲，所以选择使用两参数，并且选择错切和桶形畸变。

直接点击Calibrate 就可以了

这是矫正前的图片：

数据分析：

白畸变参数，总共有五个，径向畸变3个（k1,k2,k3）和切向畸变2个(p1,p2)。
径向畸变：

切向畸变：

以及在OpenCV中的畸变系数的排列（这点一定要注意k1，k2，p1，p2，k3）。

对应 k1 k2      k3由于前面选择，所以这里就为0

对应 p1 p2

对应

矫正代码示例：

#include "opencv2/opencv.hpp"
#include <string>
#include <iostream>using namespace cv;
using namespace std;int main()
{VideoCapture inputVideo(1);inputVideo.set(CV_CAP_PROP_FRAME_WIDTH, 800);inputVideo.set(CV_CAP_PROP_FRAME_HEIGHT, 600);if (!inputVideo.isOpened()){cout << "Could not open the input video: " << endl;return -1;}Mat frame;Mat frameCalibration;inputVideo >> frame;Mat cameraMatrix = Mat::eye(3, 3, CV_64F);cameraMatrix.at<double>(0, 0) = 917.052472085750;cameraMatrix.at<double>(0, 1) = 0.657056681717874;cameraMatrix.at<double>(0, 2) = 408.884053678499;cameraMatrix.at<double>(1, 1) = 916.541676777971;cameraMatrix.at<double>(1, 2) = 332.189066871859;Mat distCoeffs = Mat::zeros(5, 1, CV_64F);distCoeffs.at<double>(0, 0) = -0.108750634204250;distCoeffs.at<double>(1, 0) = -0.155068804309725;distCoeffs.at<double>(2, 0) = -0.00261486335789016;distCoeffs.at<double>(3, 0) = 0.00154770538482982;distCoeffs.at<double>(4, 0) = 0;Mat view, rview, map1, map2;Size imageSize;imageSize = frame.size();initUndistortRectifyMap(cameraMatrix, distCoeffs, Mat(),getOptimalNewCameraMatrix(cameraMatrix, distCoeffs, imageSize, 1, imageSize, 0),imageSize, CV_16SC2, map1, map2);while (1) //Show the image captured in the window and repeat{inputVideo >> frame;              // readif (frame.empty()) break;         // check if at endremap(frame, frameCalibration, map1, map2, INTER_LINEAR);imshow("Origianl", frame);imshow("Calibration", frameCalibration);char key = waitKey(1);if (key == 27 || key == 'q' || key == 'Q')break;}return 0;
}