鱼眼摄像头标定与畸变校正双OPENCV版本

最近在整理自己以前做过的一些东西，这是基于opencv的鱼眼摄像头畸变校正程序的github地址（https://github.com/WordZzzz/fisheye_calibration）（不知道怎么设置免积分下载，所以只能贴上github了）。 其中： normal_calibrate：基于OPENCV2与OPENCV3通用的函数实现，可实现USB摄像头实时畸变校正； fishey_calibrate：基于OPENCV3独有的fishyey结构体实现，可实现USB摄像头实时畸变校正； fishey_calibrate_img：基于OPENCV3独有的fishyey结构体实现，可实现单张图片畸变校正；

//THE SOFTWARE IS PROVIDED “AS IS“ WITHOUT WARRANTY OF ANY KIND EXPRESS OR
//IMPLIED INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY
//FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
//AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM DAMAGES OR OTHER
//LIABILITY WHETHER IN AN ACTION OF CONTRACT TORT OR OTHERWISE ARISING FROM
//OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
//THE SOFTWARE.
#include  

#include “videoInput.h“
#include 

//Include Directshow stuff here so we don‘t worry about needing all the h files.
#include 
//#include “streams.h“
#pragma include_alias（ “dxtrans.h“ “qedit.h“ ）
#define __IDxtCompositor_INTERFACE_DEFINED__
#define __IDxtAlphaSetter_INTERFACE_DEFINED__
#define __IDxtJpeg_INTERFACE_DEFINED__
#define __IDxtKey_INTERFACE_DEFINED__
#include 
#include 
#include 

//for threading
#include 

#ifndef HEADER
#define HEADER（pVideoInfo） （&（（（VIDEOINFOHEADER *） （pVideoInfo））->bmiHeader））
#endif

// Due to a missing qedit.h in recent Platform SDKs we‘ve replicated the relevant contents here
// #include 
MIDL_INTERFACE（“0579154A-2B53-4994-B0D0-E773148EFF85“）
ISampleGrabberCB : public IUnknown
{
  public:
    virtual HRESULT STDMETHODCALLTYPE SampleCB（ 
        double SampleTime
        IMediaSample *pSample） = 0;
    
    virtual HRESULT STDMETHODCALLTYPE BufferCB（ 
        double SampleTime
        BYTE *pBuffer
        long BufferLen） = 0;
    
};

MIDL_INTERFACE（“6B652FFF-11FE-4fce-92AD-0266B5D7C78F“）
ISampleGrabber : public IUnknown
{
  public:
    virtual HRESULT STDMETHODCALLTYPE SetOneShot（ 
        BOOL OneShot） = 0;
    
    virtual HRESULT STDMETHODCALLTYPE SetMediaType（ 
        const AM_MEDIA_TYPE *pType） = 0;
    
    virtual HRESULT STDMETHODCALLTYPE GetConnectedMediaType（ 
        AM_MEDIA_TYPE *pType） = 0;
    
    virtual HRESULT STDMETHODCALLTYPE SetBufferSamples（ 
        BOOL BufferThem） = 0;
    
    virtual HRESULT STDMETHODCALLTYPE GetCurrentBuffer（ 
        /* [out][in] */ long *pBufferSize
        /* [out] */ long *pBuffer） = 0;
    
    virtual HRESULT STDMETHODCALLTYPE GetCurrentSample（ 
        /* [retval][out] */ IMediaSample **ppSample） = 0;
    
    virtual HRESULT STDMETHODCALLTYPE SetCallback（ 
        ISampleGrabberCB *pCallback
        long WhichMethodToCallback） = 0;
    
};
EXTERN_C const CLSID CLSID_SampleGrabber;
EXTERN_C const IID IID_ISampleGrabber;
EXTERN_C const CLSID CLSID_NullRenderer;

//use videoInput::setVerbose to change 
static bool verbose = true;

//use videoInput::setComMultiThreaded to change 
static bool VI_COM_MULTI_THREADED = false; 

///////////////////////////  HANDY FUNCTIONS  /////////////////////////////

void MyFreeMediaType（AM_MEDIA_TYPE& mt）{
    if （mt.cbFormat != 0）
    {
        CoTaskMemFree（（PVOID）mt.pbFormat）;
        mt.cbFormat = 0;
        mt.pbFormat = NULL;
    }
    if （mt.pUnk != NULL）
  

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----
     目录           0  2018-01-28 06:05  fisheye_calibration-master\
     文件          66  2018-01-28 06:05  fisheye_calibration-master\.gitattributes
     文件       15506  2018-01-28 06:05  fisheye_calibration-master\README.md
     目录           0  2018-01-28 06:05  fisheye_calibration-master\calibrate\
     目录           0  2018-01-28 06:05  fisheye_calibration-master\calibrate\Debug\
     文件      184832  2018-01-28 06:05  fisheye_calibration-master\calibrate\Debug\calibrate.exe
     文件     1039196  2018-01-28 06:05  fisheye_calibration-master\calibrate\Debug\calibrate.ilk
     文件     2199552  2018-01-28 06:05  fisheye_calibration-master\calibrate\Debug\calibrate.pdb
     文件    46465024  2018-01-28 06:05  fisheye_calibration-master\calibrate\calibrate.sdf
     文件         951  2018-01-28 06:05  fisheye_calibration-master\calibrate\calibrate.sln
     文件       22528  2018-01-28 06:05  fisheye_calibration-master\calibrate\calibrate.v12.suo
     目录           0  2018-01-28 06:05  fisheye_calibration-master\calibrate\calibrate\
     目录           0  2018-01-28 06:05  fisheye_calibration-master\calibrate\calibrate\Debug\
     文件        2115  2018-01-28 06:05  fisheye_calibration-master\calibrate\calibrate\Debug\calibrate.log
     目录           0  2018-01-28 06:05  fisheye_calibration-master\calibrate\calibrate\Debug\calibrate.tlog\
     文件       66822  2018-01-28 06:05  fisheye_calibration-master\calibrate\calibrate\Debug\calibrate.tlog\CL.read.1.tlog
     文件        1228  2018-01-28 06:05  fisheye_calibration-master\calibrate\calibrate\Debug\calibrate.tlog\CL.write.1.tlog
     文件         161  2018-01-28 06:05  fisheye_calibration-master\calibrate\calibrate\Debug\calibrate.tlog\calibrate.lastbuildstate
     文件        1350  2018-01-28 06:05  fisheye_calibration-master\calibrate\calibrate\Debug\calibrate.tlog\cl.command.1.tlog
     文件        1306  2018-01-28 06:05  fisheye_calibration-master\calibrate\calibrate\Debug\calibrate.tlog\link.command.1.tlog
     文件        3162  2018-01-28 06:05  fisheye_calibration-master\calibrate\calibrate\Debug\calibrate.tlog\link.read.1.tlog
     文件         498  2018-01-28 06:05  fisheye_calibration-master\calibrate\calibrate\Debug\calibrate.tlog\link.write.1.tlog
     文件     1190912  2018-01-28 06:05  fisheye_calibration-master\calibrate\calibrate\Debug\vc120.idb
     文件     1175552  2018-01-28 06:05  fisheye_calibration-master\calibrate\calibrate\Debug\vc120.pdb
     文件      400340  2018-01-28 06:05  fisheye_calibration-master\calibrate\calibrate\Debug\videoInput.obj
     文件      246137  2018-01-28 06:05  fisheye_calibration-master\calibrate\calibrate\Debug\源.obj
     文件         260  2018-01-28 06:05  fisheye_calibration-master\calibrate\calibrate\Distortion.xml
     文件      166354  2018-01-28 06:05  fisheye_calibration-master\calibrate\calibrate\Image1.jpg
     文件      169283  2018-01-28 06:05  fisheye_calibration-master\calibrate\calibrate\Image10.jpg
     文件      166837  2018-01-28 06:05  fisheye_calibration-master\calibrate\calibrate\Image2.jpg
     文件      168060  2018-01-28 06:05  fisheye_calibration-master\calibrate\calibrate\Image3.jpg
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