%?author:?xiaobiky
%?weixin??17717538076
%?welcome?to?discuss?and?pai?zhuan!



function?correct_img=distortion_correction（image）
?
??A=[????492.1229?????????0?????????974.2238;
??????????0???????????490.0232??????????608.0280?;
?????????0??????????0?????????????1.0000?????];

D?=?[???-0.1760????0.0177???0?????0???0??];
zc=0.78;
fx=A（11）;
cx=A（13）;
fy=A（22）;
cy=A（23）;
k1=D（1）;k2=D（2）;k3=D（3）;p1=D（4）;p2=D（5）;


I_d=rgb2gray（image）;
I_d=im2double（I_d）;

I_r=zeros（size（I_d））;
[vu]=find（~isnan（I_r））;
%XYZc=inv（A）*[uvones（length（u）1）]‘;?%3*307200??camera?zuobiaoxi
%XYZc=inv（A）*[u.*XYZc（3:）‘v.*XYZc（3:）‘ones（length（u）1）.*XYZc（3:）‘]‘;?%3*307200??camera?zuobiaoxi
%x=[u.*XYZc（3:）‘v.*XYZc（3:）‘ones（length（u）1）.*XYZc（3:）‘];

%??syms?XYZc
%??[XYZc]=solve（XYZc==inv（A）*[u.*XYZc（3:）‘v.*XYZc（3:）‘ones（length（u）1）.*XYZc（3:）‘]‘）;


XYZc=inv（A）*[u*zcv*zcones（length（u）1）*zc]‘;
%=XYZc（3:）;
x=XYZc（1:）;
y=XYZc（2:）;
r2=XYZc（1:）.^2+XYZc（2:）.^2;

x=x.*（1+k1*r2+k2*r2.^2）+2*p1.*y.*x+p2*（r2+2*x.^2）;%distoration??camera?zuobiao
y=y.*（1+k1*r2+k2*r2.^2）+p1*（r2+2*y.^2）+2*p2.*x.*y;

%?u_d=reshape（fx.*x+cxsize（I_r））;%return?to?pixel?zuobiao
%?v_d=reshape（fy.*y+cysize（I_r））;

u_d=reshape（fx.*x/zc+cxsize（I_r））;%return?to?pixel?zuobiao
v_d=reshape（fy.*y/zc+cysize（I_r））;



I_r=interp2（I_du_dv_d）;?%u_dv_d?is?distor?zuobiaothen?its?zuobiao?value?assian?to?right?zuobiao?
correct_img=I_r;
%?subplot（121）;
%?%imagesc（I_d）;
%?imshow（I_d）;
%?title（‘distoration?pic‘）;
%?subplot（122）;
%?%imagesc（I_r）;
%?imshow（I_r）;
%?title（‘fix?pic‘）;

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----
?????文件????????1620??2018-08-30?14:35??dynamic_distortion_correct\distortion_correction.m
?????文件?????????357??2018-08-30?14:34??dynamic_distortion_correct\dynamic_show.m
?????目錄???????????0??2018-08-30?14:31??dynamic_distortion_correct\