matlab标定并用opencv验证

给自己留个记录。
参考了这片文章，标定的参数由matlab给出，再到opencv中进行验证。
验证时的代码有所改动，原博客中使用视频，我改为图片。

#include <iostream>
#include <opencv2/opencv.hpp>
#include <fstream>
#include <opencv2/ml.hpp>
using namespace std;
using namespace cv;
using namespace cv::ml;
int main()
{

    Mat frame = imread("/root/桌面/IMG_3348.jpg");
    Mat frameCalibration;


    Mat cameraMatrix = Mat::eye(3, 3, CV_64F);
    cameraMatrix.at<double>(0, 0) = 3374.07818952427;//从0开始计数
    cameraMatrix.at<double>(0, 1) = -2.78181259296951;
    cameraMatrix.at<double>(0, 2) = 2019.19661037399;
    cameraMatrix.at<double>(1, 1) = 3374.34656463011;
    cameraMatrix.at<double>(1, 2) = 1501.95020619850;
    cameraMatrix.at<double>(2, 2) = 1；//原博客中没有这个，我也不知道为啥，加上去掉好像没有区别

    Mat distCoeffs = Mat::zeros(5, 1, CV_64F);
    distCoeffs.at<double>(0, 0) =  0.173230511639020;
    distCoeffs.at<double>(1, 0) = -0.645138161101467;
    distCoeffs.at<double>(2, 0) = -0.00109294300160736;
    distCoeffs.at<double>(3, 0) = -3.47866401740176e-06;
    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);



    remap(frame, frameCalibration, map1, map2, INTER_LINEAR);
    namedWindow("Origianl",0);
    namedWindow("Calibration",0);
    imshow("Origianl", frame);
    imshow("Calibration", frameCalibration);
    waitKey(0);

    return 0;
}