正确使用initUndistortRectifyMap并从OpenCV重新映射

Question

我想要取消配置相机图像。 OpenCV的undistort功能太慢了，所以我想把文档中提到的它分成initUndistortRectifyMap的两个调用（作为init步骤）和remap（在渲染循环中）。 /> 起初，我尝试了一个主要方法的测试程序：

//create source matrix
cv::Mat srcImg(res.first, res.second, cvFormat, const_cast<char*>(pImg));

//fill matrices
cv::Mat cam(3, 3, cv::DataType<float>::type);
cam.at<float>(0, 0) = 528.53618582196384f;
cam.at<float>(0, 1) = 0.0f;
cam.at<float>(0, 2) = 314.01736116032430f;

cam.at<float>(1, 0) = 0.0f;
cam.at<float>(1, 1) = 532.01912214324500f;
cam.at<float>(1, 2) = 231.43930864205211f;

cam.at<float>(2, 0) = 0.0f;
cam.at<float>(2, 1) = 0.0f;
cam.at<float>(2, 2) = 1.0f;

cv::Mat dist(5, 1, cv::DataType<float>::type);  
dist.at<float>(0, 0) = -0.11839989180635836f;
dist.at<float>(1, 0) = 0.25425420873955445f;
dist.at<float>(2, 0) = 0.0013269901775205413f;
dist.at<float>(3, 0) = 0.0015787467748277866f;
dist.at<float>(4, 0) = -0.11567938093172066f;

cv::Mat map1, map2;
cv::initUndistortRectifyMap(cam, dist, cv::Mat(), cam, cv::Size(res.second, res.first), CV_32FC1, map1, map2);

cv::remap(srcImg, *m_undistImg, map1, map2, cv::INTER_CUBIC);

我的相机图像格式是BGRA。代码编译并启动，但结果图像错误：

任何想法，我的代码有什么问题？

Answer 1

它有效，是的。说实话，我不记得到底是什么问题。我互换宽度和高度，或者像那样思考。

这是我正在运行的代码：

//create source matrix
cv::Mat srcImg(resolution.second, resolution.first, cvFormat, const_cast<unsigned char*>(pSrcImg));

//look if an update of the maps is necessary
if ((resolution.first != m_width) || (m_height != resolution.second))
{
    m_width  = resolution.first;
    m_height = resolution.second;

    cv::initUndistortRectifyMap(*m_camData, *m_distData, cv::Mat(), *m_camData, cv::Size(resolution.first, resolution.second), CV_32FC1, *m_undistMap1, *m_undistMap2);
}

//create undistorted image
cv::remap(srcImg, *m_undistortedImg, *m_undistMap1, *m_undistMap2, cv::INTER_LINEAR);

return reinterpret_cast<unsigned char*>(m_undistortedImg->data);