C++射线投射，质疑鱼眼校正

要实现C++射线投射和质疑鱼眼校正，可以按照以下步骤进行：

1. 引入必要的库

#include <opencv2/opencv.hpp>
#include <iostream>

2. 射线投射

cv::Point3f raycast(int x, int y, int width, int height, float fov, const cv::Mat& cameraMatrix, const cv::Mat& distortionCoeffs) {
    // 将图像坐标归一化到[-1, 1]
    float u = (2 * ((float)x / width) - 1) * std::tan(fov / 2);
    float v = (2 * ((float)y / height) - 1) * std::tan(fov / 2) * height / width;

    // 去畸变
    cv::Point2f distortedPoint(u, v);
    cv::Point2f undistortedPoint = cv::undistortPoints(distortedPoint, cameraMatrix, distortionCoeffs, cv::noArray(), cameraMatrix)[0];

    float x_ = undistortedPoint.x;
    float y_ = undistortedPoint.y;

    // 归一化射线方向
    cv::Point3f ray(x_, y_, 1.0f);
    ray = ray / cv::norm(ray);

    return ray;
}

3. 质疑鱼眼校正

cv::Point2f fishEyeCorrection(float x, float y, float width, float height, const cv::Mat& cameraMatrix, const cv::Mat& distortionCoeffs) {
    // 将图像坐标归一化到[-1, 1]
    float u = (2 * x / width) - 1;
    float v = (2 * y / height) - 1;

    // 归一化坐标转换为像素坐标
    cv::Point2f normalizedPoint(u, v);
    cv::Point2f distortedPoint = cv::fisheye::distortPoints(normalizedPoint, cameraMatrix, distortionCoeffs)[0];

    float x_ = (distortedPoint.x + 1) * width / 2;
    float y_ = (distortedPoint.y + 1) * height / 2;

    return cv::Point2f(x_, y_);
}

在使用时，可以按照以下步骤调用函数：

int main() {
    // 设置参数
    int imageWidth = 640;
    int imageHeight = 480;
    float fov = CV_PI / 2; // 90度视场角
    cv::Mat cameraMatrix = (cv::Mat_<float>(3, 3) << 1000, 0, imageWidth / 2, 0, 1000, imageHeight / 2, 0, 0, 1);
    cv::Mat distortionCoeffs = cv::Mat::zeros(4, 1, CV_32F);

    // 射线投射示例
    int x = 320;
    int y = 240;
    cv::Point3f ray = raycast(x, y, imageWidth, imageHeight, fov, cameraMatrix, distortionCoeffs);
    std::cout << "Ray direction: " << ray << std::endl;

    // 质疑鱼眼校正示例
    float x_ = 320;
    float y_ = 240;
    cv::Point2f correctedPoint = fishEyeCorrection(x_, y_, imageWidth, imageHeight, cameraMatrix, distortionCoeffs);
    std::cout << "Corrected point: (" << correctedPoint.x << ", " << correctedPoint.y << ")" << std::endl;

    return 0;
}

请注意，代码示例中的相机内参（cameraMatrix）和畸变系数（distortionCoeffs）需要根据实际情况进行设置。