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Here are the three main steps you should follow after you've saved the intr./extr. params in xml files (I'm using C routines):

1. Parameters should be loaded back in a matrix.

   CvMat intrinsic = (CvMat)cvLoad(“Intrinsics.xml”);

   CvMat distortion = (CvMat)cvLoad(“Distortion.xml”);

2. Build the undistort map that will be used for all subsequent frames.

   IplImage* mapx = cvCreateImage( cvGetSize(image), IPL_DEPTH_32F, 1 );

   IplImage* mapy = cvCreateImage( cvGetSize(image), IPL_DEPTH_32F, 1 );

   cvInitUndistortMap(intrinsic, distortion, mapx, mapy);

3. Undistort the initial image (say imin).

   cvRemap( imin, imundist mapx, mapy );