#include "stdafx.h"
#include "ImageCalibrator.h"
#include <opencv2\opencv.hpp>
using namespace std;

CImageCalibrator::CImageCalibrator()
{
}

CImageCalibrator::~CImageCalibrator()
{
}

cv::Mat CImageCalibrator::imageCalibration(cv::Mat inImg)
{

	//相机内参矩阵与畸变系数，通过黑白棋盘格标定法测定得到
	cv::Mat cameraMatrix = (cv::Mat_ <double>(3, 3) << 720.689879, 0, 957.57171, 0, 721.705519, 935.484724, 0, 0, 1),
		distCoeffs = (cv::Mat_ <double>(1, 4) << -0.0765657862, 0.0190079504, -0.032948619, 0.0159874152);	//重投影误差rms：0.601462

	//平移操作,修正鱼眼图像位置偏差，对照测定参数用相机采集的图片
	cv::Mat warp_matrix = (cv::Mat_<float>(2, 3) <<
		cos(0), -sin(0), -63, //x轴平移像素
		sin(0), cos(0), -68); //y轴平移像素
	cv::warpAffine(inImg, inImg, warp_matrix, inImg.size(), cv::INTER_LINEAR);

	//取有效鱼眼镜头区域
	cv::Mat inImg2(inImg, cv::Rect(324, 0, 1944, 1944));
	//鱼眼画面展平
	cv::Mat outImg, new_intrinsic_mat;
	cameraMatrix.copyTo(new_intrinsic_mat);
	//调节视场大小，乘的系数越小视场越大，可调整
	new_intrinsic_mat.at<double>(0, 0) *= 0.7;
	new_intrinsic_mat.at<double>(1, 1) *= 0.7;
	//调节校正图中心，建议置于校正图中心
	new_intrinsic_mat.at<double>(0, 2) = 0.5 * inImg2.cols;
	new_intrinsic_mat.at<double>(1, 2) = 0.5 * inImg2.rows;
	cv::fisheye::undistortImage(inImg2, outImg, cameraMatrix, distCoeffs, new_intrinsic_mat);

	//展平后扣出有效分析区域
	//Mat roi(outImg, cv::Rect(711, 465, 557, 941));
	//显示展平后的图像
	//cv::imshow("标定效果", outImg); cv::waitKey(0);

	return outImg;

}