49 lines
1.5 KiB
C++
49 lines
1.5 KiB
C++
#include "stdafx.h"
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#include "ImageCalibrator.h"
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#include <opencv2\opencv.hpp>
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using namespace std;
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CImageCalibrator::CImageCalibrator()
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{
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}
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CImageCalibrator::~CImageCalibrator()
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{
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}
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cv::Mat CImageCalibrator::imageCalibration(cv::Mat inImg)
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{
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//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
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cv::Mat cameraMatrix = (cv::Mat_ <double>(3, 3) << 720.689879, 0, 957.57171, 0, 721.705519, 935.484724, 0, 0, 1),
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distCoeffs = (cv::Mat_ <double>(1, 4) << -0.0765657862, 0.0190079504, -0.032948619, 0.0159874152); //重投影误差rms：0.601462
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//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
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cv::Mat warp_matrix = (cv::Mat_<float>(2, 3) <<
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cos(0), -sin(0), -63, //x轴平移像素
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sin(0), cos(0), -68); //y轴平移像素
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cv::warpAffine(inImg, inImg, warp_matrix, inImg.size(), cv::INTER_LINEAR);
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//取有效鱼眼镜头区域
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cv::Mat inImg2(inImg, cv::Rect(324, 0, 1944, 1944));
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//鱼眼画面展平
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cv::Mat outImg, new_intrinsic_mat;
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cameraMatrix.copyTo(new_intrinsic_mat);
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//调节视场大小，乘的系数越小视场越大，可调整
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new_intrinsic_mat.at<double>(0, 0) *= 0.7;
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new_intrinsic_mat.at<double>(1, 1) *= 0.7;
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//调节校正图中心，建议置于校正图中心
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new_intrinsic_mat.at<double>(0, 2) = 0.5 * inImg2.cols;
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new_intrinsic_mat.at<double>(1, 2) = 0.5 * inImg2.rows;
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cv::fisheye::undistortImage(inImg2, outImg, cameraMatrix, distCoeffs, new_intrinsic_mat);
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//展平后扣出有效分析区域
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//Mat roi(outImg, cv::Rect(711, 465, 557, 941));
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//显示展平后的图像
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//cv::imshow("标定效果", outImg); cv::waitKey(0);
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return outImg;
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}
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