利用opencv进行矫正代码

1、opencv图像矫正代码/*标定的过程： 图片的加载 角点的检测 提取角点精确坐标 参数求解 利用参数对图像进行矫正*/#include<stdio.h>#include"cv.h"#include"highgui.h"#include <stdlib.h> /函数声明void PrintMat(CvMat *matrix,BOOL save_or_show,FILE *fp);int main(int argc,char *argv) int i=1; char k=0; int CurrentImage = 0; int Cu

2、rrentRow = 0; /行 int CurrentColumn = 0; /列 int findcorner_result=0; FILE *fp; /文件指针 int ChessBoardSize_w =6; /角点个数 int ChessBoardSize_h =7; int width_pixel =1280; /像素 int high_pixel =1024; float SquareSize=10; /棋盘大小 int NImages=16; CvSize ChessBoardSize; CvSize image_pixel; int NPoints=0; int *corne

3、r_counter; float *temppoints; /这里可以使用内存动态存储管理。 CvPoint2D32f *corners; /存储角点坐标的数组 /单通道灰度图像 IplImage *grayimage=0; IplImage *srcimage=0; /三通道图像 IplImage *result_image=0; /矫正以后的图像 CvMat *intrinsic_matrix=0; /内部参数矩阵 CvMat *distortion_coeffs=0; /畸变系数 CvMat *rotation_vectors=0; /旋转向量 CvMat *translation_ve

4、ctors=0;/平移向量 CvMat *points_counts=0; /图片角点数 CvMat *object_points=0; /世界坐标系中角点的坐标 CvMat *image_points=0; /检测到的角点坐标 CvMat *temp_matrix,*rotation_matrix,*translation_matrix; /* /数据载入、开辟空间 image_pixel = cvSize(width_pixel,high_pixel); ChessBoardSize = cvSize(ChessBoardSize_w,ChessBoardSize_h); NPoints

5、= ChessBoardSize_w*ChessBoardSize_h; corner_counter=calloc(NImages,sizeof(int); /动态管理，记着释放空间 temppoints =calloc(NImages*NPoints*3,sizeof(float); corners =calloc(NImages*NPoints,sizeof(CvPoint2D32f); if(corner_counter=0 )|(temppoints=0 )|( corners=0 ) ) return -1; intrinsic_matrix = cvCreateMat(3,3,C

6、V_32FC1); /内参数矩阵 distortion_coeffs = cvCreateMat(1,4,CV_32FC1); /形变参数 rotation_vectors = cvCreateMat(NImages,3,CV_32FC1); /旋转向量 translation_vectors = cvCreateMat(NImages,3,CV_32FC1); /平移向量 points_counts = cvCreateMat(NImages,1,CV_32SC1); /视图数目 object_points = cvCreateMat(NImages*NPoints,3,CV_32FC1);

7、/世界坐标系中角点的坐标 image_points = cvCreateMat(NImages*NPoints,2,CV_32FC1);/检测到的坐标点坐标 temp_matrix= cvCreateMat(1,3,CV_32FC1); rotation_matrix = cvCreateMat(3,3,CV_32FC1); /旋转矩阵 translation_matrix = cvCreateMat(3,3,CV_32FC1); /旋转矩阵 grayimage=cvCreateImage(image_pixel,IPL_DEPTH_8U,1); /单通道灰度图像 result_image=c

8、vCreateImage(image_pixel,IPL_DEPTH_8U,1); /校正以后的图像 fp = fopen( "data1.txt", "w+" ); /打开文件,建立一个文件，然后写入数据 fprintf(fp, "坐标数据：n" ); /写入数据，写入文件 /* /图片的加载以及角点的提取 if(argc!=NImages+1) printf("图片加载有误!"); return -1; for(CurrentImage=0;CurrentImage<NImages;CurrentImag

9、e+) /加载图片 if(srcimage=cvLoadImage(argvCurrentImage+1,1)!=0) /色彩转换 cvCvtColor(srcimage,grayimage,CV_BGR2GRAY); /角点检测 findcorner_result=cvFindChessboardCorners(grayimage,ChessBoardSize,&cornersCurrentImage*NPoints, &corner_counterCurrentImage,CV_CALIB_CB_ADAPTIVE_THRESH); /画出检测到的点 cvDrawChessb

10、oardCorners(srcimage,ChessBoardSize, &cornersCurrentImage*NPoints,corner_counterCurrentImage,findcorner_result); /精确坐标位置 cvFindCornerSubPix(grayimage,&cornersCurrentImage*NPoints,corner_counterCurrentImage, cvSize(10,10), cvSize(-1,-1),/这个搜索的范围。？ cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_E

11、PS,500,0.003)/迭代终止条件 ); cvNamedWindow("image",1); cvShowImage("image",srcimage); printf("检测到的角点:%dn",corner_counterCurrentImage); /fprintf(fp,"检测到的角点:%dn",corner_counterCurrentImage); /for(i=0;i<corner_counterCurrentImage;i+)/坐标输出 / / printf("第%d个角点 %f

12、 %fn",i,cornersCurrentImage*NPoints+i.x,cornersCurrentImage*NPoints+i.y); / cvWaitKey(0); printf("按任意键提取下一幅图片角点。n"); /fprintf(fp,"按任意键提取下一幅图片角点。n"); printf("角点提取结束.n"); printf("开始定标.n"); fprintf(fp,"角点提取结束.n"); fprintf(fp,"开始定标.n"); /棋

13、盘世界坐标系坐标 for(CurrentImage = 0 ; CurrentImage < NImages ; CurrentImage+)/图片 for (CurrentRow = 0; CurrentRow < ChessBoardSize_h; CurrentRow+)/行 for (CurrentColumn = 0; CurrentColumn < ChessBoardSize_w; CurrentColumn+)/列 temppoints(CurrentImage*NPoints*3)+(CurrentRow*ChessBoardSize_w+CurrentCo

14、lumn)*3=(float)(CurrentRow*SquareSize); temppoints(CurrentImage*NPoints*3)+(CurrentRow*ChessBoardSize_w+CurrentColumn)*3+1=(float)(CurrentColumn*SquareSize); temppoints(CurrentImage*NPoints*3)+(CurrentRow*ChessBoardSize_w+CurrentColumn)*3+2=0; /参数求解 *object_points=cvMat(NImages*NPoints,3,CV_32FC1,te

15、mppoints);/似乎这里开始有点问题。还有就是在标定过程中这个棋盘的边长和标定的精度无关 cvSetData(image_points,corners,sizeof(CvPoint2D32f);/设置image_points矩阵的数据 cvSetData(points_counts,corner_counter,sizeof(int); /*printf("棋盘坐标"); printf("n"); PrintMat(object_points); printf("n计算机n"); printf("n"); P

16、rintMat(image_points); printf("n"); printf("n角点个数n"); PrintMat(points_counts); printf("n");*/ cvCalibrateCamera2(object_points,image_points,points_counts,cvGetSize(grayimage), intrinsic_matrix,distortion_coeffs,rotation_vectors, translation_vectors,0 ); printf("n内部

17、岑数矩阵n"); fprintf(fp,"n内部岑数矩阵n"); PrintMat(intrinsic_matrix,FALSE,NULL); PrintMat(intrinsic_matrix,TRUE,fp); printf("n形变岑数n"); fprintf(fp,"n形变岑数n"); PrintMat(distortion_coeffs,FALSE,NULL); PrintMat(distortion_coeffs,TRUE,fp); for(i=0;i<NImages;i+) cvGetRow(rotati

18、on_vectors,temp_matrix,i); cvRodrigues2(temp_matrix,rotation_matrix,0); printf(" 第%d个图片的旋转向量n",i); fprintf(fp," 第%d个图片的旋转向量n",i); PrintMat(temp_matrix,FALSE,NULL); PrintMat(temp_matrix,TRUE,fp); printf(" 第%d个图片的旋转矩阵n",i); fprintf(fp," 第%d个图片的旋转矩阵n",i); PrintMa

19、t(rotation_matrix,FALSE,NULL); PrintMat(rotation_matrix,TRUE,fp); printf("n"); fprintf(fp,"n"); /cvReleaseMat(&temp_matrix); printf("平移矩阵n"); fprintf(fp,"平移矩阵n"); for(i=0;i<NImages;i+) cvGetRow(translation_vectors,temp_matrix,i); cvRodrigues2(temp_matri

20、x,translation_matrix,0); printf(" 第%d个图片的平移向量n",i); fprintf(fp," 第%d个图片的平移向量n",i); PrintMat(temp_matrix,FALSE,NULL); PrintMat(temp_matrix,TRUE,fp); printf(" 第%d个图片的平移矩阵n",i); fprintf(fp," 第%d个图片的平移矩阵n",i); PrintMat(translation_matrix,FALSE,NULL); PrintMat(tran

21、slation_matrix,TRUE,fp); printf("n"); fprintf(fp,"n"); / PrintMat(translation_vectors,FALSE,NULL); / PrintMat(translation_vectors,TRUE,fp); printf("标定结束.n"); fprintf(fp,"标定结束.n"); printf("按任意键开始误差分析.n"); fprintf(fp,"按任意键开始误差分析.n"); cvWaitKe

22、y(0); /误差分析 /利用已知的内部参数，使用cvProjectPoints2()计算出世界坐标系中的坐标在图片中的坐标也就是校准后的坐标 /将校准后的坐标和原来求得的坐标进行比较 for(CurrentImage=0;CurrentImage<NImages;CurrentImage+) CvMat *object_matrix= cvCreateMat(NPoints,3,CV_32FC1); CvMat *image_matrix= cvCreateMat(NPoints,2,CV_32FC1); CvMat *project_image_matrix= cvCreateMat

23、(NPoints,2,CV_32FC1); CvMat *rotation_matrix_1= cvCreateMat(1,3,CV_32FC1); CvMat *translation_matrix_1= cvCreateMat(1,3,CV_32FC1); CvMat *rotation_matrix= cvCreateMat(3,1,CV_32FC1); CvMat *translation_matrix= cvCreateMat(3,1,CV_32FC1); double err=0; cvGetRows(object_points,object_matrix,CurrentImage

24、*NPoints,(CurrentImage+1)*NPoints,1); cvGetRow(rotation_vectors,rotation_matrix_1,CurrentImage); cvReshape(rotation_matrix_1,rotation_matrix,0,3); cvGetRow(translation_vectors,translation_matrix_1,CurrentImage); cvReshape(translation_matrix_1,translation_matrix,0,3); cvGetRows(image_points,project_i

25、mage_matrix,CurrentImage*NPoints,(CurrentImage+1)*NPoints,1); cvProjectPoints2(object_matrix,rotation_matrix,translation_matrix, intrinsic_matrix,distortion_coeffs,image_matrix,0,0,0,0,0); err=cvNorm(image_matrix,project_image_matrix,CV_L2,0); printf("第%d幅图像的误差为%fn",CurrentImage+1,err); fp

26、rintf(fp,"第%d幅图像的误差为%fn",CurrentImage+1,err); cvNamedWindow("Undistort_image",1); /显示校正后的图片 printf("n"); printf("校正后的图片.n"); for(CurrentImage=0;CurrentImage<NImages;CurrentImage+) /加载图片 if(srcimage=cvLoadImage(argvCurrentImage+1,1)!=0) /色彩转换 cvCvtColor(srci

27、mage,grayimage,CV_BGR2GRAY); cvUndistort2(grayimage,result_image,intrinsic_matrix,distortion_coeffs); cvShowImage("Undistort_image",result_image); printf("按任意键显示下一幅图片。n"); cvWaitKey(0); /关闭文件 fclose(fp); /释放内存 cvWaitKey(0); free(corner_counter); free(temppoints); free(corners); c

28、vDestroyWindow("Undistort_image"); cvDestroyWindow("Image"); cvReleaseMat(&intrinsic_matrix); cvReleaseMat(&distortion_coeffs); cvReleaseMat(&rotation_vectors); cvReleaseMat(&translation_vectors); cvReleaseMat(&rotation_matrix); cvReleaseMat(&translation_matrix); cvReleaseMat(&points_counts); cvReleaseMat(&object_points); cvRelease