实验三Matlab图像处理基本操作及摄像机标定(DLT)

1、实验三Matlab图像处理基本操作及摄像机标定(DLT)1、实验目的通过应用Matlab的图像处理基本函数，学习图像处理中的一些基础操作和处理。理解摄像机标定(DLT)方法的原理，并利用程序实现摄像机内参数和外参数的估计。2、实验内容:读取一幅图像并显示。检查内存(数组)中的图像。实现图像直方图均衡化。读取图像中像素点的坐标值。保存图像。检查新生成文件的信息。使用阈值操作将图像转换为二值图像。根据RGB图像创建一幅灰度图像。调节图像的对比度。在同一个窗口内显示两幅图像。掌握matlab命令及函数，获取标定块图像的特征点坐标。根据摄像机标定(DLT)方法原理，编写Matlab程序，估计摄像机内参

2、数和外参数。3、实验要求：选取一幅图像，根据实验内容1)10)给出结果。根据给定的标定块图像及实验内容11)，12)进行编程实验。书写实验报告4、实验设备微机。Matlab软件。5、实验原理DLT变换：Abdal-Aziz和Karara于70年代初提出了直接线性变换像机定标的方法，他们从摄影测量学的角度深入的研究了像机图像和环境物体之间的关系，建立了像机成像几何的线性模型，这种线性模型参数的估计完全可以由线性方程的求解来实现。直接线性变换是将像点和物点的成像几何关系在齐次坐标下写成透视投影矩阵的形式：X，uwYv=Pw3x4Z1w111其中(u,v,l)为图像坐标系下的点的齐次坐标，(X,Y,

3、Z)为世界坐标系下的空间点的欧氏坐标，P为3*4的透视投影矩阵，为未知尺度因子。消去S，可以得到方程组：pXpYpZp-puX-puY-puZ-pu=011w12w13w1431w32w33w34pXpYpZp-puX-puY-puZ-pu二021w22w23w1431w32w33w34当已知N个空间点和对应的图像上的点时，可以得到一个含有2*N个方程的方程组：AL二0其中A为(2N*12)的矩阵，L为透视投影矩阵元素组成的向量：p,p,p,p,p,p,p,p,p,p,p,p】111213142122232431323334像机定标的任务就是寻找合适的L，使得为I最小，即minIIALIIL给

4、出约束：p二134C为A前6、程序代码I二imread(DSCN0831.JPG);imshow(I);whosfigure,I1=rgb2gray(I);figure,imshow(I1)imhist(I1);I2=histeq(I1)figure,imshow(I2)figure,imhist(I2)a=imread(DSCN0831.JPG)imwrite(I1,DSgray.jpg);imwrite(I2,DSgrayeq.jpg);inf二imfinfoCDSCN0831.JPG)level=graythresh(I2);bw=im2bw(I2,level);figure,imsho

5、w(bw)whosI3=imadjust(I2,stretchlim(I2),01);figure,imshow(I3);a=imread(DSCN0831.JPG);b=imread(DSgray.jpg);subplot(1,2,1),imshow(a);subplot(1,2,2),imshow(b);clear;xpot=;ypot=;imshow(DSCN0831.JPG);holdon;n=input(Pleaseinputthenumberofpot:);fori=1:nx,y=ginput(1);plot(x,y,or);text(x+1,y+1,num2str(i);xpot

6、=xpot,x;ypot=ypot,y;endxpot;ypotxw;yw;zwa=xw,yw,zw,ones(1001),zeros(100),(-1)*xpot.*xw,(-1)*xpot.*yw,(-1)*xpot.*zw,-1*xpot;zeros(1004),xw,yw,zw,ones(1001),(-1)*ypot.*xw,(-1)*ypot.*yw,(-1)*ypot.*zw,-1*ypot;c=a(:,1:11);b=a(:,12);l=(-1)*(c*c)“(-1)*c*b7、运行结果A图像信息:FileModDateFileSizeFormatFormatVersionWi

7、dthHeightBitDepthColorTypeFormatSignatureNumberOfSamplesCodingMethodCodingProcessCommentImageDescriptionMakeModelOrientationXResolutionYResolutionResolutionUnitSoftwareDateTimeYCbCrPositioningDigitalCameraFilename:DSCN0831.JPG21-十月-201121:29:34160501，jpg102476824truecolor3HuffmanSequentialNIKONE9901

8、300300InchE990v1.00000:00:0000:00:00Co-sited1x1struct检查内存中的图像：BytesClassAttributesNameSizeI768x1024x32359296uint8I1768x1024786432uint8I2768x1024786432uint8a768x1024x32359296uint8bw768x1024786432logicalinf1x112144structlevel1x18double图像图一直方图图二均衡后的直方图图三调节对比度后的图像图四二进制图图五灰度图图六显示两幅图像图七标定图定块图像的特征点坐标Column

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10、.4902-6.9672-7.9556-8.4556-8.95564.15574.65575.15575.65576.17037.17037.67038.1703Columns28through36-9.3865-9.3796-9.2874-9.2702-9.2702-9.2702-9.2759-9.28178.70699.27279.758010.258010.758011.758012.265412.7873Columns37through45-9.2874-9.2874-9.2874-9.2874-9.2874-9.2874-9.2874-9.287413.294613.794614.2

11、94614.794615.294616.294616.794617.2946Columns46through54-9.2874-9.2874-9.2874-9.2874-9.1319-8.9706-8.5455-8.879617.794618.294618.794619.294619.290219.085518.851618.2054Columns55through63-9.1734-9.7483-9.6031-9.2978-8.8381-9.0697-9.6849-10.213717.829718.009518.889618.848718.432017.417416.917416.4247C

12、olumns64through72-10.8174-11.5421-12.8646-13.8704-14.8589-16.0467-16.1262-15.590416.019716.122116.480316.926217.733219.608920.470020.4437Columns73through81-7.45566.6703-9.270211.2580-9.287415.7946-9.080119.2317-8.729817.8589-15.524818.6382-16.4591-15.1653-15.1492-15.6503-16.4153-16.9153-15.9591-15.5

13、167-16.559320.085519.727319.271219.356019.348719.7727Columns82through90-17.5651-18.4268-18.9672-20.3520-20.8520-20.372720.177619.822419.066517.563617.563617.5636Columns91through99-19.7402-18.9061-17.9349-17.6734-18.5132-19.461417.578217.629417.943721.733222.184922.3268Column100-19.834722.1148ans=1.0

14、e+003*Columns1through90.50200.50500.50650.51250.51400.44800.72120.64920.56830.20220.10470.6943Columns10through180.44650.44650.44650.44500.38800.33700.61780.53830.45570.09570.08670.0837Columns19through270.28750.24550.20350.24550.28900.338519.334119.363319.3560-18.9315-18.6146-19.703318.325317.990517.

15、8414-17.4706-17.1377-17.379618.528519.689320.74780.51250.50800.51550.47970.39570.29820.44650.44650.44650.37170.28320.18570.17050.17350.20650.0.0.0.0.0.0.0.0.0.0.0.0.0.13320.14220.07470.07020.06270.064214820.15720.1662Columns28through360.38800.39100.34000.29350.25150.211017950.17800.21550.17970.26520

16、.25320.23820.22920.217220820.27570.2892Columns37through450.25300.29500.34150.39100.39250.341529650.25600.21700.30270.32070.33570.35520.43470.415239570.37920.3582Columns46through540.18250.18850.22000.25900.29800.344539550.39400.34750.34470.40920.43020.44370.46620.490251120.58930.5623Columns55through6

17、30.30250.26350.22300.19000.22750.268030400.34750.39550.53670.51720.49620.47670.55770.581760420.63120.6597Columns64through720.56650.57250.57250.57400.57550.580058150.58600.64900.69430.62520.54730.46170.37620.286219320.09870.0927Columns73through810.64750.64300.64000.63700.63400.628062650.68200.68500.1

18、8270.27270.36270.44220.52320.599866870.64780.5757Columns82through900.68800.69400.69700.70150.70450.71351.14850.72850.73600.50370.42270.34470.26220.17670.0867-0.24780.62220.5533Columns91through990.73900.74650.74950.75550.80650.85600.83500.83350.84550.48420.41220.33270.25170.24420.15870.38070.44520.3102Column1000.82150.5787转换为世界坐标ans=Columns1through1760606060100100100100100120140140140140140140140000000000006080100120100806040208012060120100804080Colum