图像畸变校正程序一

图像畸变校正OPENCV

使用USB摄像头，采集一副图像，然后对图像畸变校正。摄像头事先标定好

#include "cv.h"

#include "highgui.h"

#include "cxcore.h"

#include "cvcam.h"

//图像的像素直接提取

#define _I(img,x,y) ((unsigned char*)((img)->imageData + (img)->widthStep*(y)))[(x)]

//亚像素级灰度值

#define _IF(image,x,y) ( ((int)(x+1)-(x))*((int)(y+1)-(y))*_I((image),(int)(x),(int)(y)) + ((int )(x+1)-(x))*((y)-(int)(y))*_I((image),(int)(x),(int)(y+1)) + ((x)-(int)(x))*((int)(y+1)-(y))*_I((imag e),(int)(x+1),(int)(y)) + ((x)-(int)(x))*((y)-(int)(y))*_I((image),(int)(x+1),(int)(y+1)) )//插值后的像素值(IN表示interpolation),x、y可以为小数

void callback(IplImage* image);

void main()

{

int ncams = cvcamGetCamerasCount( );//返回可以访问的摄像头数目

HWND mywin;

cvcamSetProperty(0, CVCAM_PROP_ENABLE, CVCAMTRUE);

cvcamSetProperty(0, CVCAM_PROP_RENDER, CVCAMTRUE);

mywin = (HWND)cvGetWindowHandle("cvcam window");

cvcamSetProperty(0, CVCAM_PROP_WINDOW, &mywin);

cvcamSetProperty(0, CVCAM_PROP_CALLBACK, callback);

//cvcamGetProperty(0, CVCAM_VIDEOFORMA T,NULL);

cvNamedWindow( "径向矫正1", 1 );//创建窗口

cvNamedWindow( "径向矫正2", 1 );//创建窗口

cvcamInit( );

cvcamStart( );

cvWaitKey(0);

cvcamStop( );

cvcamExit( );

cvDestroyWindow( "径向矫正1" );//销毁窗口

cvDestroyWindow( "径向矫正2" );//销毁窗口

}

void callback(IplImage* image)

{

IplImage* Show1 = cvCreateImage( cvSize(320,240), IPL_DEPTH_8U, 1);

IplImage* Show2 = cvCreateImage( cvSize(420,340), IPL_DEPTH_8U, 1);

IplImage* ImageC1 = cvCreateImage( cvSize(320,240), IPL_DEPTH_8U, 1);

//转换为灰度图

cvCvtColor( image, ImageC1, CV_RGB2GRAY);

cvFlip( ImageC1, NULL, 0);

double *mi;

double *md;

mi = new double[3*3];

md = new double[4];

CvMat intrinsic_matrix,distortion_coeffs;

//摄像机内参数

cvInitMatHeader(&intrinsic_matrix,3,3,CV_64FC1,mi);

//镜头畸变参数

cvInitMatHeader(&distortion_coeffs,1,4,CV_64FC1,md);

/////////////////////////////////////////////////

////////////////////////////320*240 120度广角镜头

//参数由matlab获得

double fc1,fc2,cc1,cc2,kc1,kc2,kc3,kc4;

fc1 = 667.23923/2.5;

fc2 = 669.78156/2.5;

cc1 = 429.96933/2.5;

cc2 = 351.48350/2.5;

kc1 = -0.40100;

kc2 = 0.19463;

kc3 = 0.00508;

kc4 = -0.00051;

cvmSet(&intrinsic_matrix, 0, 0, fc1);

cvmSet(&intrinsic_matrix, 0, 1, 0);

cvmSet(&intrinsic_matrix, 0, 2, cc1);

cvmSet(&intrinsic_matrix, 1, 0, 0);

cvmSet(&intrinsic_matrix, 1, 1, fc2);

cvmSet(&intrinsic_matrix, 1, 2, cc2);

cvmSet(&intrinsic_matrix, 2, 0, 0);

cvmSet(&intrinsic_matrix, 2, 1, 0);

cvmSet(&intrinsic_matrix, 2, 2, 1);

cvmSet(&distortion_coeffs, 0, 0, kc1);

cvmSet(&distortion_coeffs, 0, 1, kc2);

cvmSet(&distortion_coeffs, 0, 2, kc3);

cvmSet(&distortion_coeffs, 0, 3, kc4);

////////////////////////////320*240 120度广角镜头

/////////////////////////////////////////////////

//矫正畸变(opencv)

cvUndistort2( ImageC1, Show1, &intrinsic_matrix, &distortion_coeffs);

//矫正畸变

for (int nx=0; nx<420; nx++)

{

for (int ny=0; ny<340; ny++)

{

double x=nx-50;

double y=ny-50;

double xx=(x-cc1)/fc1;

double yy=(y-cc2)/fc2;

double r2=pow(xx,2)+pow(yy,2);

double r4=pow(r2,2);

double xxx=xx*(1+kc1*r2+kc2*r4)+2*kc3*xx*yy+kc4*(r2+2*xx*xx);

double yyy=yy*(1+kc1*r2+kc2*r4)+2*kc4*xx*yy+kc3*(r2+2*yy*yy);

double xxxx = xxx*fc1+cc1;

double yyyy = yyy*fc2+cc2;

if (xxxx>0 && xxxx<320 && yyyy>0 && yyyy<240)

{

_I(Show2,nx,ny) = (int)_IF(ImageC1,xxxx,yyyy);

}

else

{

_I(Show2,nx,ny) = 0;

}

}

}