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((image),(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_VIDEOFORMAT,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);
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////////////////////////////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; } } } //画线 cvLine( Show1, cvPoint(0,10), cvPoint(320,10), cvScalar(255,255,255),3 ); cvLine( Show1, cvPoint(0,230), cvPoint(320,230), cvScalar(255,255,255),3 ); cvLine( Show1, cvPoint(10,0), cvPoint(10,240), cvScalar(255,255,255),3 ); cvLine( Show1, cvPoint(310,0), cvPoint(310,240), cvScalar(255,255,255),3 ); cvLine( Show1, cvPoint(0,0), cvPoint(320,240), cvScalar(255,255,255),3 ); cvLine( Show1, cvPoint(0,240), cvPoint(320,0), cvScalar(255,255,255),3 ); cvLine( Show1, cvPoint(0,10), cvPoint(320,10), cvScalar(0,0,0) ); cvLine( Show1, cvPoint(0,230), cvPoint(320,230), cvScalar(0,0,0) ); cvLine( Show1, cvPoint(10,0), cvPoint(10,240), cvScalar(0,0,0) ); cvLine( Show1, cvPoint(310,0), cvPoint(310,240), cvScalar(0,0,0) ); cvLine( Show1, cvPoint(0,0), cvPoint(320,240), cvScalar(0,0,0) ); cvLine( Show1, cvPoint(0,240), cvPoint(320,0), cvScalar(0,0,0) ); //显示 cvShowImage("径向矫正1", Show1); cvShowImage("径向矫正2", Show2); cvWaitKey(1); cvReleaseImage( &Show1 ); cvReleaseImage( &Show2 ); cvReleaseImage( &ImageC1 ); }