opencv 摄像机标定 实时标定

#include "cv.h"#include "highgui.h"#include "cxcore.h"#include "cvcam.h"#include<windows.h>//#pragma comment(lib,"cv210.lib")using namespace cv;//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);int main(){    CvCapture* capture1 = cvCreateCameraCapture(0);//IplImage* frame1=cvLoadImage("D:\\棋盘图.png",1);//double w=640,h=480;//cvShowImage("image",frame1);    cvNamedWindow( "径向矫正1", 1 );//创建窗口cvNamedWindow( "径向矫正2", 1 );//创建窗口//callback(frame1);int key = cvWaitKey();//if(key == 27)//cvSetCaptureProperty(capture1,CV_CAP_PROP_FPS,5);IplImage* frame1; while(1){frame1=cvQueryFrame(capture1);if(!frame1)break;cvShowImage("camera_1",frame1);callback(frame1);int key = cvWaitKey(30);if(key == 27)break;}cvReleaseCapture(&capture1);//cvReleaseImage(&frame1);// cvcamStop( );// cvcamExit( );cvDestroyWindow( "径向矫正1" );//销毁窗口cvDestroyWindow( "径向矫正2" );//销毁窗口return 0;}void callback(IplImage* image){// Mat m1(image,0);// Mat ss;IplImage* Show1 = cvCreateImage(cvGetSize(image), IPL_DEPTH_8U, 1);IplImage* Show2 = cvCreateImage(cvGetSize(image), IPL_DEPTH_8U, 1);IplImage* ImageC1 = cvCreateImage(cvGetSize(image), IPL_DEPTH_8U, 1);//转换为灰度图cvCvtColor(image, ImageC1, CV_RGB2GRAY);//imshow("ss",ss);//cvFlip( ImageC1, NULL, 0);double *mi;double *md;mi = new double[3*3];md = new double[4];CvMat intrinsic_matrix,distortion_coeffs;cvInitMatHeader(&intrinsic_matrix,3,3,CV_64FC1,mi);    //摄像机内参数cvInitMatHeader(&distortion_coeffs,1,4,CV_64FC1,md);    //镜头畸变参数    /**//////////////////////////////////////////////////    ////////////////////////////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<430; 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 );    }