世界坐标系与像素坐标系的点互相转换

最新推荐文章于 2024-08-19 17:12:26 发布

春天花儿

最新推荐文章于 2024-08-19 17:12:26 发布

阅读量1.2w

点赞数 3

分类专栏： Sharpgl Opengl 坐标转换

Sharpgl Opengl 坐标转换专栏收录该内容

1 篇文章 0 订阅

订阅专栏

摄像机矩阵由内参矩阵和外参矩阵组成，对摄像机矩阵进行QR分解可以得到内参矩阵和外参矩阵。

内参包括焦距、主点、倾斜系数、畸变系数

（1）

其中，fx，fy为焦距，一般情况下，二者相等，x0、y0为主点坐标（相对于成像平面），s为坐标轴倾斜参数，理想情况下为0

外参包括旋转矩阵R3×3、平移向量T3×1，它们共同描述了如何把点从世界坐标系转换到摄像机坐标系，旋转矩阵描述了世界坐标系的坐标轴相对于摄像机坐标轴的方向，平移向量描述了在摄像机坐标系下空间原点的位置。

分两种

（1）世界坐标系——>像面坐标系

首先将世界坐标系——>摄像机坐标系

已知某点在世界坐标系中的坐标为(Xw, Yw, Zw)，由旋转和平移矩阵可得摄像机坐标系和世界坐标系的关系为

（2）

然后将摄像机坐标系——>像面坐标系

（3）

其中[u v 1]T为点在图像坐标系中的坐标，[Xc Yc Zc 1]T为点在摄像机坐标系中的坐标，K为摄像机内参数矩阵。

这样最终可以得到：

（4）

（2）像面坐标系——>世界坐标系

光轴会聚模型：

对于两相机分别有：

（5）（6）

公式56，左边Z应分别为Zc1，Zc2

其中，

（7）

这样可以把（5）（6）写成

（8）

公式8左边Z应为Zc1

（9）

公式9左边Z应为Zc2

将（8）（9）整理可以得到

（10）

以上公式参考评论6楼 wisemanjack

采用最小二乘法求解X,Y,Z，在opencv中可以用solve(A,B,XYZ,DECOMP_SVD)求解

代码如下：

//opencv2.4.9 vs2012
#include <opencv2\opencv.hpp>
#include <fstream>
#include <iostream>
using namespace std;
using namespace cv;
Point2f xyz2uv(Point3f worldPoint,float intrinsic[3][3],float translation[1][3],float rotation[3][3]);
Point3f uv2xyz(Point2f uvLeft,Point2f uvRight);
//图片对数量
int PicNum = 14;
//左相机内参数矩阵
float leftIntrinsic[3][3] = {4037.82450, 0, 947.65449,
0, 3969.79038, 455.48718,
0, 0, 1};
//左相机畸变系数
float leftDistortion[1][5] = {0.18962, -4.05566, -0.00510, 0.02895, 0};
//左相机旋转矩阵
float leftRotation[3][3] = {0.912333, -0.211508, 0.350590,
0.023249, -0.828105, -0.560091,
0.408789, 0.519140, -0.750590};
//左相机平移向量
float leftTranslation[1][3] = {-127.199992, 28.190639, 1471.356768};
//右相机内参数矩阵
float rightIntrinsic[3][3] = {3765.83307, 0, 339.31958,
0, 3808.08469, 660.05543,
0, 0, 1};
//右相机畸变系数
float rightDistortion[1][5] = {-0.24195, 5.97763, -0.02057, -0.01429, 0};
//右相机旋转矩阵
float rightRotation[3][3] = {-0.134947, 0.989568, -0.050442,
0.752355, 0.069205, -0.655113,
-0.644788, -0.126356, -0.753845};
//右相机平移向量
float rightTranslation[1][3] = {50.877397, -99.796492, 1507.312197};
int main()
{
//已知空间坐标求成像坐标
Point3f point(700,220,530);
cout<<"左相机中坐标："<<endl;
cout<<xyz2uv(point,leftIntrinsic,leftTranslation,leftRotation)<<endl;
cout<<"右相机中坐标："<<endl;
cout<<xyz2uv(point,rightIntrinsic,rightTranslation,rightRotation)<<endl;
//已知左右相机成像坐标求空间坐标
Point2f l = xyz2uv(point,leftIntrinsic,leftTranslation,leftRotation);
Point2f r = xyz2uv(point,rightIntrinsic,rightTranslation,rightRotation);
Point3f worldPoint;
worldPoint = uv2xyz(l,r);
cout<<"空间坐标为:"<<endl<<uv2xyz(l,r)<<endl;
system("pause");
return 0;
}
//************************************
// Description: 根据左右相机中成像坐标求解空间坐标
// Method: uv2xyz
// FullName: uv2xyz
// Access: public
// Parameter: Point2f uvLeft
// Parameter: Point2f uvRight
// Returns: cv::Point3f
// Author: 小白
// Date: 2017/01/10
// History:
//************************************
Point3f uv2xyz(Point2f uvLeft,Point2f uvRight)
{
// [u1] |X| [u2] |X|
//Z*|v1| = Ml*|Y| Z*|v2| = Mr*|Y|
// [ 1] |Z| [ 1] |Z|
// |1| |1|
Mat mLeftRotation = Mat(3,3,CV_32F,leftRotation);
Mat mLeftTranslation = Mat(3,1,CV_32F,leftTranslation);
Mat mLeftRT = Mat(3,4,CV_32F);//左相机M矩阵
hconcat(mLeftRotation,mLeftTranslation,mLeftRT);
Mat mLeftIntrinsic = Mat(3,3,CV_32F,leftIntrinsic);
Mat mLeftM = mLeftIntrinsic * mLeftRT;
//cout<<"左相机M矩阵 = "<<endl<<mLeftM<<endl;
Mat mRightRotation = Mat(3,3,CV_32F,rightRotation);
Mat mRightTranslation = Mat(3,1,CV_32F,rightTranslation);
Mat mRightRT = Mat(3,4,CV_32F);//右相机M矩阵
hconcat(mRightRotation,mRightTranslation,mRightRT);
Mat mRightIntrinsic = Mat(3,3,CV_32F,rightIntrinsic);
Mat mRightM = mRightIntrinsic * mRightRT;
//cout<<"右相机M矩阵 = "<<endl<<mRightM<<endl;
//最小二乘法A矩阵
Mat A = Mat(4,3,CV_32F);
A.at<float>(0,0) = uvLeft.x * mLeftM.at<float>(2,0) - mLeftM.at<float>(0,0);
A.at<float>(0,1) = uvLeft.x * mLeftM.at<float>(2,1) - mLeftM.at<float>(0,1);
A.at<float>(0,2) = uvLeft.x * mLeftM.at<float>(2,2) - mLeftM.at<float>(0,2);
A.at<float>(1,0) = uvLeft.y * mLeftM.at<float>(2,0) - mLeftM.at<float>(1,0);
A.at<float>(1,1) = uvLeft.y * mLeftM.at<float>(2,1) - mLeftM.at<float>(1,1);
A.at<float>(1,2) = uvLeft.y * mLeftM.at<float>(2,2) - mLeftM.at<float>(1,2);
A.at<float>(2,0) = uvRight.x * mRightM.at<float>(2,0) - mRightM.at<float>(0,0);
A.at<float>(2,1) = uvRight.x * mRightM.at<float>(2,1) - mRightM.at<float>(0,1);
A.at<float>(2,2) = uvRight.x * mRightM.at<float>(2,2) - mRightM.at<float>(0,2);
A.at<float>(3,0) = uvRight.y * mRightM.at<float>(2,0) - mRightM.at<float>(1,0);
A.at<float>(3,1) = uvRight.y * mRightM.at<float>(2,1) - mRightM.at<float>(1,1);
A.at<float>(3,2) = uvRight.y * mRightM.at<float>(2,2) - mRightM.at<float>(1,2);
//最小二乘法B矩阵
Mat B = Mat(4,1,CV_32F);
B.at<float>(0,0) = mLeftM.at<float>(0,3) - uvLeft.x * mLeftM.at<float>(2,3);
B.at<float>(1,0) = mLeftM.at<float>(1,3) - uvLeft.y * mLeftM.at<float>(2,3);
B.at<float>(2,0) = mRightM.at<float>(0,3) - uvRight.x * mRightM.at<float>(2,3);
B.at<float>(3,0) = mRightM.at<float>(1,3) - uvRight.y * mRightM.at<float>(2,3);
Mat XYZ = Mat(3,1,CV_32F);
//采用SVD最小二乘法求解XYZ
solve(A,B,XYZ,DECOMP_SVD);
//cout<<"空间坐标为 = "<<endl<<XYZ<<endl;
//世界坐标系中坐标
Point3f world;
world.x = XYZ.at<float>(0,0);
world.y = XYZ.at<float>(1,0);
world.z = XYZ.at<float>(2,0);
return world;
}
//************************************
// Description: 将世界坐标系中的点投影到左右相机成像坐标系中
// Method: xyz2uv
// FullName: xyz2uv
// Access: public
// Parameter: Point3f worldPoint
// Parameter: float intrinsic[3][3]
// Parameter: float translation[1][3]
// Parameter: float rotation[3][3]
// Returns: cv::Point2f
// Author: 小白
// Date: 2017/01/10
// History:
//************************************
Point2f xyz2uv(Point3f worldPoint,float intrinsic[3][3],float translation[1][3],float rotation[3][3])
{
// [fx s x0] [Xc] [Xw] [u] 1 [Xc]
//K = |0 fy y0| TEMP = [R T] |Yc| = TEMP*|Yw| | | = —*K *|Yc|
// [ 0 0 1 ] [Zc] |Zw| [v] Zc [Zc]
// [1 ]
Point3f c;
c.x = rotation[0][0]*worldPoint.x + rotation[0][1]*worldPoint.y + rotation[0][2]*worldPoint.z + translation[0][0]*1;
c.y = rotation[1][0]*worldPoint.x + rotation[1][1]*worldPoint.y + rotation[1][2]*worldPoint.z + translation[0][1]*1;
c.z = rotation[2][0]*worldPoint.x + rotation[2][1]*worldPoint.y + rotation[2][2]*worldPoint.z + translation[0][2]*1;
Point2f uv;
uv.x = (intrinsic[0][0]*c.x + intrinsic[0][1]*c.y + intrinsic[0][2]*c.z)/c.z;
uv.y = (intrinsic[1][0]*c.x + intrinsic[1][1]*c.y + intrinsic[1][2]*c.z)/c.z;
return uv;
}

matlab或者opencv标定完都是在左相机上建立世界坐标系，于是上面代码对应的改为：

//左相机旋转矩阵
float leftRotation[3][3] = {1,0,0, 0,1,0, 0,0,1 };
//左相机平移向量
float leftTranslation[1][3] = {0,0,0};

畸变矩阵(默认获得5个即便参数k1,k2,p1,p2,k3）

—————————————————————————————————————————————————

像面坐标系——>世界坐标系还有一种模型是光轴平行模型

双目立体视觉三位测量是基于视差原理：

（11）

（12）

这里，除cx‘外的所有参数都来自于左图像，cx’是主点在右图像上的x坐标。如果主光线在无穷远处相交，那么cx=cx‘，并且右下角的项为0，给定一个二维齐次点和其关联的视差d，我们可以将此点投影到三维中：

（13）

三维坐标就是（X / W , Y / W , Z / W）

Point p;
p.x =294,p.y=189;
cout<<p<< "in world coordinate: " << xyz.at<Vec3f>(p)*16 <<endl;

为什么要乘以16呢？

因为在OpenCV2.0中，BM函数得出的结果是以16位符号数的形式的存储的，出于精度需要，所有的视差在输出时都扩大了16倍(2^4)。其具体代码表示如下：

dptr[y*dstep] = (short)(((ndisp - mind - 1 + mindisp)*256 + (d != 0 ? (p-n)*128/d : 0) + 15) >> 4);

可以看到，原始视差在左移8位(256)并且加上一个修正值之后又右移了4位，最终的结果就是左移4位

因此，在实际求距离时，cvReprojectTo3D出来的X/W,Y/W,Z/W都要乘以16 (也就是W除以16)，才能得到正确的三维坐标信息

下面是在opencv3.0下实现的该方法的测距（转载）

/******************************/
/* 立体匹配和测距 */
/******************************/
#include <opencv2/opencv.hpp>
#include <iostream>
using namespace std;
using namespace cv;
const int imageWidth = 640; //摄像头的分辨率
const int imageHeight = 480;
Size imageSize = Size(imageWidth, imageHeight);
Mat rgbImageL, grayImageL;
Mat rgbImageR, grayImageR;
Mat rectifyImageL, rectifyImageR;
Rect validROIL;//图像校正之后，会对图像进行裁剪，这里的validROI就是指裁剪之后的区域
Rect validROIR;
Mat mapLx, mapLy, mapRx, mapRy; //映射表
Mat Rl, Rr, Pl, Pr, Q; //校正旋转矩阵R，投影矩阵P 重投影矩阵Q
Mat xyz; //三维坐标
Point origin; //鼠标按下的起始点
Rect selection; //定义矩形选框
bool selectObject = false; //是否选择对象
int blockSize = 0, uniquenessRatio =0, numDisparities=0;
Ptr<StereoBM> bm = StereoBM::create(16, 9);
/*
事先标定好的相机的参数
fx 0 cx
0 fy cy
0 0 1
*/
Mat cameraMatrixL = (Mat_<double>(3, 3) << 836.771593170594,0,319.970748854743,
0,839.416501863912,228.788913693256,
0, 0, 1);
Mat distCoeffL = (Mat_<double>(5, 1) << 0, 0, 0, 0, 0);
Mat cameraMatrixR = (Mat_<double>(3, 3) << 838.101721655709,0,319.647150557935,
0,840.636812165056,250.655818405938,
0, 0, 1);
Mat distCoeffR = (Mat_<double>(5, 1) << 0, 0, 0, 0, 0);
Mat T = (Mat_<double>(3, 1) << -39.7389449993974,0.0740619639178984,0.411914303245886);//T平移向量
Mat rec = (Mat_<double>(3, 1) << -0.00306, -0.03207, 0.00206);//rec旋转向量
Mat R = (Mat_<double>(3, 3) << 0.999957725513956,-0.00103511880221423,0.00913650447492805,
0.00114462826834523,0.999927476064641,-0.0119888463633882,
-0.00912343197938050,0.0119987974423658,0.999886389470751);//R 旋转矩阵
/*****立体匹配*****/
void stereo_match(int,void*)
{
bm->setBlockSize(2*blockSize+5); //SAD窗口大小，5~21之间为宜
bm->setROI1(validROIL);
bm->setROI2(validROIR);
bm->setPreFilterCap(31);
bm->setMinDisparity(0); //最小视差，默认值为0, 可以是负值，int型
bm->setNumDisparities(numDisparities*16+16);//视差窗口，即最大视差值与最小视差值之差,窗口大小必须是16的整数倍，int型
bm->setTextureThreshold(10);
bm->setUniquenessRatio(uniquenessRatio);//uniquenessRatio主要可以防止误匹配
bm->setSpeckleWindowSize(100);
bm->setSpeckleRange(32);
bm->setDisp12MaxDiff(-1);
Mat disp, disp8;
bm->compute(rectifyImageL, rectifyImageR, disp);//输入图像必须为灰度图
disp.convertTo(disp8, CV_8U, 255 / ((numDisparities * 16 + 16)*16.));//计算出的视差是CV_16S格式
reprojectImageTo3D(disp, xyz, Q, true); //在实际求距离时，ReprojectTo3D出来的X / W, Y / W, Z / W都要乘以16(也就是W除以16)，才能得到正确的三维坐标信息。
xyz = xyz * 16;
imshow("disparity", disp8);
}
/*****描述：鼠标操作回调*****/
static void onMouse(int event, int x, int y, int, void*)
{
if (selectObject)
{
selection.x = MIN(x, origin.x);
selection.y = MIN(y, origin.y);
selection.width = std::abs(x - origin.x);
selection.height = std::abs(y - origin.y);
}
switch (event)
{
case EVENT_LBUTTONDOWN: //鼠标左按钮按下的事件
origin = Point(x, y);
selection = Rect(x, y, 0, 0);
selectObject = true;
cout << origin <<"in world coordinate is: " << xyz.at<Vec3f>(origin) << endl;
break;
case EVENT_LBUTTONUP: //鼠标左按钮释放的事件
selectObject = false;
if (selection.width > 0 && selection.height > 0)
break;
}
}
/*****主函数*****/
int main()
{
/*
立体校正
*/
//Rodrigues(rec, R); //Rodrigues变换
stereoRectify(cameraMatrixL, distCoeffL, cameraMatrixR, distCoeffR, imageSize, R, T, Rl, Rr, Pl, Pr, Q, CALIB_ZERO_DISPARITY,
0, imageSize, &validROIL, &validROIR);
initUndistortRectifyMap(cameraMatrixL, distCoeffL, Rl, Pr, imageSize, CV_32FC1, mapLx, mapLy);
initUndistortRectifyMap(cameraMatrixR, distCoeffR, Rr, Pr, imageSize, CV_32FC1, mapRx, mapRy);
/*
读取图片
*/
rgbImageL = imread("左2.jpg", CV_LOAD_IMAGE_COLOR);
cvtColor(rgbImageL, grayImageL, CV_BGR2GRAY);
rgbImageR = imread("右2.jpg", CV_LOAD_IMAGE_COLOR);
cvtColor(rgbImageR, grayImageR, CV_BGR2GRAY);
imshow("ImageL Before Rectify", grayImageL);
imshow("ImageR Before Rectify", grayImageR);
/*
经过remap之后，左右相机的图像已经共面并且行对准了
*/
remap(grayImageL, rectifyImageL, mapLx, mapLy, INTER_LINEAR);
remap(grayImageR, rectifyImageR, mapRx, mapRy, INTER_LINEAR);
/*
把校正结果显示出来
*/
Mat rgbRectifyImageL, rgbRectifyImageR;
cvtColor(rectifyImageL, rgbRectifyImageL, CV_GRAY2BGR); //伪彩色图
cvtColor(rectifyImageR, rgbRectifyImageR, CV_GRAY2BGR);
//单独显示
//rectangle(rgbRectifyImageL, validROIL, Scalar(0, 0, 255), 3, 8);
//rectangle(rgbRectifyImageR, validROIR, Scalar(0, 0, 255), 3, 8);
imshow("ImageL After Rectify", rgbRectifyImageL);
imshow("ImageR After Rectify", rgbRectifyImageR);
//显示在同一张图上
Mat canvas;
double sf;
int w, h;
sf = 600. / MAX(imageSize.width, imageSize.height);
w = cvRound(imageSize.width * sf);
h = cvRound(imageSize.height * sf);
canvas.create(h, w * 2, CV_8UC3); //注意通道
//左图像画到画布上
Mat canvasPart = canvas(Rect(w * 0, 0, w, h)); //得到画布的一部分
resize(rgbRectifyImageL, canvasPart, canvasPart.size(), 0, 0, INTER_AREA); //把图像缩放到跟canvasPart一样大小
Rect vroiL(cvRound(validROIL.x*sf), cvRound(validROIL.y*sf), //获得被截取的区域
cvRound(validROIL.width*sf), cvRound(validROIL.height*sf));
//rectangle(canvasPart, vroiL, Scalar(0, 0, 255), 3, 8); //画上一个矩形
cout << "Painted ImageL" << endl;
//右图像画到画布上
canvasPart = canvas(Rect(w, 0, w, h)); //获得画布的另一部分
resize(rgbRectifyImageR, canvasPart, canvasPart.size(), 0, 0, INTER_LINEAR);
Rect vroiR(cvRound(validROIR.x * sf), cvRound(validROIR.y*sf),
cvRound(validROIR.width * sf), cvRound(validROIR.height * sf));
//rectangle(canvasPart, vroiR, Scalar(0, 0, 255), 3, 8);
cout << "Painted ImageR" << endl;
//画上对应的线条
for (int i = 0; i < canvas.rows; i += 16)
line(canvas, Point(0, i), Point(canvas.cols, i), Scalar(0, 255, 0), 1, 8);
imshow("rectified", canvas);
/*
立体匹配
*/
namedWindow("disparity", CV_WINDOW_AUTOSIZE);
// 创建SAD窗口 Trackbar
createTrackbar("BlockSize:\n", "disparity",&blockSize, 8, stereo_match);
// 创建视差唯一性百分比窗口 Trackbar
createTrackbar("UniquenessRatio:\n", "disparity", &uniquenessRatio, 50, stereo_match);
// 创建视差窗口 Trackbar
createTrackbar("NumDisparities:\n", "disparity", &numDisparities, 16, stereo_match);
//鼠标响应函数setMouseCallback(窗口名称, 鼠标回调函数, 传给回调函数的参数，一般取0)
setMouseCallback("disparity", onMouse, 0);
stereo_match(0,0);
waitKey(0);
return 0;
}

————————————————————————————————————————

//opencv2.4.9 vs2012
#include <opencv2\opencv.hpp>
#include <fstream>
#include <iostream>
using namespace std;
using namespace cv;
//图片对数量
#define PicNum 14
//左相机内参数矩阵
float leftIntrinsic[3][3] = {4037.82450, 0, 947.65449,
0, 3969.79038, 455.48718,
0, 0, 1};
//左相机畸变系数
float leftDistortion[1][5] = {0.18962, -4.05566, -0.00510, 0.02895, 0};
//左相机旋转矩阵
float leftRotation[3][3] = {0.912333, -0.211508, 0.350590,
0.023249, -0.828105, -0.560091,
0.408789, 0.519140, -0.750590};
//左相机平移向量
float leftTranslation[1][3] = {-127.199992, 28.190639, 1471.356768};
//右相机内参数矩阵
float rightIntrinsic[3][3] = {3765.83307, 0, 339.31958,
0, 3808.08469, 660.05543,
0, 0, 1};
//右相机畸变系数
float rightDistortion[1][5] = {-0.24195, 5.97763, -0.02057, -0.01429, 0};
//右相机旋转矩阵
float rightRotation[3][3] = {-0.134947, 0.989568, -0.050442,
0.752355, 0.069205, -0.655113,
-0.644788, -0.126356, -0.753845};
//右相机平移向量
float rightTranslation[1][3] = {50.877397, -99.796492, 1507.312197};
//球坐标数组
//大球
float rightDaqiu[PicNum][2] = {0};
float leftDaqiu[PicNum][2] = {0};
float worldDaqiu[PicNum][3] = {0};
//小球
float rightXiaoqiu[PicNum][2] = {0};
float leftXiaoqiu[PicNum][2] = {0};
float worldXiaoqiu[PicNum][3] = {0};
//花球
float rightHuaqiu[PicNum][2] = {0};
float leftHuaqiu[PicNum][2] = {0};
float worldHuaqiu[PicNum][3] = {0};
void ContrastAndBright(double alpha, double beta);//调节亮度/对比度
void CorrectionProcess();//对素材校正畸变
void initPos();//手动赋值球的图像坐标
void Daqiu();//计算大球图像坐标
Mat PictureCorrection( Mat image ,float intrinsic[3][3],float distortion[1][5]);//单张图像畸变校正
Point2f xyz2uv(Point3f worldPoint,float intrinsic[3][3],float translation[1][3],float rotation[3][3]);//从世界坐标转为图像坐标
Point3f uv2xyz(Point2f uvLeft,Point2f uvRight);//从图像坐标转为世界坐标
int main()
{
CorrectionProcess();//对素材校正畸变
ContrastAndBright(2.5,50);//调节亮度/对比度
Daqiu();//自动计算大球坐标
initPos();//手动修正,如需验证数据，可以在该函数中修改
//求取大球的空间坐标
cout<<"求解大球的世界坐标："<<endl;
for (int i=0; i<PicNum; i++)
{
Point2f l,r;
Point3f worldPoint;
l.x = leftDaqiu[i][0];
l.y = leftDaqiu[i][1];
r.x = rightDaqiu[i][0];
r.y = rightDaqiu[i][1];
worldPoint = uv2xyz(l,r);
cout<< worldPoint <<endl;
worldDaqiu[i][0] = worldPoint.x;
worldDaqiu[i][1] = worldPoint.y;
worldDaqiu[i][2] = worldPoint.z;
}
cout<<"求解小球的世界坐标："<<endl;
for (int i=0; i<PicNum; i++)
{
Point2f l,r;
Point3f worldPoint;
l.x = leftXiaoqiu[i][0];
l.y = leftXiaoqiu[i][1];
r.x = rightXiaoqiu[i][0];
r.y = rightXiaoqiu[i][1];
worldPoint = uv2xyz(l,r);
cout<< worldPoint <<endl;
worldXiaoqiu[i][0] = worldPoint.x;
worldXiaoqiu[i][1] = worldPoint.y;
worldXiaoqiu[i][2] = worldPoint.z;
}
cout<<"求解花球的世界坐标："<<endl;
for (int i=0; i<PicNum; i++)
{
Point2f l,r;
Point3f worldPoint;
l.x = leftHuaqiu[i][0];
l.y = leftHuaqiu[i][1];
r.x = rightHuaqiu[i][0];
r.y = rightHuaqiu[i][1];
worldPoint = uv2xyz(l,r);
cout<< worldPoint <<endl;
worldHuaqiu[i][0] = worldPoint.x;
worldHuaqiu[i][1] = worldPoint.y;
worldHuaqiu[i][2] = worldPoint.z;
}
//csv文件写入部分
ofstream oFile; //定义文件输出流
oFile.open("三维坐标.csv", ios::out | ios::trunc); //打开要输出的文件这样就很容易的输出一个需要的excel 文件
//写入大球数据
oFile << "大球坐标" << endl;
oFile << "左相机坐标,,,右相机坐标,,,世界坐标" << endl;
oFile << "x,y,,x,y,,x,y,z" << endl;
for (int i=0; i<PicNum ;i++)
{
oFile << leftDaqiu[i][0] <<","<< leftDaqiu[i][1] << ",," << rightDaqiu[i][0] <<","<< rightDaqiu[i][1]
<< ",," << worldDaqiu[i][0] <<","<< worldDaqiu[i][1] <<","<< worldDaqiu[i][2] << endl;
}
//写入小球数据
oFile << "小球坐标" << endl;
oFile << "左相机坐标,,,右相机坐标,,,世界坐标" << endl;
oFile << "x,y,,x,y,,x,y,z" << endl;
for (int i=0; i<PicNum ;i++)
{
oFile << leftXiaoqiu[i][0] <<","<< leftXiaoqiu[i][1] << ",," << rightXiaoqiu[i][0] <<","<< rightXiaoqiu[i][1]
<< ",," << worldXiaoqiu[i][0] <<","<< worldXiaoqiu[i][1] <<","<< worldXiaoqiu[i][2] << endl;
}
//写入花球数据
oFile << "花球坐标" << endl;
oFile << "左相机坐标,,,右相机坐标,,,世界坐标" << endl;
oFile << "x,y,,x,y,,x,y,z" << endl;
for (int i=0; i<PicNum ;i++)
{
oFile << leftHuaqiu[i][0] <<","<< leftHuaqiu[i][1] << ",," << rightHuaqiu[i][0] <<","<< rightHuaqiu[i][1]
<< ",," << worldHuaqiu[i][0] <<","<< worldHuaqiu[i][1] <<","<< worldHuaqiu[i][2] << endl;
}
//关闭文件
oFile.close();
//test
已知空间坐标求成像坐标
//Point3f point(700,220,530);
//cout<<"左相机中坐标："<<endl;
//cout<<xyz2uv(point,leftIntrinsic,leftTranslation,leftRotation)<<endl;
//cout<<"右相机中坐标："<<endl;
//cout<<xyz2uv(point,rightIntrinsic,rightTranslation,rightRotation)<<endl;
//已知左右相机成像坐标求空间坐标
//Point2f l = xyz2uv(point,leftIntrinsic,leftTranslation,leftRotation);
//Point2f r = xyz2uv(point,rightIntrinsic,rightTranslation,rightRotation);
//Point3f worldPoint;
//worldPoint = uv2xyz(l,r);
//cout<<"空间坐标为:"<<endl<<uv2xyz(l,r)<<endl;
/*
//csv文件读取部分
string value;//临时字符串
ifstream iFile("三维坐标.csv");//打开要读入的文件
//循环行读取
while (iFile.good())
{
getline(iFile,value);
//getline(iFile,value,','); //.csv文件用","作为分隔符
cout<<value<<endl;
}
*/
system("pause");
return 0;
}
//************************************
// Description: 修正圆心坐标
// Method: initPos
// FullName: initPos
// Access: public
// Returns: void
// Author: bhy
// Date: 2016/12/25
// History:
//************************************
void initPos()
{
//手动修正
leftDaqiu[0][0] = 1175; leftDaqiu[0][1] = 7; rightDaqiu[0][0] = 256; rightDaqiu[0][1] = 1;
leftDaqiu[1][0] = 823; leftDaqiu[1][1] = 603; rightDaqiu[1][0] = 289; rightDaqiu[1][1] = 431;
leftDaqiu[2][0] = 963; leftDaqiu[2][1] = 360; rightDaqiu[2][0] = 283; rightDaqiu[2][1] = 169;
leftDaqiu[3][0] = 1065; leftDaqiu[3][1] = 180; rightDaqiu[3][0] = 294; rightDaqiu[3][1] = 1;
leftDaqiu[4][0] = 1039; leftDaqiu[4][1] = 217; rightDaqiu[4][0] = 314; rightDaqiu[4][1] = 68;
leftDaqiu[5][0] = 896; leftDaqiu[5][1] = 448; rightDaqiu[5][0] = 378; rightDaqiu[5][1] = 402;
leftDaqiu[6][0] = 933; leftDaqiu[6][1] = 376; rightDaqiu[6][0] = 398; rightDaqiu[6][1] = 347;
leftDaqiu[7][0] = 868; leftDaqiu[7][1] = 463; rightDaqiu[7][0] = 423; rightDaqiu[7][1] = 418;
leftDaqiu[8][0] = 878; leftDaqiu[8][1] = 417; rightDaqiu[8][0] = 458; rightDaqiu[8][1] = 466;
leftDaqiu[9][0] = 860; leftDaqiu[9][1] = 423; rightDaqiu[9][0] = 481; rightDaqiu[9][1] = 490;
leftDaqiu[10][0] = 840; leftDaqiu[10][1] = 442; rightDaqiu[10][0] = 499; rightDaqiu[10][1] = 500;
leftDaqiu[11][0] = 822; leftDaqiu[11][1] = 414; rightDaqiu[11][0] = 523; rightDaqiu[11][1] = 511;
leftDaqiu[12][0] = 805; leftDaqiu[12][1] = 406; rightDaqiu[12][0] = 538; rightDaqiu[12][1] = 516;
leftDaqiu[13][0] = 802; leftDaqiu[13][1] = 402; rightDaqiu[13][0] = 549; rightDaqiu[13][1] = 514;
leftXiaoqiu[0][0] = 1250; leftXiaoqiu[0][1] = 120; rightXiaoqiu[0][0] = 308; rightXiaoqiu[0][1] = 313;
leftXiaoqiu[1][0] = 1034; leftXiaoqiu[1][1] = 481; rightXiaoqiu[1][0] = 314; rightXiaoqiu[1][1] = 482;
leftXiaoqiu[2][0] = 1207; leftXiaoqiu[2][1] = 228; rightXiaoqiu[2][0] = 284; rightXiaoqiu[2][1] = 186;
leftXiaoqiu[3][0] = 1343; leftXiaoqiu[3][1] = 55; rightXiaoqiu[3][0] = 252; rightXiaoqiu[3][1] = -20;
leftXiaoqiu[4][0] = 1326; leftXiaoqiu[4][1] = 102; rightXiaoqiu[4][0] = 242; rightXiaoqiu[4][1] = 23;
leftXiaoqiu[5][0] = 1021; leftXiaoqiu[5][1] = 625; rightXiaoqiu[5][0] = 269; rightXiaoqiu[5][1] = 632;
leftXiaoqiu[6][0] = 1123; leftXiaoqiu[6][1] = 489; rightXiaoqiu[6][0] = 241; rightXiaoqiu[6][1] = 458;
leftXiaoqiu[7][0] = 1147; leftXiaoqiu[7][1] = 475; rightXiaoqiu[7][0] = 224; rightXiaoqiu[7][1] = 404;
leftXiaoqiu[8][0] = 1078; leftXiaoqiu[8][1] = 595; rightXiaoqiu[8][0] = 223; rightXiaoqiu[8][1] = 558;
leftXiaoqiu[9][0] = 1062; leftXiaoqiu[9][1] = 635; rightXiaoqiu[9][0] = 216; rightXiaoqiu[9][1] = 598;
leftXiaoqiu[10][0] = 1080; leftXiaoqiu[10][1] = 619; rightXiaoqiu[10][0] = 201; rightXiaoqiu[10][1] = 576;
leftXiaoqiu[11][0] = 1054; leftXiaoqiu[11][1] = 690; rightXiaoqiu[11][0] = 189; rightXiaoqiu[11][1] = 633;
leftXiaoqiu[12][0] = 1046; leftXiaoqiu[12][1] = 724; rightXiaoqiu[12][0] = 179; rightXiaoqiu[12][1] = 655;
leftXiaoqiu[13][0] = 1046; leftXiaoqiu[13][1] = 726; rightXiaoqiu[13][0] = 172; rightXiaoqiu[13][1] = 656;
leftHuaqiu[0][0] = 1075; leftHuaqiu[0][1] = 111; rightHuaqiu[0][0] = 120; rightHuaqiu[0][1] = -30;//出视场
leftHuaqiu[1][0] = 708; leftHuaqiu[1][1] = 810; rightHuaqiu[1][0] = 142; rightHuaqiu[1][1] = 382;
leftHuaqiu[2][0] = 876; leftHuaqiu[2][1] = 518; rightHuaqiu[2][0] = 131; rightHuaqiu[2][1] = 83;
leftHuaqiu[3][0] = 1021; leftHuaqiu[3][1] = 253; rightHuaqiu[3][0] = 180; rightHuaqiu[3][1] = -60;//出视场
leftHuaqiu[4][0] = 1019; leftHuaqiu[4][1] = 248; rightHuaqiu[4][0] = 183; rightHuaqiu[4][1] = -30;//出视场
leftHuaqiu[5][0] = 764; leftHuaqiu[5][1] = 654; rightHuaqiu[5][0] = 278; rightHuaqiu[5][1] = 437;
leftHuaqiu[6][0] = 844; leftHuaqiu[6][1] = 486; rightHuaqiu[6][0] = 286; rightHuaqiu[6][1] = 261;
leftHuaqiu[7][0] = 852; leftHuaqiu[7][1] = 425; rightHuaqiu[7][0] = 305; rightHuaqiu[7][1] = 206;
leftHuaqiu[8][0] = 780; leftHuaqiu[8][1] = 523; rightHuaqiu[8][0] = 347; rightHuaqiu[8][1] = 359;
leftHuaqiu[9][0] = 757; leftHuaqiu[9][1] = 530; rightHuaqiu[9][0] = 363; rightHuaqiu[9][1] = 382;
leftHuaqiu[10][0] = 765; leftHuaqiu[10][1] = 505; rightHuaqiu[10][0] = 368; rightHuaqiu[10][1] = 345;
leftHuaqiu[11][0] = 702; leftHuaqiu[11][1] = 554; rightHuaqiu[11][0] = 382; rightHuaqiu[11][1] = 398;
leftHuaqiu[12][0] = 666; leftHuaqiu[12][1] = 573; rightHuaqiu[12][0] = 386; rightHuaqiu[12][1] = 408;
leftHuaqiu[13][0] = 656; leftHuaqiu[13][1] = 581; rightHuaqiu[13][0] = 384; rightHuaqiu[13][1] = 398;
}
//************************************
// 2016/12/2 by 小白
// Method: uv2xyz
// FullName: uv2xyz
// Access: public
// Returns: cv::Point3f 世界坐标
// Qualifier: 根据左右相机中成像坐标求解空间坐标
// Parameter: Point2f uvLeft 左相机中成像坐标
// Parameter: Point2f uvRight 右相机中成像坐标
//************************************
Point3f uv2xyz(Point2f uvLeft,Point2f uvRight)
{
// [u1] |X| [u2] |X|
//Z*|v1| = Ml*|Y| Z*|v2| = Mr*|Y|
// [ 1] |Z| [ 1] |Z|
// |1| |1|
Mat mLeftRotation = Mat(3,3,CV_32F,leftRotation);
Mat mLeftTranslation = Mat(3,1,CV_32F,leftTranslation);
Mat mLeftRT = Mat(3,4,CV_32F);//左相机M矩阵
hconcat(mLeftRotation,mLeftTranslation,mLeftRT);
Mat mLeftIntrinsic = Mat(3,3,CV_32F,leftIntrinsic);
Mat mLeftM = mLeftIntrinsic * mLeftRT;
//cout<<"左相机M矩阵 = "<<endl<<mLeftM<<endl;
Mat mRightRotation = Mat(3,3,CV_32F,rightRotation);
Mat mRightTranslation = Mat(3,1,CV_32F,rightTranslation);
Mat mRightRT = Mat(3,4,CV_32F);//右相机M矩阵
hconcat(mRightRotation,mRightTranslation,mRightRT);
Mat mRightIntrinsic = Mat(3,3,CV_32F,rightIntrinsic);
Mat mRightM = mRightIntrinsic * mRightRT;
//cout<<"右相机M矩阵 = "<<endl<<mRightM<<endl;
//最小二乘法A矩阵
Mat A = Mat(4,3,CV_32F);
A.at<float>(0,0) = uvLeft.x * mLeftM.at<float>(2,0) - mLeftM.at<float>(0,0);
A.at<float>(0,1) = uvLeft.x * mLeftM.at<float>(2,1) - mLeftM.at<float>(0,1);
A.at<float>(0,2) = uvLeft.x * mLeftM.at<float>(2,2) - mLeftM.at<float>(0,2);
A.at<float>(1,0) = uvLeft.y * mLeftM.at<float>(2,0) - mLeftM.at<float>(1,0);
A.at<float>(1,1) = uvLeft.y * mLeftM.at<float>(2,1) - mLeftM.at<float>(1,1);
A.at<float>(1,2) = uvLeft.y * mLeftM.at<float>(2,2) - mLeftM.at<float>(1,2);
A.at<float>(2,0) = uvRight.x * mRightM.at<float>(2,0) - mRightM.at<float>(0,0);
A.at<float>(2,1) = uvRight.x * mRightM.at<float>(2,1) - mRightM.at<float>(0,1);
A.at<float>(2,2) = uvRight.x * mRightM.at<float>(2,2) - mRightM.at<float>(0,2);
A.at<float>(3,0) = uvRight.y * mRightM.at<float>(2,0) - mRightM.at<float>(1,0);
A.at<float>(3,1) = uvRight.y * mRightM.at<float>(2,1) - mRightM.at<float>(1,1);
A.at<float>(3,2) = uvRight.y * mRightM.at<float>(2,2) - mRightM.at<float>(1,2);
//最小二乘法B矩阵
Mat B = Mat(4,1,CV_32F);
B.at<float>(0,0) = mLeftM.at<float>(0,3) - uvLeft.x * mLeftM.at<float>(2,3);
B.at<float>(1,0) = mLeftM.at<float>(1,3) - uvLeft.y * mLeftM.at<float>(2,3);
B.at<float>(2,0) = mRightM.at<float>(0,3) - uvRight.x * mRightM.at<float>(2,3);
B.at<float>(3,0) = mRightM.at<float>(1,3) - uvRight.y * mRightM.at<float>(2,3);
Mat XYZ = Mat(3,1,CV_32F);
//采用SVD最小二乘法求解XYZ
solve(A,B,XYZ,DECOMP_SVD);
//cout<<"空间坐标为 = "<<endl<<XYZ<<endl;
//世界坐标系中坐标
Point3f world;
world.x = XYZ.at<float>(0,0);
world.y = XYZ.at<float>(1,0);
world.z = XYZ.at<float>(2,0);
return world;
}
//************************************
// Description: 将空间坐标转换为像面坐标，用于检验
// Method: xyz2uv
// FullName: xyz2uv
// Access: public
// Parameter: Point3f worldPoint
// Parameter: float intrinsic[3][3]
// Parameter: float translation[1][3]
// Parameter: float rotation[3][3]
// Returns: cv::Point2f
// Author: bhy
// Date: 2016/12/28
// History:
//************************************
Point2f xyz2uv(Point3f worldPoint,float intrinsic[3][3],float translation[1][3],float rotation[3][3])
{
// [fx s x0] [Xc] [Xw] [u] 1 [Xc]
//K = |0 fy y0| TEMP = [R T] |Yc| = TEMP*|Yw| | | = —*K *|Yc|
// [ 0 0 1 ] [Zc] |Zw| [v] Zc [Zc]
// [1 ]
Point3f c;
c.x = rotation[0][0]*worldPoint.x + rotation[0][1]*worldPoint.y + rotation[0][2]*worldPoint.z + translation[0][0]*1;
c.y = rotation[1][0]*worldPoint.x + rotation[1][1]*worldPoint.y + rotation[1][2]*worldPoint.z + translation[0][1]*1;
c.z = rotation[2][0]*worldPoint.x + rotation[2][1]*worldPoint.y + rotation[2][2]*worldPoint.z + translation[0][2]*1;
Point2f uv;
uv.x = (intrinsic[0][0]*c.x + intrinsic[0][1]*c.y + intrinsic[0][2]*c.z)/c.z + 0.5;//加0.5去整 == 四舍五入
uv.y = (intrinsic[1][0]*c.x + intrinsic[1][1]*c.y + intrinsic[1][2]*c.z)/c.z + 0.5;//加0.5去整 == 四舍五入
return uv;
}
//************************************
// Description: 对畸变校正文件夹下的图片批量进行亮度/对比度调节
// Method: ContrastAndBright
// FullName: ContrastAndBright
// Access: public
// Parameter: double alpha
// Parameter: double beta
// Returns: void
// Author: bhy
// Date: 2016/12/28
// History:
//************************************
void ContrastAndBright(double alpha, double beta)
{
//double alpha =3;
//double beta = 40;
cout<<"**********************************************"<<endl;
cout<<" 亮度/对比度调节 "<<endl;
cout<<"**********************************************"<<endl;
cout<<"当前 alpha = "<<alpha<<endl;
cout<<"当前 beta = "<<beta<<endl;
Mat src,dst;
system("md 亮度对比度\\rightky1");
//右相机调节
//如果校正图像目录不存在，则创建该目录
for (int ii=1; ii<=PicNum; ii++)
{
cout<<"右：第"<<ii<<"张图片"<<endl;
char* filename = new char[100];
sprintf(filename,"畸变校正/rightky1/r%d.bmp",ii);
src = imread(filename);//顺次读入图片
delete []filename;//释放字符串
dst = Mat::zeros(src.size(),src.type());//清空目标矩阵
//根据alpha,beta重新计算灰度值
for (int i = 0;i<src.rows;++i)
for(int j= 0;j<src.cols;++j)
for(int k = 0;k<3;++k)
dst.at<Vec3b>(i,j)[k] = saturate_cast<uchar>(src.at<Vec3b>(i,j)[k]*alpha+beta);
char* output = new char[100];
sprintf(output,"亮度对比度/rightky1/r%d.bmp",ii);
imwrite(output,dst); //顺次保存校正图
delete []output;//释放字符串
}
//左相机调节
//如果校正图像目录不存在，则创建该目录
system("md 亮度对比度\\leftky1");
for (int ii=1; ii<=PicNum; ii++)
{
cout<<"左：第"<<ii<<"张图片"<<endl;
char* filename = new char[100];
sprintf(filename,"畸变校正/leftky1/l%d.bmp",ii);
src = imread(filename);//顺次读入图片
delete []filename;//释放字符串
dst = Mat::zeros(src.size(),src.type());//清空目标矩阵
//根据alpha,beta重新计算灰度值
for (int i = 0;i<src.rows;++i)
for(int j= 0;j<src.cols;++j)
for(int k = 0;k<3;++k)
dst.at<Vec3b>(i,j)[k] = saturate_cast<uchar>(src.at<Vec3b>(i,j)[k]*alpha+beta);
char* output = new char[100];
sprintf(output,"亮度对比度/leftky1/l%d.bmp",ii);
imwrite(output,dst); //顺次保存校正图
delete []output;//释放字符串
}
cout<<"**********************************************"<<endl;
cout<<" 亮度/对比度调节结束 "<<endl;
cout<<"**********************************************"<<endl;
}
//************************************
// Description: 对素材文件夹中的图片批量进行畸变校正
// Method: CorrectionProcess
// FullName: CorrectionProcess
// Access: public
// Returns: void
// Author: bhy
// Date: 2016/12/28
// History:
//************************************
void CorrectionProcess()
{
cout<<"**********************************************"<<endl;
cout<<" 畸变校正 "<<endl;
cout<<"**********************************************"<<endl;
Mat image;
//使用畸变系数与内参校正右相机原图
//如果校正图像目录不存在，则创建该目录
system("md 畸变校正\\rightky1");
for (int i=1; i<=PicNum; i++)
{
cout<<"右：校正第"<<i<<"张图片"<<endl;
char* filename = new char[100];
sprintf(filename,"素材/rightky1/r%d.bmp",i);
image = imread(filename,IMREAD_GRAYSCALE);//顺次读入图片
delete []filename;//释放字符串
char* output = new char[100];
sprintf(output,"畸变校正/rightky1/r%d.bmp",i);
imwrite(output,PictureCorrection(image,rightIntrinsic,rightDistortion)); //顺次保存校正图
delete []output;//释放字符串
}
//使用畸变系数与内参校正左相机原图
//如果校正图像目录不存在，则创建该目录
system("md 畸变校正\\leftky1");
for (int i=1; i<=PicNum; i++)
{
cout<<"左：校正第"<<i<<"张图片"<<endl;
char* filename = new char[100];
sprintf(filename,"素材/leftky1/l%d.bmp",i);
image = imread(filename,IMREAD_GRAYSCALE);//顺次读入图片
delete []filename;//释放字符串
char* output = new char[100];
sprintf(output,"畸变校正/leftky1/l%d.bmp",i);
imwrite(output,PictureCorrection(image,leftIntrinsic,leftDistortion)); //顺次保存校正图
delete []output;//释放字符串
}
cout<<"**********************************************"<<endl;
cout<<" 畸变校正结束 "<<endl;
cout<<"**********************************************"<<endl;
}
//************************************
// Method: PictureCorrection
// FullName: PictureCorrection
// Access: public
// Returns: cv::Mat 校正图
// Qualifier: 根据畸变系数与内参校正一张图片
// Parameter: Mat image
// Parameter: float intrinsic[3][3] 内参
// Parameter: float distortion[1][5] 畸变矩阵
//************************************
Mat PictureCorrection( Mat image ,float intrinsic[3][3],float distortion[1][5])
{
Size image_size = image.size();
Mat intrinsic_matrix = Mat(3,3,CV_32FC1,intrinsic);
Mat distortion_coeffs = Mat(1,5,CV_32FC1,distortion);
Mat R = Mat::eye(3,3,CV_32F);
Mat mapx = Mat(image_size,CV_32FC1);
Mat mapy = Mat(image_size,CV_32FC1);
initUndistortRectifyMap(intrinsic_matrix,distortion_coeffs,R,intrinsic_matrix,image_size,CV_32FC1,mapx,mapy);
Mat t = image.clone();
cv::remap( image, t, mapx, mapy, INTER_LINEAR);
return t;
}
//************************************
// Description: 采用hough变换求取大球圆心
// Method: Daqiu
// FullName: Daqiu
// Access: public
// Returns: void
// Author: bhy
// Date: 2016/12/28
// History:
//************************************
void Daqiu()
{
cout<<"**********************************************"<<endl;
cout<<" 计算大球圆心 "<<endl;
cout<<"**********************************************"<<endl;
Mat img;
//右相机 ContrastAndBright(2.5,50);
system("md 大球圆心\\rightky1");
cout<<"右图："<<endl;
for (int i=1; i<=PicNum; i++)
{
stringstream strStm;
string strFileName;
strStm << i;
strStm >> strFileName;
strFileName = "亮度对比度/rightky1/r" + strFileName + ".bmp";
img = imread(strFileName,IMREAD_GRAYSCALE);
GaussianBlur(img,img,Size(5,5),0);
vector<Vec3f> circles;
HoughCircles( img, circles, CV_HOUGH_GRADIENT, 3 ,70, 70, 30, 95 ,100);//hough圆变换
Point2f center(0,0);
float radius;
for (int j = 0; j < circles.size(); j++)
{
if (circles[j][0] > center.x && circles[j][0] < img.cols/2)
{
center.x = circles[j][0];
center.y = circles[j][1];
radius = circles[j][2];//半径
}
}
rightDaqiu[i-1][0] = center.x;
rightDaqiu[i-1][1] = center.y;
CvScalar color = CV_RGB(0,0,0);
circle( img, (Point)center, radius, color, 3, 8, 0);//绘制圆
circle( img, (Point)center, 3, color, 3, 8, 0);//绘制圆心
cout<<"圆心:"<<center<<endl;//为了保证精度，以原值输出
char* output = new char[100];
sprintf(output,"大球圆心/rightky1/r%d.bmp",i);
imwrite(output,img); //顺次保存校正图
delete []output;//释放字符串
}
system("md 大球圆心\\leftky1");
cout<<"左图："<<endl;
for (int i=1; i<=PicNum; i++)
{
stringstream strStm;
string strFileName;
strStm << i;
strStm >> strFileName;
strFileName = "亮度对比度/leftky1/l" + strFileName + ".bmp";
img = imread(strFileName,IMREAD_GRAYSCALE);
GaussianBlur(img,img,Size(5,5),0);
vector<Vec3f> circles;
HoughCircles( img, circles, CV_HOUGH_GRADIENT, 3 ,70, 30, 50, 100 ,110);//hough圆变换
Point2f center(0,1024);
float radius;
for (int j = 0; j < circles.size(); j++)
{
if (circles[j][1]<center.y)
{
center.x = circles[j][0];
center.y = circles[j][1];
radius = circles[j][2];//半径
}
}
leftDaqiu[i-1][0] = center.x;
leftDaqiu[i-1][1] = center.y;
CvScalar color = CV_RGB(0,0,0);
circle( img, center, radius, color, 3, 8, 0);//绘制圆
circle( img, center, 3, color, 3, 8, 0);//绘制圆心
cout<<"圆心:"<<center<<endl;//为了保证精度，以原值输出
char* output = new char[100];
sprintf(output,"大球圆心/leftky1/l%d.bmp",i);
imwrite(output,img); //顺次保存校正图
delete []output;//释放字符串
}
cout<<"**********************************************"<<endl;
cout<<" 圆心计算结束 "<<endl;
cout<<"**********************************************"<<endl;
}