获得去除畸变的图像 c++ python版本通用

最新推荐文章于 2024-04-17 15:38:53 发布

zisuina_2

最新推荐文章于 2024-04-17 15:38:53 发布

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分类专栏： vslam C++ 文章标签： python 计算机视觉 opencv

本文链接：https://blog.csdn.net/zisuina_2/article/details/107207576

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简介

去除畸变是图像处理最常用的操作，请获取去除畸变的多种方式！记得点赞！给苦逼的程序员一点动力。

PYTHON 除畸变

#获得去除畸变的图像
def calibration(img):
    mtx = np.array([ [ 2.43714600e+02, 0., 3.56074585e+02],
                     [0., 1.43695648e+02, 2.82849579e+02],
                     [0, 0, 1]])

    dist  = np.array([ 1.68765223e-01, 6.45689249e-01, -3.87637527e-07,
       1.74045555e-05, 1.51894258e-02, 6.05511725e-01, 1.86023712e-01,
       8.58336240e-02]).reshape((1,8))
    mapx_cali ,mapy_cali  = cv2.initUndistortRectifyMap(mtx, dist, None, mtx,(1280, 960), 5)
    cali_img = cv2.remap(img, mapx_cali, mapy_cali, cv2.INTER_LINEAR)
    return cali_img

C++ 除畸变

#获得去除畸变的图像
/**
  @brief 获取去除畸变的图片;
  @param cv::Mat src 原图；
  @double width, double height, double fx, double fy, double cx, double cy, double k1, double k2, double p1, double p2, double k3, double k4, double k5, double k6
   图片的宽高(width,height)，机器的内参（fx，fy,cx,xy），机器的畸变参数(k1,k2,p1,p2,k3,k4,k5,k6)
  @return cv::Mat 获得去除畸变的图片；

*/
cv::Mat calibration(cv::Mat src,double width, double height,
                                 double fx, double fy, double cx, double cy,
                                 double k1, double k2, double p1, double p2, double k3, double k4, double k5, double k6){

    cv::Mat calibration_mat;
    Mat cameraMatrix = Mat::eye(3, 3, CV_64F);
    //内参矩阵, 就算复制代码，也不要用我的参数。摄像头都不一样...
    cameraMatrix.at<double>(0, 0) = fx;
    cameraMatrix.at<double>(0, 1) = 0;
    cameraMatrix.at<double>(0, 2) = cx;
    cameraMatrix.at<double>(1, 1) = fy;
    cameraMatrix.at<double>(1, 2) = cy;
    cameraMatrix.at<double>(2, 0) = 0;
    cameraMatrix.at<double>(2, 1) = 0;
    cameraMatrix.at<double>(2, 2) = 1;
    cout << cameraMatrix << endl;
    //畸变参数，不要用我的参数~
    Mat distCoeffs = Mat::zeros(8, 1, CV_64F);
    distCoeffs.at<double>(0, 0) = k1;
    distCoeffs.at<double>(1, 0) = k2;
    distCoeffs.at<double>(2, 0) = p1;
    distCoeffs.at<double>(3, 0) = p2;
    distCoeffs.at<double>(4, 0) = k3;
    distCoeffs.at<double>(5, 0) = k4;
    distCoeffs.at<double>(6, 0) = k5;
    distCoeffs.at<double>(7, 0) = k6;
    cout << distCoeffs << endl;
    Mat view, rview, map1, map2;
    Size imageSize;
    imageSize = src.size();
    //    mapx_cali ,mapy_cali  = cv2.initUndistortRectifyMap(mtx, dist, None, mtx,(1280, 960), 5)
//    cali_img = cv2.remap(img, mapx_cali, mapy_cali, cv2.INTER_LINEAR)
//    return cali_img
//    initUndistortRectifyMap(cameraMatrix, distCoeffs, Mat(),
//                            getOptimalNewCameraMatrix(cameraMatrix, distCoeffs, imageSize, 1, imageSize, 0),
//                            imageSize, CV_16SC2, map1, map2);
    initUndistortRectifyMap(cameraMatrix, distCoeffs, Mat(),
                            cameraMatrix,imageSize, CV_16SC2, map1, map2);
    remap(src, calibration_mat, map1, map2, INTER_LINEAR);
    return calibration_mat;

}