门户网站推广方式,wordpress同步文章插件,项目实施方案计划书,网站诚信体制建设参考文献#xff1a; Single View Point Omnidirectional Camera Calibration from Planar Grids
1. 相机模型如下#xff1a; // 相机坐标系下的点投影到畸变图像// 输入#xff1a;相机坐标系点坐标cam 输出#xff1a; 畸变图像素点坐标disPtvoid FisheyeCamAdapter::…参考文献 Single View Point Omnidirectional Camera Calibration from Planar Grids
1. 相机模型如下 // 相机坐标系下的点投影到畸变图像// 输入相机坐标系点坐标cam 输出 畸变图像素点坐标disPtvoid FisheyeCamAdapter::cam2DistImg(cv::Point3f cam, cv::Point2f disPt){double r cv::norm(cam);double dx_u 0, dy_u 0;if (r ! 0){cv::Point3f ps cam / r;double x ps.x / (ps.z camInt.fXi);double y ps.y / (ps.z camInt.fXi);distortion(x, y, dx_u, dy_u);x dx_u;y dy_u;disPt.x x * camInt.fGammaX camInt.fCx;disPt.y y * camInt.fGammaY camInt.fCy;}else{disPt.x camInt.fCx;disPt.y camInt.fCy;}}// 无畸变图像到畸变图像void FisheyeCamAdapter::distortion(double mx_u, double my_u, double *dx_u, double *dy_u){double mx2_u 0., my2_u 0., mxy_u 0., rho2_u 0., rad_dist_u 0.;double k1 camInt.distortCoeff[0];double k2 camInt.distortCoeff[1];double p1 camInt.distortCoeff[2];double p2 camInt.distortCoeff[3];double k5 camInt.distortCoeff[4];mx2_u mx_u * mx_u;my2_u my_u * my_u;mxy_u mx_u * my_u;rho2_u mx2_u my2_u;rad_dist_u k1 * rho2_u k2 * rho2_u * rho2_u k5 * rho2_u * rho2_u * rho2_u;*dx_u mx_u * rad_dist_u 2 * p1 * mxy_u p2 * (rho2_u 2 * mx2_u);*dy_u my_u * rad_dist_u 2 * p2 * mxy_u p1 * (rho2_u 2 * my2_u);} 反投影过程畸变图中的像素坐标计算相机坐标系下坐标 cv::Point3f FisheyeCamAdapter::pointDis2Camera(const cv::Point2f disPoint){double mx_d, my_d, mx_u, my_u;double lambda;double xi camInt.fXi;// Lift points to normalised planefloat inv_K11 1 / camInt.fGammaX;float inv_K13 -camInt.fCx / camInt.fGammaX;float inv_K22 1 / camInt.fGammaY;float inv_K23 -camInt.fCy / camInt.fGammaY;mx_d inv_K11 * (disPoint.x) inv_K13;my_d inv_K22 * (disPoint.y) inv_K23;undistortGN(mx_d, my_d, mx_u, my_u, 100); // 去畸变坐标// Lift normalised points to the sphere (inv_hslash)cv::Point3f camera;if (xi 1){lambda 2 / (mx_u * mx_u my_u * my_u 1);camera.x lambda * mx_u;camera.y lambda * my_u;camera.z lambda - 1;}else{double sqrt_i 1.0 (1.0 - xi * xi) * (mx_u * mx_u my_u * my_u);if (sqrt_i 0){camera.x -1000000;camera.y -1000000;camera.z 1;}else{lambda (xi sqrt(sqrt_i)) / (1.0 mx_u * mx_u my_u * my_u);camera.x lambda * mx_u;camera.y lambda * my_u;camera.z lambda - xi;}}return camera;}
