jerryzeng/camAlgo
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提交前向Map函数

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This commit is contained in:
Motorman 2025-08-23 21:17:54 +08:00
parent d4a0315a12
commit d51b0f23a0
1 changed files with 36 additions and 8 deletions
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38
camCalib/camCalib.cpp
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@ -97,6 +97,33 @@ typedef struct
#define CALIB_CIRCLE_GRID 2
#define CALIB_CHARUCO 3
void initForwardRectMap(const cv::Mat& K, const cv::Mat& D, const cv::Mat& R,
const cv::Mat& newK, const cv::Size& size, cv::Mat& mapX, cv::Mat& mapY) {
std::vector<cv::Point2f> srcPts;
for (int r = 0; r < size.height; r++) {
for (int c = 0; c < size.width; c++) {
srcPts.push_back(cv::Point2f(c, r));
}
}
std::vector<cv::Point2f> dstPts;
cv::undistortPoints(srcPts, dstPts, K, D, R, newK);
mapX = cv::Mat::zeros(size.height, size.width, CV_32FC1);
mapY = cv::Mat::zeros(size.height, size.width, CV_32FC1);
int idx = 0;
for (int r = 0; r < size.height; r++) {
for (int c = 0; c < size.width; c++) {
mapX.ptr<float>(r)[c] = dstPts[idx].x;
mapY.ptr<float>(r)[c] = dstPts[idx].y;
idx++;
}
}
return;
}
#define CALIB_TEST_GROUP 4
int main()
{
@ -219,7 +246,8 @@ int main()
#else
double alpha = 0.4; // 0.4;
newCamMatrix = cv::getOptimalNewCameraMatrix(K, D, imageSize, alpha, imageSize, 0);
cv::initUndistortRectifyMap(K, D, cv::Mat(), newCamMatrix, imageSize, CV_32FC1, map_x, map_y);
//cv::initUndistortRectifyMap(K, D, cv::Mat(), newCamMatrix, imageSize, CV_32FC1, map_x, map_y);
initForwardRectMap(K, D, cv::Mat(), newCamMatrix, imageSize, map_x, map_y);
#endif
// 生成系数表
@ -289,7 +317,7 @@ int main()
sg_readCalibKD(calibKDName, K, D);
#endif
#if ENABLE_GEN_IMAGE
#if ENABLE_GEN_IMAGE
cv::Vec4f laserPE;
generateLaserLine(10.f, 5.f, laserPE);
std::cout << "generateLaserLine pe: " << laserPE << std::endl;
@ -313,7 +341,7 @@ int main()
cv::Mat image = generateVirtualLaserLineImage(laserPE, pe, K, D, imageSize);
#if ENABLE_DEBUG
#if ENABLE_DEBUG
cv::Mat color = image.clone();
cv::resize(color, color, cv::Size(), 0.5, 0.5);
cv::imshow("image", color);
@ -421,10 +449,10 @@ int main()
//与Mask相与，保证待处理的激光线在标定板上
cv::Mat laserImg;
cv::bitwise_and(laserImg_unMask, laserImg_unMask, laserImg, chessMask);
#if 1
#if 1
sprintf_s(filename, "%slaser_rotate_mask_%03d.png", calibDataPath[grp], index);
cv::imwrite(filename, laserImg);
#endif
#endif
std::vector<cv::Point2f> pts2d = detectLaserLine(laserImg);
//显示亚像素点
cv::Mat enlargeImg;