public static Mat Correct(Mat img, LensParams lensParams)
{
Mat output = img.Clone();
Fisheye.UndistorImage(img, output, lensParams.GetMatrixK(), lensParams.GetMatrixD());
return(output);
}
public void SuperR()
{
SRC_Img = new Image <Gray, byte>(@"C:\Users\Админ\Downloads\image63341262,2002.png");
Corrected_Img = SRC_Img.Clone();
PointF[] corners = new PointF[] { new PointF(100, 196), new PointF(261, 190), new PointF(417, 192), new PointF(584, 201),
new PointF(111, 277), new PointF(284, 287), new PointF(458, 291), new PointF(580, 284),
new PointF(130, 368), new PointF(276, 395), new PointF(429, 391), new PointF(563, 365) };
/*MCvPoint3D32f[] objCorners = new MCvPoint3D32f[] { new MCvPoint3D32f( 0, 0, 0.0f), new MCvPoint3D32f(SRC_Img.Width / 3 - 1, 0, 0.0f), new MCvPoint3D32f( 2 * SRC_Img.Width / 3 - 1, 0, 0.0f), new MCvPoint3D32f( SRC_Img.Width - 1, 0, 0.0f),
* new MCvPoint3D32f( 0, SRC_Img.Height / 2 - 1, 0.0f), new MCvPoint3D32f(SRC_Img.Width / 3 - 1, SRC_Img.Height / 2 - 1, 0.0f), new MCvPoint3D32f( 2 * SRC_Img.Width / 3 - 1, SRC_Img.Height / 2 - 1, 0.0f), new MCvPoint3D32f( SRC_Img.Width - 1, SRC_Img.Height / 2 - 1, 0.0f),
* new MCvPoint3D32f( 0, SRC_Img.Height - 1, 0.0f), new MCvPoint3D32f( SRC_Img.Width / 3 - 1, SRC_Img.Height - 1, 0.0f), new MCvPoint3D32f( 2 * SRC_Img.Width / 3 - 1, SRC_Img.Height - 1, 0.0f), new MCvPoint3D32f( SRC_Img.Width - 1, SRC_Img.Height - 1, 0.0f)
* };
*/
// X: 0 - 480 / 3 ||0 159 329 479
// Y: 0 - 210 / 2 || 0 104 209
MCvPoint3D32f[] objCorners = new MCvPoint3D32f[] { new MCvPoint3D32f(0, 0, 0.0f), new MCvPoint3D32f(159, 0, 0.0f), new MCvPoint3D32f(329, 0, 0.0f), new MCvPoint3D32f(479, 0, 0.0f),
new MCvPoint3D32f(0, 104, 0.0f), new MCvPoint3D32f(159, 104, 0.0f), new MCvPoint3D32f(329, 104, 0.0f), new MCvPoint3D32f(479, 104, 0.0f),
new MCvPoint3D32f(0, 209, 0.0f), new MCvPoint3D32f(159, 209, 0.0f), new MCvPoint3D32f(329, 209, 0.0f), new MCvPoint3D32f(479, 209, 0.0f) };
VectorOfPointF veccorners = new VectorOfPointF();
veccorners.Push(corners);
VectorOfPoint3D32F vecobjcorners = new VectorOfPoint3D32F();
vecobjcorners.Push(objCorners);
MCvTermCriteria TermCriteria = new MCvTermCriteria(30, 0.1);
CvInvoke.CornerSubPix(SRC_Img, veccorners, new Size(2, 2), new Size(-1, -1), TermCriteria);
IntrinsicCameraParameters intrisic = new IntrinsicCameraParameters();
ExtrinsicCameraParameters[] extrinsic;
intrisic.IntrinsicMatrix = new Matrix <double>(new double[, ] {
{ 1, 0, 349.417 }, { 0, 1, 286.417 }, { 0, 0, 1 }
});
try
{
Matrix <float> distortCoeffs = new Matrix <float>(1, 4);
Mat rotationVectors = new Mat();
//rotationVectors[0] = new Mat(3,1, DepthType.Cv32F, 1);
Mat translationVectors = new Mat();
//translationVectors[0] = new Mat(1, 3, DepthType.Cv32F, 1);
/*
* double error = CvInvoke.CalibrateCamera(new MCvPoint3D32f[][] { objCorners }, new PointF[][] { veccorners.ToArray() },
* SRC_Img.Size, intrisic.IntrinsicMatrix, distortCoeffs, CalibType.UserIntrinsicGuess, new MCvTermCriteria(30, 0.01), out rotationVectors, out translationVectors);
*/
/*
*
* Fisheye.Calibrate(vecobjcorners, veccorners, SRC_Img.Size, intrisic.IntrinsicMatrix, distortCoeffs, rotationVectors, translationVectors,
* Fisheye.CalibrationFlag.UseIntrinsicGuess, TermCriteria);
* */
Matrix <float> matrix = new Matrix <float>(new float[, ] {
{ 1, 0, 349 }, { 0, 1, 286 }, { 0, 0, 1 }
});
Fisheye.UndistorImage(SRC_Img, Corrected_Img, matrix, new VectorOfFloat(new float[] { 3500, 3500, 0, 0 }));
Image <Gray, Byte> Res_Img = new Image <Gray, byte>(2 * SRC_Img.Width, SRC_Img.Height);
CvInvoke.HConcat(SRC_Img, Corrected_Img, Res_Img);
int error = 0;
error++;
//error += 0;
//Array aa = rotationVectors[0].Data;
//error += 0;
//float q = rotationVectors.ElementAt<float>(0);
}
catch (Exception) { }
}
