使用OpneCV去畸变

// 不多哔哔,直接上代码片 /** * @time: 2020.10,20 * */ #include <iostream> // OpenCV // 其实用不到这么多 #include <opencv2/core/core.hpp> #include <opencv2/imgcodecs/imgcodecs.hpp> // 文件输入输出流 #include <fstream> #include <sstream> // boost format格式控制 #include <boost/format.hpp> // setw() setfill // 格式化输出 #include <iomanip> #include <string.h> using namespace std; using namespace cv; string dataset_path = "/home/wang/Ginger2020/Dataset/Bumblebee/01/image_0"; void ReadImg(int &index, string &DatasetPath, cv::Mat &dataset); int main ( int argc, char** argv ) { int img_file_index = 0; int filecount = 0; while (1) { cv::Mat dataset; ReadImg(img_file_index, dataset_path, dataset); if(dataset.data == 0) { cout<<"图像读取完毕"<<endl; break; } cout << " img_file_index " << img_file_index << endl; img_file_index++; // 去畸变 cv::Mat K_img(3, 3, CV_64F); cv::Mat coeff(5, 1, CV_64F); K_img.at<double>(0, 0) = 1644.7156613466043; // fx K_img.at<double>(0, 1) = 0; K_img.at<double>(0, 2) = 640.0; // cx K_img.at<double>(1, 0) = 0; K_img.at<double>(1, 1) = 1644.7156613466043; // fy K_img.at<double>(1, 2) = 480.0; // cy\ K_img.at<double>(2, 0) = 0; K_img.at<double>(2, 1) = 0; K_img.at<double>(2, 2) = 1; coeff.at<double>(0,0) = -0.54184704404293005; // k1 coeff.at<double>(1,0) = -1.1038602217192159; // k2 coeff.at<double>(2,0) = 0.0; // p1 coeff.at<double>(3,0) = 0.0; // p2 coeff.at<double>(4,0) = 7.8578495299742874; // p3 cv::Mat newimage; cv::Mat new_matrix; // ??? cv::undistort(dataset, newimage, K_img, coeff, new_matrix); // 保存去畸变后的图像 string imgfilename; std::stringstream StrStm; //从右往左 剩下的用0填满 一共填充5位 0 — .... StrStm << setfill('0') << setw(5) << filecount; filecount++; StrStm >> imgfilename; imgfilename += ".jpg"; imwrite(imgfilename, newimage); StrStm.clear(); // 循环，前边写入的会在流里，clear一下 imgfilename.clear(); // 先拿10幅图像试试 if(index==10) { break; } } return 0; } void ReadImg(int &index, string &DatasetPath, cv::Mat &dataset) { // format格式控制 %s路径： "/home/ginger/NCUTDataset/917/3/3" boost::format fmt("%s/my_video-3_%03d.jpg"); // my_video-3_000.jpg 000是变化的用%03d代替， 03是说从三个零开始：000 cv::Mat Lab; Lab = cv::imread((fmt % DatasetPath % index).str(), cv::IMREAD_GRAYSCALE); // 判定图像是否为空 if ( Lab.data == 0 ) { cout << " 图像读取完毕！ " << endl; break; } dataset = Lab; }