修改了相机的ROI参数

Author: drawal001

image/12_5/res_match_knn_0452.png

@@ -22,6 +22,7 @@ class CameraBot : public GxCamera {
     std::vector<float> GetHorizontalLine(cv::Mat img);
     std::vector<cv::Point2f> GetModelPoints(cv::Mat img);
     double GetDistance(cv::Mat img, std::vector<float> line_params);
+    void GetMapParam(cv::Mat Calibration_board);
 
   private:
     double _mapParam;

image/12_5/top_0.png

@@ -124,5 +124,43 @@ double CameraBot::GetDistance(cv::Mat img, std::vector<float> line_params) {
     return distance * _mapParam + 0.3;
 }
 
+/**
+ * @brief 获取相机映射参数，只标定z轴
+ *
+ * @param Calibration_board 标定板图，灰度
+ */
+void CameraBot::GetMapParam(cv::Mat Calibration_board) {
+    std::vector<cv::Point2f> corner;
+    if (!cv::findChessboardCorners(Calibration_board, cv::Size(19, 15), corner)) {
+        std::cerr << "Failed to find corners in image" << std::endl;
+        return;
+    }
+    const cv::TermCriteria criteria{cv::TermCriteria::EPS | cv::TermCriteria::COUNT, 30, 0.001};
+    cv::cornerSubPix(Calibration_board, corner, cv::Size(6, 6), cv::Size(-1, -1), criteria);
+    cv::drawChessboardCorners(Calibration_board, cv::Size(19, 15), corner, true);
+
+    std::string imagename = "Calibration_board";
+    cv::namedWindow(imagename, cv::WINDOW_NORMAL);
+    cv::resizeWindow(imagename, cv::Size(1295, 1024));
+    cv::imshow(imagename, Calibration_board);
+
+    float sum = 0;
+    cv::Point2f last_point{};
+    for (int i = 0; i < 19; ++i) {
+        for (int j = 0; j < 15; ++j) {
+            if (j == 0) {
+                last_point = corner[j * 19 + i];
+                continue;
+            }
+            auto a = sqrt(powf(corner[j * 19 + i].x - last_point.x, 2) + powf(corner[j * 19 + i].y - last_point.y, 2));
+            sum += a;
+            last_point = corner[j * 19 + i];
+        }
+    }
+    float map_param = 14 * 19 / sum;
+    std::cout << "map_param: " << map_param << " (mm/pixel)" << std::endl;
+    cv::waitKey(0);
+}
+
 CameraBot::~CameraBot() {}
 } // namespace D5R

image/12_5/top_1.png

@@ -173,10 +173,12 @@ bool D5R::CameraTop::SIFT(cv::Mat image, ModelType modelname,
         keyPoints_Model = _jaw.keypoints;
         descriptors_model = _jaw.descriptors;
     }
+
     // ROI
-    cv::Point2f roiP(800, 648);
-    cv::Rect roi = cv::Rect(roiP, cv::Size(750, 1400));
+    cv::Point2f roiP(450, 700);
+    cv::Rect roi = cv::Rect(roiP, cv::Size(750, 1348));
     cv::Mat ROI = image(roi).clone();
+
     // SIFT特征点
     cv::Ptr<cv::SIFT> sift = cv::SIFT::create();
     std::vector<cv::KeyPoint> keyPoints_Img;

image/12_5/top_2.png

@@ -2,12 +2,13 @@
 
 int main() {
     cv::Mat model = cv::imread("../image/11_22/jaw_model.png", 0);
-    cv::Mat image = cv::imread("../image/11_22/jaw0.png");
+    cv::Mat image = cv::imread("../image/12_5/top_1.png");
     if (image.empty()) {
         std::cerr << "Failed to load model " << std::endl;
         return -1;
     }
-    cv::Rect roi = cv::Rect(800, 648, 750, 1400);
+    cv::Point2f D(450, 700);
+    cv::Rect roi = cv::Rect(450, 700, 750, 1348);
     cv::Mat ROI = image(roi).clone();
 
     cv::Ptr<cv::SIFT> sift = cv::SIFT::create();
@@ -61,17 +62,17 @@ int main() {
     std::vector<cv::Point2f> modelPosition = {cv::Point2f(318, 408.5), cv::Point2f(318, 44)};
     std::vector<cv::Point2f> ImgPosition;
     cv::perspectiveTransform(modelPosition, ImgPosition, homography);
-    cv::line(image, ImgPosition[0] + cv::Point2f(800, 648), ImgPosition[1] + cv::Point2f(800, 648), cv::Scalar(0, 0, 255), 2);
+    cv::line(image, ImgPosition[0] + D, ImgPosition[1] + D, cv::Scalar(0, 0, 255), 2);
     float angle = atan2f((ImgPosition[0].y - ImgPosition[1].y), (ImgPosition[0].x - ImgPosition[1].x)) * (-180) / CV_PI;
-    cv::putText(image, std::to_string(angle), ImgPosition[0] + cv::Point2f(800, 648), cv::FONT_HERSHEY_SIMPLEX, 1.5, cv::Scalar(0, 0, 255), 2);
+    cv::putText(image, std::to_string(angle), ImgPosition[0] + D, cv::FONT_HERSHEY_SIMPLEX, 1.5, cv::Scalar(0, 0, 255), 2);
 
     int64 end = cv::getTickCount();
     std::cout << 1000.0 * (end - start) / cv::getTickFrequency() << std::endl;
 
     cv::Mat img_matches_knn;
     cv::drawMatches(model, keyPoints_Model, ROI, keyPoints_Img, goodMatches, img_matches_knn, cv::Scalar::all(-1),
                     cv::Scalar::all(-1), std::vector<char>(), cv::DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS);
-    cv::imwrite("../image/11_22/res_match_knn_0452.png", img_matches_knn);
+    cv::imwrite("../image/12_5/res_match_knn_0452.png", img_matches_knn);
     std::string windowname2 = "Match res";
     cv::namedWindow(windowname2, cv::WINDOW_NORMAL);
     cv::resizeWindow(windowname2, cv::Size(1295, 1024));

image/12_5/top_3.png

@@ -0,0 +1,6 @@
+调试dev代码
+设置电机旋转零点
+获取bot相机的视图，主要是钳口库的，更改直线获取函数
+
+
+RMD电机调PI（不急）