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gaohaikuo1

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gaohaikuo1

不考虑相机成像误差，按线性成像来考虑，可以建立下图模型

其中黄球是成的像，所在线表示相机ccd的平面，红球是小球的实际位置

gaohaikuo1

1. function pos=getPosFromImg(I)
   
2. I1=(I(:,:,2));
   
3. I_gray=rgb2gray(I);
   
4. [a,b] = size(I_gray);
   
5. I_left=I(:,1:b/2);
   
6. I_right=I(:,b/2+1:b);
   
7. I1_left=I1(:,1:b/2);subplot(3,3,1);imshow(I1_left);title('绿色左图像');
   
8. I1_right=I1(:,b/2+1:b);subplot(3,3,2);imshow(I1_right);title('绿色左图像');
   
9. I_bw1=I1_left>160;subplot(3,3,3);imshow(I_bw1);title('左二值化图像');
   
10. I_bw2=I1_right>160;subplot(3,3,4);imshow(I_bw2);title('右二值化图像');
    
11. figure();
    
12. 
    
13. %根据图像获取小球中心点坐标
    
14. [row_center1,column_center1]=getCenterFromImg(I_bw1);
    
15. [row_center2,column_center2]=getCenterFromImg(I_bw2);
    
16. 
    
17. %根据坐标点求两个直线焦点获取结果
    
18. p1=column_center1-636.5;
    
19. f1=965;
    
20. theta_10=-0.067;
    
21. theta_1e=atan(p1/f1);
    
22. theta_1=theta_10+theta_1e;
    
23. u1=tan(theta_1);
    
24. 
    
25. 
    
26. p2=column_center2-639.5;
    
27. f2=973;
    
28. theta_20=-0.067;
    
29. theta_2e=atan(p2/f2);
    
30. theta_2=theta_20+theta_2e;
    
31. u2=tan(theta_2);
    
32. 
    
33. 
    
34. xA=-26;
    
35. xB=26;
    
36. pos.y=(xB-xA)/(u1-u2);
    
37. pos.x=u1*(xB-xA)/(u1-u2)+xA;
    
38. l=[(pos.x+26)^2+pos.y^2]^0.5;
    
39. p3=row_center1-480;
    
40. theta_1n=atan(p3/f1);
    
41. pos.z=l*tan(theta_1n);

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gaohaikuo1

1. function [row_center,column_center]=getCenterFromImg(I_bw)
   
2. [m,n]= size(I_bw);
   
3. row_upper = 1;
   
4. while sum(I_bw(row_upper,:))==0
   
5.     row_upper = row_upper+1;
   
6. end
   
7. row_lower = m;
   
8. while sum(I_bw(row_lower,:))==0
   
9.     row_lower = row_lower-1;
   
10. end
    
11. column_left = 1;
    
12. while sum(I_bw(:,column_left))==0
    
13.     column_left = column_left+1;
    
14. end
    
15. column_right = n;
    
16. while sum(I_bw(:,column_right))==0
    
17.     column_right = column_right-1;
    
18. end
    
19. row_center = (row_upper+ row_lower)/2;
    
20. column_center = (column_left+ column_right)/2;

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21光信单玉星

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gaohaikuo1

还可以，把缺项补补，提交吧

gaohaikuo1

https://blog.csdn.net/weixin_46627856/article/details/120508683 双目视觉