實(shí)驗(yàn)三Matlab圖像處理基本操作及攝像機(jī)標(biāo)定(DLT)

1、實(shí)驗(yàn)三Matlab圖像處理基本操作及攝像機(jī)標(biāo)定(DLT)1、實(shí)驗(yàn)?zāi)康耐ㄟ^(guò)應(yīng)用Matlab的圖像處理基本函數(shù)，學(xué)習(xí)圖像處理中的一些基礎(chǔ)操作和處理。理解攝像機(jī)標(biāo)定(DLT)方法的原理，并利用程序?qū)崿F(xiàn)攝像機(jī)內(nèi)參數(shù)和外參數(shù)的估計(jì)。2、實(shí)驗(yàn)內(nèi)容:讀取一幅圖像并顯示。檢查內(nèi)存(數(shù)組)中的圖像。實(shí)現(xiàn)圖像直方圖均衡化。讀取圖像中像素點(diǎn)的坐標(biāo)值。保存圖像。檢查新生成文件的信息。使用閾值操作將圖像轉(zhuǎn)換為二值圖像。根據(jù)RGB圖像創(chuàng)建一幅灰度圖像。調(diào)節(jié)圖像的對(duì)比度。在同一個(gè)窗口內(nèi)顯示兩幅圖像。掌握matlab命令及函數(shù)，獲取標(biāo)定塊圖像的特征點(diǎn)坐標(biāo)。根據(jù)攝像機(jī)標(biāo)定(DLT)方法原理，編寫(xiě)Matlab程序，估計(jì)攝像機(jī)內(nèi)參

2、數(shù)和外參數(shù)。3、實(shí)驗(yàn)要求：選取一幅圖像，根據(jù)實(shí)驗(yàn)內(nèi)容1)10)給出結(jié)果。根據(jù)給定的標(biāo)定塊圖像及實(shí)驗(yàn)內(nèi)容11)，12)進(jìn)行編程實(shí)驗(yàn)。書(shū)寫(xiě)實(shí)驗(yàn)報(bào)告4、實(shí)驗(yàn)設(shè)備微機(jī)。Matlab軟件。5、實(shí)驗(yàn)原理DLT變換：Abdal-Aziz和Karara于70年代初提出了直接線性變換像機(jī)定標(biāo)的方法，他們從攝影測(cè)量學(xué)的角度深入的研究了像機(jī)圖像和環(huán)境物體之間的關(guān)系，建立了像機(jī)成像幾何的線性模型，這種線性模型參數(shù)的估計(jì)完全可以由線性方程的求解來(lái)實(shí)現(xiàn)。直接線性變換是將像點(diǎn)和物點(diǎn)的成像幾何關(guān)系在齊次坐標(biāo)下寫(xiě)成透視投影矩陣的形式：X，uwYv=Pw3x4Z1w111其中(u,v,l)為圖像坐標(biāo)系下的點(diǎn)的齊次坐標(biāo)，(X,Y,

3、Z)為世界坐標(biāo)系下的空間點(diǎn)的歐氏坐標(biāo)，P為3*4的透視投影矩陣，為未知尺度因子。消去S，可以得到方程組：pXpYpZp-puX-puY-puZ-pu=011w12w13w1431w32w33w34pXpYpZp-puX-puY-puZ-pu二021w22w23w1431w32w33w34當(dāng)已知N個(gè)空間點(diǎn)和對(duì)應(yīng)的圖像上的點(diǎn)時(shí)，可以得到一個(gè)含有2*N個(gè)方程的方程組：AL二0其中A為(2N*12)的矩陣，L為透視投影矩陣元素組成的向量：p,p,p,p,p,p,p,p,p,p,p,p】111213142122232431323334像機(jī)定標(biāo)的任務(wù)就是尋找合適的L，使得為I最小，即minIIALIIL給

4、出約束：p二134C為A前6、程序代碼I二imread(DSCN0831.JPG);imshow(I);whosfigure,I1=rgb2gray(I);figure,imshow(I1)imhist(I1);I2=histeq(I1)figure,imshow(I2)figure,imhist(I2)a=imread(DSCN0831.JPG)imwrite(I1,DSgray.jpg);imwrite(I2,DSgrayeq.jpg);inf二imfinfoCDSCN0831.JPG)level=graythresh(I2);bw=im2bw(I2,level);figure,imsho

5、w(bw)whosI3=imadjust(I2,stretchlim(I2),01);figure,imshow(I3);a=imread(DSCN0831.JPG);b=imread(DSgray.jpg);subplot(1,2,1),imshow(a);subplot(1,2,2),imshow(b);clear;xpot=;ypot=;imshow(DSCN0831.JPG);holdon;n=input(Pleaseinputthenumberofpot:);fori=1:nx,y=ginput(1);plot(x,y,or);text(x+1,y+1,num2str(i);xpot

6、=xpot,x;ypot=ypot,y;endxpot;ypotxw;yw;zwa=xw,yw,zw,ones(1001),zeros(100),(-1)*xpot.*xw,(-1)*xpot.*yw,(-1)*xpot.*zw,-1*xpot;zeros(1004),xw,yw,zw,ones(1001),(-1)*ypot.*xw,(-1)*ypot.*yw,(-1)*ypot.*zw,-1*ypot;c=a(:,1:11);b=a(:,12);l=(-1)*(c*c)“(-1)*c*b7、運(yùn)行結(jié)果A圖像信息:FileModDateFileSizeFormatFormatVersionWi

7、dthHeightBitDepthColorTypeFormatSignatureNumberOfSamplesCodingMethodCodingProcessCommentImageDescriptionMakeModelOrientationXResolutionYResolutionResolutionUnitSoftwareDateTimeYCbCrPositioningDigitalCameraFilename:DSCN0831.JPG21-十月-201121:29:34160501，jpg102476824truecolor3HuffmanSequentialNIKONE9901

8、300300InchE990v1.00000:00:0000:00:00Co-sited1x1struct檢查內(nèi)存中的圖像：BytesClassAttributesNameSizeI768x1024x32359296uint8I1768x1024786432uint8I2768x1024786432uint8a768x1024x32359296uint8bw768x1024786432logicalinf1x112144structlevel1x18double圖像圖一直方圖圖二均衡后的直方圖圖三調(diào)節(jié)對(duì)比度后的圖像圖四二進(jìn)制圖圖五灰度圖圖六顯示兩幅圖像圖七標(biāo)定圖定塊圖像的特征點(diǎn)坐標(biāo)Column

9、s1through9-0.0818-0.37380.3232-0.5593-1.1503-0.91881.01321.26101.28290.04460.34870.85310.86920.59160.15960.88080.73170.8048Columns10through18-0.1365-0.7079-1.4787-1.4430-1.2126-1.8520-2.8819-3.5305-4.32890.4174-0.12650.00220.51680.68061.87212.76973.06803.6265Columns19through27-4.9902-5.4902-5.9902-6

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11、94614.794615.294616.294616.794617.2946Columns46through54-9.2874-9.2874-9.2874-9.2874-9.1319-8.9706-8.5455-8.879617.794618.294618.794619.294619.290219.085518.851618.2054Columns55through63-9.1734-9.7483-9.6031-9.2978-8.8381-9.0697-9.6849-10.213717.829718.009518.889618.848718.432017.417416.917416.4247C

12、olumns64through72-10.8174-11.5421-12.8646-13.8704-14.8589-16.0467-16.1262-15.590416.019716.122116.480316.926217.733219.608920.470020.4437Columns73through81-7.45566.6703-9.270211.2580-9.287415.7946-9.080119.2317-8.729817.8589-15.524818.6382-16.4591-15.1653-15.1492-15.6503-16.4153-16.9153-15.9591-15.5

13、167-16.559320.085519.727319.271219.356019.348719.7727Columns82through90-17.5651-18.4268-18.9672-20.3520-20.8520-20.372720.177619.822419.066517.563617.563617.5636Columns91through99-19.7402-18.9061-17.9349-17.6734-18.5132-19.461417.578217.629417.943721.733222.184922.3268Column100-19.834722.1148ans=1.0

14、e+003*Columns1through90.50200.50500.50650.51250.51400.44800.72120.64920.56830.20220.10470.6943Columns10through180.44650.44650.44650.44500.38800.33700.61780.53830.45570.09570.08670.0837Columns19through270.28750.24550.20350.24550.28900.338519.334119.363319.3560-18.9315-18.6146-19.703318.325317.990517.

15、8414-17.4706-17.1377-17.379618.528519.689320.74780.51250.50800.51550.47970.39570.29820.44650.44650.44650.37170.28320.18570.17050.17350.20650.0.0.0.0.0.0.0.0.0.0.0.0.0.13320.14220.07470.07020.06270.064214820.15720.1662Columns28through360.38800.39100.34000.29350.25150.211017950.17800.21550.17970.26520

16、.25320.23820.22920.217220820.27570.2892Columns37through450.25300.29500.34150.39100.39250.341529650.25600.21700.30270.32070.33570.35520.43470.415239570.37920.3582Columns46through540.18250.18850.22000.25900.29800.344539550.39400.34750.34470.40920.43020.44370.46620.490251120.58930.5623Columns55through6

17、30.30250.26350.22300.19000.22750.268030400.34750.39550.53670.51720.49620.47670.55770.581760420.63120.6597Columns64through720.56650.57250.57250.57400.57550.580058150.58600.64900.69430.62520.54730.46170.37620.286219320.09870.0927Columns73through810.64750.64300.64000.63700.63400.628062650.68200.68500.1

18、8270.27270.36270.44220.52320.599866870.64780.5757Columns82through900.68800.69400.69700.70150.70450.71351.14850.72850.73600.50370.42270.34470.26220.17670.0867-0.24780.62220.5533Columns91through990.73900.74650.74950.75550.80650.85600.83500.83350.84550.48420.41220.33270.25170.24420.15870.38070.44520.3102Column1000.82150.5787轉(zhuǎn)換為世界坐標(biāo)ans=Columns1through1760606060100100100100100120140140140140140140140000000000006080100120100806040208012060120100804080Colum