应用介绍

单目控制机械臂的上位机程序，包括视觉识别和关节角反解。

Microsoft Visual Studio Solution File, Format Version 12.00

# Visual Studio 14

VisualStudioVersion = 14.0.25420.1

MinimumVisualStudioVersion = 10.0.40219.1

Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "SingleCameraControlRobotArm", "SingleCameraControlRobotArm\SingleCameraControlRobotArm.vcxproj", "{7145AD21-96E5-4DE7-B3A3-AA7663728595}"

EndProject

Global

 GlobalSection(SolutionConfigurationPlatforms) = preSolution

  Debug|x64 = Debug|x64

  Debug|x86 = Debug|x86

  Release|x64 = Release|x64

  Release|x86 = Release|x86

 EndGlobalSection

 GlobalSection(ProjectConfigurationPlatforms) = postSolution

  {7145AD21-96E5-4DE7-B3A3-AA7663728595}.Debug|x64.ActiveCfg = Debug|x64

  {7145AD21-96E5-4DE7-B3A3-AA7663728595}.Debug|x64.Build.0 = Debug|x64

  {7145AD21-96E5-4DE7-B3A3-AA7663728595}.Debug|x86.ActiveCfg = Debug|Win32

  {7145AD21-96E5-4DE7-B3A3-AA7663728595}.Debug|x86.Build.0 = Debug|Win32

  {7145AD21-96E5-4DE7-B3A3-AA7663728595}.Release|x64.ActiveCfg = Release|x64

  {7145AD21-96E5-4DE7-B3A3-AA7663728595}.Release|x64.Build.0 = Release|x64

  {7145AD21-96E5-4DE7-B3A3-AA7663728595}.Release|x86.ActiveCfg = Release|Win32

  {7145AD21-96E5-4DE7-B3A3-AA7663728595}.Release|x86.Build.0 = Release|Win32

 EndGlobalSection

 GlobalSection(SolutionProperties) = preSolution

  HideSolutionNode = FALSE

 EndGlobalSection

EndGlobal

#include"Calibration.h"

using namespace std;

//初始化镜头矫正参数

//需要输入相机内参、畸变系数、照片尺寸、两个map（不知道干嘛用的）

void init_undistort(Mat &cameraMatrix, Mat &distCoeffs, const Size &imageSize, Mat &map1, Mat &map2)

{

 cameraMatrix = Mat::eye(3, 3, CV_64F);

 cameraMatrix.at<double>(0, 0) = 4.3391778255203135e+003;

 cameraMatrix.at<double>(0, 1) = 0.;

 cameraMatrix.at<double>(0, 2) = 1.2761969108831729e+003;

 cameraMatrix.at<double>(1, 1) = 4.3278041842134598e+003;

 cameraMatrix.at<double>(1, 2) = 7.0848935421128635e+002;

 distCoeffs = Mat::zeros(5, 1, CV_64F);

 distCoeffs.at<double>(0, 0) = -1.1829131587990460e-001;

 distCoeffs.at<double>(1, 0) = 5.6532168750708756e-001;

 distCoeffs.at<double>(2, 0) = 3.4379475924984858e-003;

 distCoeffs.at<double>(3, 0) = 9.8004771755982791e-004;

 distCoeffs.at<double>(4, 0) = -1.1442673176140812e+000;

 //函数具体介绍

 //https://docs.opencv.org/2.4/modules/imgproc/doc/geometric_transformations.html#initundistortrectifymap

 initUndistortRectifyMap(cameraMatrix, distCoeffs, Mat(),

  getOptimalNewCameraMatrix(cameraMatrix, distCoeffs, imageSize, 1, imageSize, 0),

  imageSize, CV_16SC2, map1, map2);

}

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