src/PBBiology/src/PBImageProcess.cpp

@@ -1276,4 +1276,52 @@ Mat get_magic_wand_image(Mat src,int x,int y,float max,float min)
 		}
 	}
     return matDst;
+}
+
+bool camera_calibration(Mat gray,cv::Size patternSize,cv::Mat& cameraMatrix,cv::Mat& distCoeffs)
+{
+    if(gray.type() != CV_8UC1)
+    {
+        std::cerr << "Error: gray not CV_8UC1!" << std::endl;
+        return 0;
+    }
+    std::vector<cv::Point2f> corners;
+    bool found = cv::findChessboardCorners(gray, patternSize, corners,
+                                           cv::CALIB_CB_ADAPTIVE_THRESH | cv::CALIB_CB_NORMALIZE_IMAGE);
+
+    if (found) {
+        cv::cornerSubPix(gray, corners, cv::Size(3, 3), cv::Size(-1, -1),
+                         cv::TermCriteria(cv::TermCriteria::EPS | cv::TermCriteria::MAX_ITER, 30, 0.1));
+    } else {
+        std::cerr << "Error: Chessboard corners not found!" << std::endl;
+        return 0;
+    }
+    std::vector<std::vector<cv::Point3f>> objectPoints;
+    std::vector<std::vector<cv::Point2f>> imagePoints;
+
+    std::vector<cv::Point3f> objPts;
+    for (int i = 0; i < patternSize.height; ++i) {
+        for (int j = 0; j < patternSize.width; ++j) {
+            objPts.push_back(cv::Point3f(j, i, 0.0f));
+        }
+    }
+    objectPoints.push_back(objPts);
+    imagePoints.push_back(corners);
+    cameraMatrix = cv::Mat::eye(3, 3, CV_64F);  // 相机矩阵初始化
+    distCoeffs = cv::Mat::zeros(8, 1, CV_64F);  // 畸变系数初始化
+    std::vector<cv::Mat> rvecs, tvecs;
+	int calibrationFlags = 	cv::CALIB_ZERO_TANGENT_DIST +      // 假设无切向畸变
+                       		cv::CALIB_FIX_K4 +                  // 固定第四个畸变参数（通常为0）
+                       		cv::CALIB_FIX_K5;                   // 固定第五个畸变参数（通常为0）
+	calibrationFlags = 0;
+	TermCriteria criteria = TermCriteria(TermCriteria::MAX_ITER + TermCriteria::EPS, 30, DBL_EPSILON);
+    cv::calibrateCamera(objectPoints, imagePoints, gray.size(), cameraMatrix, distCoeffs, rvecs, tvecs,calibrationFlags,criteria);
+    return 1;
+}
+
+Mat distortion_correction(Mat image,cv::Mat cameraMatrix,cv::Mat distCoeffs)
+{
+    cv::Mat undistortedImage;
+    cv::undistort(image, undistortedImage, cameraMatrix, distCoeffs);
+    return undistortedImage;
 }