src/PBBiology/src/PBImageProcess.cpp

@@ -1278,7 +1278,7 @@ 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)
+bool camera_calibration(Mat gray,cv::Size patternSize,float grid_size,cv::Mat& cameraMatrix,cv::Mat& distCoeffs,float& pixel_size)
 {
     if(gray.type() != CV_8UC1)
     {
@@ -1310,12 +1310,46 @@ bool camera_calibration(Mat gray,cv::Size patternSize,cv::Mat& cameraMatrix,cv::
     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;
+	int 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);
+
+    vector<Point2f> undistortedCorners;
+    undistortPoints(corners, undistortedCorners, cameraMatrix, distCoeffs);
+
+    std::vector<cv::Point3f> homogeneousPoints;
+    for (const auto& p : undistortedCorners) {
+        homogeneousPoints.push_back(cv::Point3f(p.x, p.y, 1.0f));  // 将 (x, y) 转换为 (x, y, 1)
+    }
+    std::vector<cv::Point2f> pixelPoints;
+    for (const auto& p : homogeneousPoints) {
+        cv::Mat pointMat = (cv::Mat_<double>(3, 1) << p.x, p.y, p.z);
+        cv::Mat transformedPoint = cameraMatrix * pointMat;
+        float x = transformedPoint.at<double>(0, 0) / transformedPoint.at<double>(2, 0);
+        float y = transformedPoint.at<double>(1, 0) / transformedPoint.at<double>(2, 0);
+        pixelPoints.push_back(cv::Point2f(x, y));
+    }
+    int numCols = patternSize.width;
+    int numRows = patternSize.height;
+    float meanSideLength = 0;
+    int num = 0;
+    for (int i = 0; i < (patternSize.height - 1); ++i) {
+        for (int j = 0; j < (patternSize.width - 1); ++j) {
+            int index = i * patternSize.width + j;
+            if (j + 1 < numCols) {
+                float width = static_cast<float>(norm(pixelPoints[index] - pixelPoints[index + 1]));
+                meanSideLength+=(width);
+                num++;
+            }
+            if (i + 1 < patternSize.height) {
+                float height = static_cast<float>(norm(pixelPoints[index] - pixelPoints[index + numCols]));
+                meanSideLength+=(height);
+                num++;
+            }
+        }
+    }
+    meanSideLength /= num;
+    pixel_size = grid_size/meanSideLength;
     return 1;
 }