逆透视请参考：智能车逆透视教程(含上位机、源码)_LoseHu的博客-CSDN博客

去畸变请参考：智能车去畸变教程(含上位机、源码)_LoseHu的博客-CSDN博客

逆透视+去畸变：如下

1.简介

        在前两个博文中已经分别说明了单独去畸变、逆透视的方法。为了同时实现畸变+逆透视，利用之前博文的教程分两步求取矩阵，进行变换。原图以及效果图：

 正如逆透视以及去畸变那样，这种综合的方法自然是保留了两者的特点，例如可以去除图像的畸变，仍然可以利用透视更改图片缩放、图片大小、视野大小。。。。

2.优点

        兼具了去畸变与逆透视的优点

3.原理

        参考去畸变与逆透视的原理

4.通过上位机求取变换参数

        通过上位机分两步完成，具体每一步请参考：

        1.逆透视：智能车逆透视教程(含上位机、源码)_LoseHu的博客-CSDN博客

        2.去畸变：智能车去畸变教程(含上位机、源码)_LoseHu的博客-CSDN博客

去畸变+逆透视演示

        如视频中的那样，每一步都需要将剪切板中的参数保存下来，如

double cameraMatrix[3][3]={{296.482019,0.000000,152.664982},{0.000000,286.375269,104.540031},{0.000000,0.000000,1.000000}};
double distCoeffs[5]={-0.459946,0.283675,0.002304,0.002566,-0.109265};
int move_xy[2]={55,32};
double change_un_Mat[3][3] ={{-1.762057,1.446330,-48.051135},{0.111681,0.215732,-90.406315},{0.000404,0.006296,-1.003619}};

注意事项：

        1.每一步注意事项参考对应的博客

        2.记得保存去畸变后用于逆透视的图片与两步的参数

5.在智能车上完成去畸变+逆透视

        使用时，只需在图像初始化中调用一次ImageChange_Init()函数即可，如去畸变与逆透视一样，这个初始化函数在整个程序中应该只被调用一次。后续使用ImageUsed获取图像像素值。

        记得替换其中的参数

代码如下：

//
// Created by RUPC on 2022/10/29.
//
#define RESULT_ROW 100 //结果图的行列
#define RESULT_COL 114
#define         USED_ROW                120  //用于变换图的行列
#define         USED_COL                188
typedef unsigned char uint8_t;                                              // 无符号  8 bits
uint8_t *PerImg_ip[RESULT_ROW][RESULT_COL];
#define PER_IMG     mt9v03x_image_dvp//mt9v03x_image_dvp:用于透视变换的图像 也可以使用二值化图
#define ImageUsed   *PerImg_ip//*PerImg_ip定义使用的图像，ImageUsed为用于巡线和识别的图像
static uint8_t BlackColor = 255;	//无内容部分像素值
/******************变换参数******************************/
//去畸变参数
double cameraMatrix[3][3] = {{296.482019, 0.000000,   152.664982},{0.000000,   286.375269, 104.540031},{0.000000,   0.000000,   1.000000}};
double distCoeffs[5] = {-0.459946, 0.283675, 0.002304, 0.002566, -0.109265};
int move_xy[2] = {10, 0};
//逆透视参数
double change_un_Mat[3][3] = {{2.936703,  0.314530, -60.814898},{-0.263326, 2.308885, -108.340381},{-0.000835, 0.000896, 0.969316}};
/*******************************************************/
void find_xy(int x, int y, int local[2]) {double fx = cameraMatrix[0][0], fy = cameraMatrix[1][1], ux = cameraMatrix[0][2], uy = cameraMatrix[1][2], k1 = distCoeffs[0], k2 = distCoeffs[1], k3 = distCoeffs[4], p1 = distCoeffs[2], p2 = distCoeffs[3];double xCorrected = (x - ux) / fx;double yCorrected = (y - uy) / fy;double xDistortion, yDistortion;double r2 = xCorrected * xCorrected + yCorrected * yCorrected;double deltaRa = 1. + k1 * r2 + k2 * r2 * r2 + k3 * r2 * r2 * r2;double deltaRb = 1 / (1.);double deltaTx = 2. * p1 * xCorrected * yCorrected + p2 * (r2 + 2. * xCorrected * xCorrected);double deltaTy = p1 * (r2 + 2. * yCorrected * yCorrected) + 2. * p2 * xCorrected * yCorrected;xDistortion = xCorrected * deltaRa * deltaRb + deltaTx;yDistortion = yCorrected * deltaRa * deltaRb + deltaTy;xDistortion = xDistortion * fx + ux;yDistortion = yDistortion * fy + uy;if (yDistortion >= 0 && yDistortion < USED_ROW && xDistortion >= 0 && xDistortion < USED_COL) {local[0] = (int) yDistortion;local[1] = (int) xDistortion;} else {local[0] = -1;local[1] = -1;}
}void find_xy1(int x, int y, int local[2]) {int local_x = (int) ((change_un_Mat[0][0] * x+ change_un_Mat[0][1] * y + change_un_Mat[0][2])/ (change_un_Mat[2][0] * x + change_un_Mat[2][1] * y+ change_un_Mat[2][2]));int local_y = (int) ((change_un_Mat[1][0] * x+ change_un_Mat[1][1] * y + change_un_Mat[1][2])/ (change_un_Mat[2][0] * x + change_un_Mat[2][1] * y+ change_un_Mat[2][2]));if (local_x>= 0 && local_y >= 0) {local[0] = local_y;local[1] = local_x;} else {local[0] = -1;local[1] = -1;}
}void ImageChange_Init() {for (int i = 0; i < RESULT_ROW; i++) {for (int j = 0; j < RESULT_COL; j++) {int local_xy[2] = {-1};find_xy1(j, i, local_xy);if (local_xy[0] != -1 && local_xy[0] != -1) {int local_xy1[2] = {-1};find_xy(local_xy[1] - move_xy[0], local_xy[0] - move_xy[1], local_xy1);if (local_xy1[0] != -1 && local_xy1[1] != -1) {PerImg_ip[i][j] = &mt9v03x_image_dvp[local_xy1[0]][local_xy1[1]];} else PerImg_ip[i][j] = &BlackColor;} else PerImg_ip[i][j] = &BlackColor;}}
}
/*ImageUsed[0][0]代表图像左上角的值*//*完成摄像头初始化后，调用一次ImagePerspective_Init，此后，直接调用ImageUsed   即为去畸变结果*/

  屏幕显示去畸变+逆透视后的灰度图DEMO：

int main(void)
{All_Init();//屏幕、摄像头、以及其他外设初始化ImageChange_Init();while(1){if (mt9v03x_finish_flag_dvp == 1) {uint8_t show[RESULT_ROW][RESULT_COL];for(int i=0;i