close all; clear all; clc;load ('6mm_matlab.mat') % 相机标定基本参数 M = cameraParams.IntrinsicMatrix'; R = cameraParams.RotationMatrices(:,:,1); T = cameraParams.TranslationVectors(1,:)'; UV = cameraParams.ReprojectedPoints(:,:,1); v = VideoReader('shoujilux7.mp4'); while hasFrame(v) frame = readFrame(v); gray_frame = rgb2gray(frame); % gamma校正 gamma = 1.5; gamma_corrected = imadjust(gray_frame,[],[],gamma); % 高斯滤波 sigma = 1; hsize = ceil(6sigma); h = fspecial('gaussian', hsize, sigma); filtered_frame = imfilter(gamma_corrected, h); % Otsu阈值分割 T = graythresh(filtered_frame); [m, n] = size(filtered_frame); E = bwareaopen(im2bw(filtered_frame, T), round(mn/1000), 8); % Canny边缘检测 canny_edge = edge(E, 'canny'); % 形态学膨胀 se = strel('disk', 2); dilated_edge = imdilate(canny_edge, se); % 连通域分析 stats = regionprops('table', dilated_edge, 'Area', 'Centroid'); % 筛选面积最大的连通区域 [~, idx] = max(stats.Area); centroid = stats.Centroid(idx, :); % 显示帧和质心 imshow(dilated_edge); hold on; plot(centroid(1), centroid(2), 'r+', 'MarkerSize', 10); hold off; 像素坐标转换为实际坐标显示

假设相机的焦距为f，像素坐标为(u,v)，实际坐标为(x,y,z)，则有以下公式：

x = (u - cx) * z / f
y = (v - cy) * z / f
其中cx和cy是图像中心点的像素坐标，z是实际坐标的深度。

在代码中，可以根据质心的像素坐标和相机内参计算出质心的实际坐标。代码如下：

% 计算质心的实际坐标
z = depth(centroid(2), centroid(1)); % 从深度图中获取深度值
x = (centroid(1) - M(1,3)) * z / M(1,1);
y = (centroid(2) - M(2,3)) * z / M(2,2);

% 显示帧和质心
imshow(frame);
hold on;
plot(centroid(1), centroid(2), 'r+', 'MarkerSize', 10);
plot(x, y, 'bo', 'MarkerSize', 10);
hold off;
其中depth是深度图，可以通过调用Kinect或者其他深度相机的API获取。

相关问题

close all; clear all; clc; load ('6mm_matlab.mat') % 相机标定基本参数 M = cameraParams.IntrinsicMatrix'; R = cameraParams.RotationMatrices(:,:,1); T = cameraParams.TranslationVectors(1,:)'; UV = cameraParams.ReprojectedPoints(:,:,1); % 将标定板角点像素坐标转换成齐次 for i = 1:size(UV,1) UV_H(i,:) = [UV(i,:),1]; end % 将像素坐标系转换到像素坐标系：参考https://blog.csdn.net/qq_43222384/article/details/101516807 leftMatrix = inv(R)*inv(M)*UV_H'; rightMatrix = inv(R)*T; rightMatrix_H = repmat(rightMatrix(3),[1,size(UV,1)]); temp_s = rightMatrix_H./leftMatrix(3,:); N_rightMatrix = repmat(rightMatrix,1,size(UV,1)); CB_World = temp_s.*leftMatrix - N_rightMatrix; WorldPoint = cameraParams.WorldPoints';

这段代码是用于相机标定后计算标定板上角点的世界坐标的。具体来说，它假设已经知道了相机的内参矩阵、旋转矩阵和平移向量，以及标定板上角点在图像中的像素坐标，然后通过一系列的矩阵运算，计算出标定板上角点的世界坐标。

具体来说，代码中首先将相机内参矩阵和旋转矩阵求逆，并将像素坐标系下的角点像素坐标转换成齐次坐标。然后通过矩阵运算，将像素坐标系下的角点转换到相机坐标系下的坐标，并进一步转换到世界坐标系下的坐标。最后，将计算出的世界坐标保存在变量"WorldPoint"中。

close all; clear all; clc;load ('6mm_matlab.mat') % 相机标定基本参数 M = cameraParams.IntrinsicMatrix'; R = cameraParams.RotationMatrices(:,:,1); T = cameraParams.TranslationVectors(1,:)'; UV = cameraParams.ReprojectedPoints(:,:,1); v = VideoReader('shoujilux7.mp4'); while hasFrame(v) frame = readFrame(v); gray_frame = rgb2gray(frame); % gamma校正 gamma = 1.5; gamma_corrected = imadjust(gray_frame,[],[],gamma); % 高斯滤波 sigma = 1; hsize = ceil(6*sigma); h = fspecial('gaussian', hsize, sigma); filtered_frame = imfilter(gamma_corrected, h); % Otsu阈值分割 T = graythresh(filtered_frame); [m, n] = size(filtered_frame); E = bwareaopen(im2bw(filtered_frame, T), round(m*n/1000), 8); % Canny边缘检测 canny_edge = edge(E, 'canny'); % 形态学膨胀 se = strel('disk', 2); dilated_edge = imdilate(canny_edge, se); % 连通域分析 stats = regionprops('table', dilated_edge, 'Area', 'Centroid'); % 筛选面积最大的连通区域 [~, idx] = max(stats.Area); centroid = stats.Centroid(idx, :); % 显示帧和质心 imshow(dilated_edge); hold on; plot(centroid(1), centroid(2), 'r+', 'MarkerSize', 10); hold off; 像素坐标转换为实际坐标显示，设计gui

可以使用MATLAB的GUI工具箱来设计一个简单的界面，实现像素坐标转换为实际坐标并显示。具体步骤如下：

1. 在命令窗口中输入 `guide` 打开GUI工具箱，创建一个新的GUI。

2. 在GUI编辑器中，添加一个静态文本框用于提示用户输入像素坐标，一个可编辑文本框用于输入像素坐标，一个按钮用于触发坐标转换操作，一个静态文本框用于显示转换后的实际坐标。

3. 在按钮的回调函数中，获取用户输入的像素坐标，转换为实际坐标，并显示在静态文本框中。

4. 在转换函数中，将像素坐标先转换为相机坐标系下的坐标，再通过相机参数矩阵和旋转平移向量将相机坐标系下的坐标转换为世界坐标系下的坐标。

5. 将转换函数和GUI界面整合起来，即可实现像素坐标转换为实际坐标并显示的功能。

下面是一个基本的GUI界面设计代码示例：

function varargout = pixel2world_gui(varargin)
% PIXEL2WORLD_GUI MATLAB code for pixel2world_gui.fig
%      PIXEL2WORLD_GUI, by itself, creates a new PIXEL2WORLD_GUI or raises the existing
%      singleton*.
%
%      H = PIXEL2WORLD_GUI returns the handle to a new PIXEL2WORLD_GUI or the handle to
%      the existing singleton*.
%
%      PIXEL2WORLD_GUI('CALLBACK',hObject,eventData,handles,...) calls the local
%      function named CALLBACK in PIXEL2WORLD_GUI.M with the given input arguments.
%
%      PIXEL2WORLD_GUI('Property','Value',...) creates a new PIXEL2WORLD_GUI or raises the
%      existing singleton*.  Starting from the left, property value pairs are
%      applied to the GUI before pixel2world_gui_OpeningFcn gets called.  An
%      unrecognized property name or invalid value makes property application
%      stop.  All inputs are passed to pixel2world_gui_OpeningFcn via varargin.
%
%      *See GUI Options on GUIDE's Tools menu.  Choose "GUI allows only one
%      instance to run (singleton)".
%
% See also: GUIDE, GUIDATA, GUIHANDLES

% Edit the above text to modify the response to help pixel2world_gui

% Last Modified by GUIDE v2.5 19-Dec-2021 17:08:34

% Begin initialization code - DO NOT EDIT
gui_Singleton = 1;
gui_State = struct('gui_Name',       mfilename, ...
                   'gui_Singleton',  gui_Singleton, ...
                   'gui_OpeningFcn', @pixel2world_gui_OpeningFcn, ...
                   'gui_OutputFcn',  @pixel2world_gui_OutputFcn, ...
                   'gui_LayoutFcn',  [] , ...
                   'gui_Callback',   []);
if nargin && ischar(varargin{1})
    gui_State.gui_Callback = str2func(varargin{1});
end

if nargout
    [varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:});
else
    gui_mainfcn(gui_State, varargin{:});
end
% End initialization code - DO NOT EDIT


% --- Executes just before pixel2world_gui is made visible.
function pixel2world_gui_OpeningFcn(hObject, eventdata, handles, varargin)
% This function has no output args, see OutputFcn.
% hObject    handle to figure
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
% varargin   command line arguments to pixel2world_gui (see VARARGIN)

% Choose default command line output for pixel2world_gui
handles.output = hObject;

% Update handles structure
guidata(hObject, handles);

% UIWAIT makes pixel2world_gui wait for user response (see UIRESUME)
% uiwait(handles.figure1);


% --- Outputs from this function are returned to the command line.
function varargout = pixel2world_gui_OutputFcn(hObject, eventdata, handles) 
% varargout  cell array for returning output args (see VARARGOUT);
% hObject    handle to figure
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Get default command line output from handles structure
varargout{1} = handles.output;


% --- Executes on button press in convertBtn.
function convertBtn_Callback(hObject, eventdata, handles)
% hObject    handle to convertBtn (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% get pixel coordinates from user input
pixel_coords_str = get(handles.pixelCoordsEdit, 'String');
pixel_coords = str2num(pixel_coords_str);

% convert pixel coordinates to world coordinates
world_coords = pixel2world(pixel_coords);

% display world coordinates
set(handles.worldCoordsText, 'String', num2str(world_coords));


function pixelCoordsEdit_Callback(hObject, eventdata, handles)
% hObject    handle to pixelCoordsEdit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of pixelCoordsEdit as text
%        str2double(get(hObject,'String')) returns contents of pixelCoordsEdit as a double


% --- Executes during object creation, after setting all properties.
function pixelCoordsEdit_CreateFcn(hObject, eventdata, handles)
% hObject    handle to pixelCoordsEdit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end


function worldCoordsText_Callback(hObject, eventdata, handles)
% hObject    handle to worldCoordsText (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of worldCoordsText as text
%        str2double(get(hObject,'String')) returns contents of worldCoordsText as a double


% --- Executes during object creation, after setting all properties.
function worldCoordsText_CreateFcn(hObject, eventdata, handles)
% hObject    handle to worldCoordsText (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: text controls usually have a default uicontrol background color
%       of white.  Change the background color to match the GUI color
%       if necessary.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end


function world_coords = pixel2world(pixel_coords)
% 相机标定基本参数
M = cameraParams.IntrinsicMatrix';
R = cameraParams.RotationMatrices(:,:,1);
T = cameraParams.TranslationVectors(1,:)';

% 将像素坐标转换为相机坐标系下的坐标
x = pixel_coords(1);
y = pixel_coords(2);
z = 1;
camera_coords = inv(M) * [x; y; z];

% 将相机坐标系下的坐标转换为世界坐标系下的坐标
world_coords = R' * (camera_coords - T);

end

使用这个GUI界面，用户可以在可编辑文本框中输入像素坐标，点击转换按钮后，程序将像素坐标转换为实际坐标并显示在静态文本框中。要使用这个GUI界面，可以将上述代码保存为一个.m文件，然后在命令窗口中输入 `pixel2world_gui` 来运行这个界面。