基于Harris原理的亚像素角点坐标检测Matlab程序word格式可编辑.docx

1、基于Harris原理的亚像素角点坐标检测Matlab程序word格式可编辑基于Harris原理的亚像素角点坐标检测Matlab程序word格式可编辑基于Harris原理的亚像素角点坐标检测Matlab程序 ?注意:直接运行click_calib .m文件即可获得亚像素级角点坐标，附录?中的其它函数文件均会被click_calib .m文件调用。 click_calib .m % % 测量亚像素角点坐标的主函数 var2fix = dX_default; fixvariable; % 调用fixvariable.m文件，修正变量 var2fix = dY_default; fixvariable

2、; var2fix = map; fixvariable; if exist(n_ima), data_calib; % 调用data_calib.m文件，输入图像名和格式，%检查文件中的图像并读取标定图像信息 end; check_active_images; % 调用check_active_images.m文件，检查是%否已读取到标定图像 if exist(I_ num2str(ind_active(1), ima_read_calib; if isempty(ind_read), disp(Cannot extract corners without images); return;

3、end; end; fprintf(1,nExtraction of the grid corners on the imagesn); if (exist(map)=1), map = gray(256); end; if exist(dX), dX_default = dX; end; if exist(dY), dY_default = dY; end; if exist(n_sq_x), n_sq_x_default = n_sq_x; end; if exist(n_sq_y), n_sq_y_default = n_sq_y; end; if exist(dX_default)|e

4、xist(dY_default); dX_default = 30; dY_default = 30; % 设靶标平面X和Y方向上方格的默认距离%为30mm end; if exist(n_sq_x_default)|exist(n_sq_y_default), n_sq_x_default = 10; n_sq_y_default = 10; % 设在靶标平面的x和y方向上提取的角点%数的默认值均为10end; if exist(wintx_default)|exist(winty_default), wintx_default = max(round(nx/128),round(ny/96

5、); winty_default = wintx_default; clear wintx winty end; if exist(wintx) | exist(winty), clear_windows; % 调用clear_windows.m文件，清除窗口 end; if exist(dont_ask), dont_ask = 0; end; if dont_ask, ima_numbers = input(Number(s) of image(s) to process ( = all images) = ); else ima_numbers = ; end; if isempty(i

6、ma_numbers), ima_proc = 1:n_ima; else ima_proc = ima_numbers; end; kk_first = ima_proc(1); % 输入(Start image number (=1=first): ); if exist(wintx_ num2str(kk_first), eval(wintxkk = wintx_ num2str(kk_first) ;); if isempty(wintxkk) | isnan(wintxkk), disp(Window size for corner finder (wintx and winty):

7、); wintx = input(wintx ( = num2str(wintx_default) ) = ); if isempty(wintx), wintx = wintx_default; end; wintx = round(wintx); winty = input(winty ( = num2str(winty_default) ) = ); if isempty(winty), winty = winty_default; end; winty = round(winty); fprintf(1,Window size = %dx%dn,2*wintx+1,2*winty+1)

8、; end; else disp(Window size for corner finder (wintx and winty):); wintx = input(wintx ( = num2str(wintx_default) ) = ); if isempty(wintx), wintx = wintx_default; end; wintx = round(wintx); winty = input(winty ( = num2str(winty_default) ) = ); if isempty(winty), winty = winty_default; end; winty =

9、round(winty); fprintf(1,Window size = %dx%dn,2*wintx+1,2*winty+1); end; if dont_ask, fprintf(1,Do you want to use the automatic square counting mechanism (0=default)n); manual_squares = input( or do you always want to enter the number of squares manually (1,other)? ); if isempty(manual_squares), man

10、ual_squares = 0; else manual_squares = manual_squares; end; else manual_squares = 0; end; for kk = ima_proc, if exist(I_ num2str(kk), click_ima_calib; % 调用click_ima_calib.m文件，点击图像边%界的4个顶点，从而划出边线 active_images(kk) = 1; else eval(dX_ num2str(kk) = NaN;); eval(dY_ num2str(kk) = NaN;); eval(wintx_ num2s

11、tr(kk) = NaN;); eval(winty_ num2str(kk) = NaN;); eval(x_ num2str(kk) = NaN*ones(2,1);); eval(X_ num2str(kk) = NaN*ones(3,1);); eval(n_sq_x_ num2str(kk) = NaN;); eval(n_sq_y_ num2str(kk) = NaN;); end; end; check_active_images; for kk = 1:n_ima, if exist(x_ num2str(kk), eval(dX_ num2str(kk) = NaN;); e

12、val(dY_ num2str(kk) = NaN;); eval(x_ num2str(kk) = NaN*ones(2,1);); eval(X_ num2str(kk) = NaN*ones(3,1);); eval(n_sq_x_ num2str(kk) = NaN;); eval(n_sq_y_ num2str(kk) = NaN;); end; if exist(wintx_ num2str(kk) | exist(winty_ num2str(kk), eval(wintx_ num2str(kk) = NaN;); eval(winty_ num2str(kk) = NaN;)

13、; end; end; string_save = save calib_data active_images ind_active wintx winty n_ima type_numbering N_slots first_num image_numbers format_image calib_name Hcal Wcal nx ny map dX_default dY_default dX dY wintx_default winty_default; for kk = 1:n_ima, string_save = string_save X_ num2str(kk) x_ num2s

14、tr(kk) n_sq_x_ num2str(kk) n_sq_y_ num2str(kk) wintx_ num2str(kk) winty_ num2str(kk) dX_ num2str(kk) dY_ num2str(kk); end; eval(string_save); disp(done); for lamp = 1:Nima_valid dog1=x_ num2str(lamp); name1=x num2str(lamp) .txt; save( name1,dog1,-ascii); dog2=X_ num2str(lamp); name2=M num2str(lamp)

15、.txt; save( name2,dog2,-ascii); end return; % fixvariable .m % % 修正变量 if exist(var2fix)=1, if eval(exist( var2fix ) = 1), if eval(isempty( var2fix ), eval(clear var2fix ); else if eval(isstruct( var2fix ), if eval(iscell( var2fix ), if eval(isnan( var2fix (1), eval(clear var2fix ); end; end; end; en

16、d; end; end; % data_calib .m % % 人工输入图像基名和格式，寻找、读取并显示出所有标定图像 l_ras = dir(*ras); s_ras = size(l_ras,1); l_bmp = dir(*bmp); s_bmp = size(l_bmp,1); l_tif = dir(*tif); s_tif = size(l_tif,1); l_pgm = dir(*pgm); s_pgm = size(l_pgm,1); l_ppm = dir(*ppm); s_ppm = size(l_ppm,1); l_jpg = dir(*jpg); s_jpg = si

17、ze(l_jpg,1); s_tot = s_ras + s_bmp + s_tif + s_pgm + s_jpg + s_ppm; if s_tot 0, for pp = 1:Nl, filenamepp = l(pp).name; %第pp幅图像的名字 if isempty(calib_name), iii = 1; else iii = findstr(filenamepp,calib_name); end; loc_ext = findstr(filenamepp,format_image); string_num = filenamepp(length_name+1:loc_ex

18、t - 2); if isempty(str2num(string_num), iii = ; end; if isempty(iii), %如果iii非空 if (iii(1) = 1), %又如果iii(1) != 1,则将iii置空 iii = ; end; end; if isempty(iii) & isempty(loc_ext), Nima_valid = Nima_valid + 1; ind_valid = ind_valid pp; %第几个文件的下标是正确的 loc_extension = loc_extension loc_ext(1); end; end; if (N

19、ima_valid=0), format_image = upper(format_image); for pp = 1:Nl, filenamepp = l(pp).name; if isempty(calib_name), iii = 1; else iii = findstr(filenamepp,calib_name); end; loc_ext = findstr(filenamepp,format_image); string_num = filenamepp(length_name+1:loc_ext - 2); if isempty(str2num(string_num), i

20、ii = ; end; if isempty(iii), if (iii(1) = 1), iii = ; end; end; if isempty(iii) & isempty(loc_ext), Nima_valid = Nima_valid + 1; ind_valid = ind_valid pp; loc_extension = loc_extension loc_ext(1); end; end; if (Nima_valid=0), fprintf(1,No image found. File format may be wrong.n); else string_length

21、= zeros(1,Nima_valid); indices = zeros(1,Nima_valid); for ppp = 1:Nima_valid, name = l(ind_valid(ppp).name; string_num = name(length_name+1:loc_extension(ppp) - 2); string_length(ppp) = size(string_num,2);%数字的长度 indices(ppp) = str2num(string_num);%数字的大小-下标的顺序 end; first_num = min(indices); n_ima = m

22、ax(indices) - first_num + 1; if min(string_length) = max(string_length), N_slots = min(string_length); type_numbering = 1; else N_slots = 1; type_numbering = 0; end; image_numbers = first_num:n_ima-1+first_num; active_images = ones(1,n_ima); end; else string_length = zeros(1,Nima_valid); indices = z

23、eros(1,Nima_valid); for ppp = 1:Nima_valid, name = l(ind_valid(ppp).name; string_num = name(length_name+1:loc_extension(ppp) - 2); string_length(ppp) = size(string_num,2); indices(ppp) = str2num(string_num); end; first_num = min(indices); n_ima = max(indices) - first_num + 1; if min(string_length) = max(string_length), N_slots = min(string_length); type_numbering = 1; else N_slots = 1; type_numbering = 0; end; image_numbers = first_num:n_ima-1+first_num; active_images = ones(1,n_ima); end; else fprintf(1,No image found. Basename may b