OPENCV3.0 单目摄像头标定(使用官方自带的标定图片)
2015-10-07 09:58
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// opencv_test.cpp : 定义控制台应用程序的入口点。 // #include "stdafx.h" #include <opencv2/opencv.hpp> #include <highgui.hpp> #include "cv.h" #include <cv.hpp> #include <iostream> using namespace std; using namespace cv; const int imageWidth = 640; //摄像头的分辨率 const int imageHeight = 480; const int boardWidth = 9; //横向的角点数目 const int boardHeight = 6; //纵向的角点数据 const int boardCorner = boardWidth * boardHeight; //总的角点数据 const int frameNumber = 13; //相机标定时需要采用的图像帧数 const int squareSize = 20; //标定板黑白格子的大小 单位mm const Size boardSize = Size(boardWidth, boardHeight); // Mat intrinsic; //相机内参数 Mat distortion_coeff; //相机畸变参数 vector<Mat> rvecs; //旋转向量 vector<Mat> tvecs; //平移向量 vector<vector<Point2f>> corners; //各个图像找到的角点的集合 和objRealPoint 一一对应 vector<vector<Point3f>> objRealPoint; //各副图像的角点的实际物理坐标集合 vector<Point2f> corner; //某一副图像找到的角点 Mat rgbImage, grayImage; /*计算标定板上模块的实际物理坐标*/ void calRealPoint(vector<vector<Point3f>>& obj, int boardwidth,int boardheight, int imgNumber, int squaresize) { // Mat imgpoint(boardheight, boardwidth, CV_32FC3,Scalar(0,0,0)); vector<Point3f> imgpoint; for (int rowIndex = 0; rowIndex < boardheight; rowIndex++) { for (int colIndex = 0; colIndex < boardwidth; colIndex++) { // imgpoint.at<Vec3f>(rowIndex, colIndex) = Vec3f(rowIndex * squaresize, colIndex*squaresize, 0); imgpoint.push_back(Point3f(rowIndex * squaresize, colIndex * squaresize, 0)); } } for (int imgIndex = 0; imgIndex < imgNumber; imgIndex++) { obj.push_back(imgpoint); } } /*设置相机的初始参数 也可以不估计*/ void guessCameraParam(void ) { /*分配内存*/ intrinsic.create(3, 3, CV_64FC1); distortion_coeff.create(5, 1, CV_64FC1); /* fx 0 cx 0 fy cy 0 0 1 */ intrinsic.at<double>(0,0) = 256.8093262; //fx intrinsic.at<double>(0, 2) = 160.2826538; //cx intrinsic.at<double>(1, 1) = 254.7511139; //fy intrinsic.at<double>(1, 2) = 127.6264572; //cy intrinsic.at<double>(0, 1) = 0; intrinsic.at<double>(1, 0) = 0; intrinsic.at<double>(2, 0) = 0; intrinsic.at<double>(2, 1) = 0; intrinsic.at<double>(2, 2) = 1; /* k1 k2 p1 p2 p3 */ distortion_coeff.at<double>(0, 0) = -0.193740; //k1 distortion_coeff.at<double>(1, 0) = -0.378588; //k2 distortion_coeff.at<double>(2, 0) = 0.028980; //p1 distortion_coeff.at<double>(3, 0) = 0.008136; //p2 distortion_coeff.at<double>(4, 0) = 0; //p3 } void outputCameraParam(void ) { /*保存数据*/ //cvSave("cameraMatrix.xml", &intrinsic); //cvSave("cameraDistoration.xml", &distortion_coeff); //cvSave("rotatoVector.xml", &rvecs); //cvSave("translationVector.xml", &tvecs); /*输出数据*/ cout << "fx :" << intrinsic.at<double>(0, 0) << endl << "fy :" << intrinsic.at<double>(1, 1) << endl; cout << "cx :" << intrinsic.at<double>(0, 2) << endl << "cy :" << intrinsic.at<double>(1, 2) << endl; cout << "k1 :" << distortion_coeff.at<double>(0, 0) << endl; cout << "k2 :" << distortion_coeff.at<double>(1, 0) << endl; cout << "p1 :" << distortion_coeff.at<double>(2, 0) << endl; cout << "p2 :" << distortion_coeff.at<double>(3, 0) << endl; cout << "p3 :" << distortion_coeff.at<double>(4, 0) << endl; } int _tmain(int argc, _TCHAR* argv[]) { Mat img; int goodFrameCount = 0; namedWindow("chessboard"); cout << "按Q退出 ..." << endl; while (goodFrameCount < frameNumber) { char filename[100]; sprintf_s(filename,"image\\left%02d.jpg", goodFrameCount + 1); // cout << filename << endl; rgbImage = imread(filename, CV_LOAD_IMAGE_COLOR); cvtColor(rgbImage, grayImage, CV_BGR2GRAY); imshow("Camera", grayImage); bool isFind = findChessboardCorners(rgbImage, boardSize, corner,0); if (isFind == true) //所有角点都被找到 说明这幅图像是可行的 { /* Size(5,5) 搜索窗口的一半大小 Size(-1,-1) 死区的一半尺寸 TermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 20, 0.1)迭代终止条件 */ cornerSubPix(grayImage, corner, Size(5,5), Size(-1, -1), TermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 20, 0.1)); drawChessboardCorners(rgbImage, boardSize, corner, isFind); imshow("chessboard", rgbImage); corners.push_back(corner); //string filename = "res\\image\\calibration"; //filename += goodFrameCount + ".jpg"; //cvSaveImage(filename.c_str(), &IplImage(rgbImage)); //把合格的图片保存起来 goodFrameCount++; cout << "The image is good" << endl; } else { cout << "The image is bad please try again" << endl; } // cout << "Press any key to continue..." << endl; // waitKey(0); if (waitKey(10) == 'q') { break; } // imshow("chessboard", rgbImage); } /* 图像采集完毕 接下来开始摄像头的校正 calibrateCamera() 输入参数 objectPoints 角点的实际物理坐标 imagePoints 角点的图像坐标 imageSize 图像的大小 输出参数 cameraMatrix 相机的内参矩阵 distCoeffs 相机的畸变参数 rvecs 旋转矢量(外参数) tvecs 平移矢量(外参数) */ /*设置实际初始参数 根据calibrateCamera来 如果flag = 0 也可以不进行设置*/ guessCameraParam(); cout << "guess successful" << endl; /*计算实际的校正点的三维坐标*/ calRealPoint(objRealPoint, boardWidth, boardHeight,frameNumber, squareSize); cout << "cal real successful" << endl; /*标定摄像头*/ calibrateCamera(objRealPoint, corners, Size(imageWidth, imageHeight), intrinsic, distortion_coeff, rvecs, tvecs, 0); cout << "calibration successful" << endl; /*保存并输出参数*/ outputCameraParam(); cout << "out successful" << endl; /*显示畸变校正效果*/ Mat cImage; undistort(rgbImage, cImage, intrinsic, distortion_coeff); imshow("Corret Image", cImage); cout << "Correct Image" << endl; cout << "Wait for Key" << endl; waitKey(0); system("pause"); return 0; }
OPENCV3.0版本跟2.x版本是有一点差距的,这个程序在2.4.11版本里面跑不起来。
找了很久都没有找到错误,主要是在calibrateCamera()函数的时候出错。
也参考了官方的calibration例程,但还是找不到错误在什么地方。
下面是3.0版本的代码 注释都在代码里面
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