单目摄像机标定程序（using openCV functions）

//转载来源 http://blog.csdn.net/guvcolie/article/details/7454632
我自己写了一个摄像机标定程序，核心算法参照learning opencv，但是那个程序要从命令行预先输入参数，且标定图片要预先准备好，我觉得不太好，我就自己写了一个，跟大家分享下。

若有纰漏，希望大家指正！

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#include "stdafx.h"

#include "cv.h"

#include "highgui.h"

#include <string>

#include <iostream>

using namespace std;

int main()

{

int cube_length=7;

CvCapture* capture;

capture=cvCreateCameraCapture(0);

if(capture==0){

printf("无法捕获摄像头设备！\n\n");

return 0;

}else{

printf("捕获摄像头设备成功！！\n\n");

}

IplImage* frame;

cvNamedWindow("摄像机帧截取窗口",1);

printf("按“C”键截取当前帧并保存为标定图片...\n按“Q”键退出截取帧过程...\n\n");

int number_image=1;

char *str1;

str1=".jpg";

char filename[20]="";

while(true)

{

frame=cvQueryFrame(capture);

if(!frame)

break;

cvShowImage("摄像机帧截取窗口",frame);

if(cvWaitKey(10)=='c'){

sprintf_s (filename,"%d.jpg",number_image);

cvSaveImage(filename,frame);

cout<<"成功获取当前帧，并以文件名"<<filename<<"保存...\n\n";

printf("按“C”键截取当前帧并保存为标定图片...\n按“Q”键退出截取帧过程...\n\n");

number_image++;

}else if(cvWaitKey(10)=='q'){

printf("截取图像帧过程完成...\n\n");

cout<<"共成功截取"<<--number_image<<"帧图像！！\n\n";

break;

}

}

cvReleaseImage(&frame);

cvDestroyWindow("摄像机帧截取窗口");

IplImage * show;

cvNamedWindow("RePlay",1);

int a=1;

int number_image_copy=number_image;

CvSize board_size=cvSize(7,7);

int board_width=board_size.width;

int board_height=board_size.height;

int total_per_image=board_width*board_height;

CvPoint2D32f * image_points_buf = new CvPoint2D32f[total_per_image];

CvMat * image_points=cvCreateMat(number_image*total_per_image,2,CV_32FC1);

CvMat * object_points=cvCreateMat(number_image*total_per_image,3,CV_32FC1);

CvMat * point_counts=cvCreateMat(number_image,1,CV_32SC1);

CvMat * intrinsic_matrix=cvCreateMat(3,3,CV_32FC1);

CvMat * distortion_coeffs=cvCreateMat(5,1,CV_32FC1);

int count;

int found;

int step;

int successes=0;

while(a<=number_image_copy){

sprintf_s (filename,"%d.jpg",a);

show=cvLoadImage(filename,-1);

found=cvFindChessboardCorners(show,board_size,image_points_buf,&count,

CV_CALIB_CB_ADAPTIVE_THRESH|CV_CALIB_CB_FILTER_QUADS);

if(found==0){

cout<<"第"<<a<<"帧图片无法找到棋盘格所有角点!\n\n";

cvNamedWindow("RePlay",1);

cvShowImage("RePlay",show);

cvWaitKey(0);

}else{

cout<<"第"<<a<<"帧图像成功获得"<<count<<"个角点...\n";

cvNamedWindow("RePlay",1);

IplImage * gray_image= cvCreateImage(cvGetSize(show),8,1);

cvCvtColor(show,gray_image,CV_BGR2GRAY);

cout<<"获取源图像灰度图过程完成...\n";

cvFindCornerSubPix(gray_image,image_points_buf,count,cvSize(11,11),cvSize(-1,-1),

cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER,30,0.1));

cout<<"灰度图亚像素化过程完成...\n";

cvDrawChessboardCorners(show,board_size,image_points_buf,count,found);

cout<<"在源图像上绘制角点过程完成...\n\n";

cvShowImage("RePlay",show);

cvWaitKey(0);

}

if(total_per_image==count){

step=successes*total_per_image;

for(int i=step,j=0;j<total_per_image;++i,++j){

CV_MAT_ELEM(*image_points,float,i,0)=image_points_buf[j].x;

CV_MAT_ELEM(*image_points,float,i,1)=image_points_buf[j].y;

CV_MAT_ELEM(*object_points,float,i,0)=(float)(j/cube_length);

CV_MAT_ELEM(*object_points,float,i,1)=(float)(j%cube_length);

CV_MAT_ELEM(*object_points,float,i,2)=0.0f;

}

CV_MAT_ELEM(*point_counts,int,successes,0)=total_per_image;

successes++;

}

a++;

}

cvReleaseImage(&show);

cvDestroyWindow("RePlay");

cout<<"*********************************************\n";

cout<<number_image<<"帧图片中，标定成功的图片为"<<successes<<"帧...\n";

cout<<number_image<<"帧图片中，标定失败的图片为"<<number_image-successes<<"帧...\n\n";

cout<<"*********************************************\n\n";

cout<<"按任意键开始计算摄像机内参数...\n\n";

CvCapture* capture1;

capture1=cvCreateCameraCapture(0);

IplImage * show_colie;

show_colie=cvQueryFrame(capture1);

CvMat * object_points2=cvCreateMat(successes*total_per_image,3,CV_32FC1);

CvMat * image_points2=cvCreateMat(successes*total_per_image,2,CV_32FC1);

CvMat * point_counts2=cvCreateMat(successes,1,CV_32SC1);

for(int i=0;i<successes*total_per_image;++i){

CV_MAT_ELEM(*image_points2,float,i,0)=CV_MAT_ELEM(*image_points,float,i,0);

CV_MAT_ELEM(*image_points2,float,i,1)=CV_MAT_ELEM(*image_points,float,i,1);

CV_MAT_ELEM(*object_points2,float,i,0)=CV_MAT_ELEM(*object_points,float,i,0);

CV_MAT_ELEM(*object_points2,float,i,1)=CV_MAT_ELEM(*object_points,float,i,1);

CV_MAT_ELEM(*object_points2,float,i,2)=CV_MAT_ELEM(*object_points,float,i,2);

}

for(int i=0;i<successes;++i){

CV_MAT_ELEM(*point_counts2,int,i,0)=CV_MAT_ELEM(*point_counts,int,i,0);

}

cvReleaseMat(&object_points);

cvReleaseMat(&image_points);

cvReleaseMat(&point_counts);

CV_MAT_ELEM(*intrinsic_matrix,float,0,0)=1.0f;

CV_MAT_ELEM(*intrinsic_matrix,float,1,1)=1.0f;

cvCalibrateCamera2(object_points2,image_points2,point_counts2,cvGetSize(show_colie),

intrinsic_matrix,distortion_coeffs,NULL,NULL,0);

cout<<"摄像机内参数矩阵为：\n";

cout<<CV_MAT_ELEM(*intrinsic_matrix,float,0,0)<<" "<<CV_MAT_ELEM(*intrinsic_matrix,float,0,1)

<<" "<<CV_MAT_ELEM(*intrinsic_matrix,float,0,2)

<<"\n\n";

cout<<CV_MAT_ELEM(*intrinsic_matrix,float,1,0)<<" "<<CV_MAT_ELEM(*intrinsic_matrix,float,1,1)

<<" "<<CV_MAT_ELEM(*intrinsic_matrix,float,1,2)

<<"\n\n";

cout<<CV_MAT_ELEM(*intrinsic_matrix,float,2,0)<<" "<<CV_MAT_ELEM(*intrinsic_matrix,float,2,1)

<<" "<<CV_MAT_ELEM(*intrinsic_matrix,float,2,2)

<<"\n\n";

cout<<"畸变系数矩阵为：\n";

cout<<CV_MAT_ELEM(*distortion_coeffs,float,0,0)<<" "<<CV_MAT_ELEM(*distortion_coeffs,float,1,0)

<<" "<<CV_MAT_ELEM(*distortion_coeffs,float,2,0)

<<" "<<CV_MAT_ELEM(*distortion_coeffs,float,3,0)

<<" "<<CV_MAT_ELEM(*distortion_coeffs,float,4,0)

<<"\n\n";

cvSave("Intrinsics.xml",intrinsic_matrix);

cvSave("Distortion.xml",distortion_coeffs);

cout<<"摄像机矩阵、畸变系数向量已经分别存储在名为Intrinsics.xml、Distortion.xml文档中\n\n";

CvMat * intrinsic=(CvMat *)cvLoad("Intrinsics.xml");

CvMat * distortion=(CvMat *)cvLoad("Distortion.xml");

IplImage * mapx=cvCreateImage(cvGetSize(show_colie),IPL_DEPTH_32F,1);

IplImage * mapy=cvCreateImage(cvGetSize(show_colie),IPL_DEPTH_32F,1);

cvInitUndistortMap(intrinsic,distortion,mapx,mapy);

cvNamedWindow("原始图像",1);

cvNamedWindow("非畸变图像",1);

cout<<"按‘E’键退出显示...\n\n";

while(show_colie){

IplImage * clone=cvCloneImage(show_colie);

cvShowImage("原始图像",show_colie);

cvRemap(clone,show_colie,mapx,mapy);

cvReleaseImage(&clone);

cvShowImage("非畸变图像",show_colie);

if(cvWaitKey(10)=='e'){

break;

}

show_colie=cvQueryFrame(capture1);

}

return 0;

}