OpenCV编程->单目相机内参及畸变求解

/*------------------------------------------------------------------------------------------*\
This file contains material supporting chapter 9 of the cookbook:
Computer Vision Programming using the OpenCV Library.
by Robert Laganiere, Packt Publishing, 2011.

This program is free software; permission is hereby granted to use, copy, modify,
and distribute this source code, or portions thereof, for any purpose, without fee,
subject to the restriction that the copyright notice may not be removed
or altered from any source or altered source distribution.
The software is released on an as-is basis and without any warranties of any kind.
In particular, the software is not guaranteed to be fault-tolerant or free from failure.
The author disclaims all warranties with regard to this software, any use,
and any consequent failure, is purely the responsibility of the user.

Copyright (C) 2010-2011 Robert Laganiere, www.laganiere.name
\*------------------------------------------------------------------------------------------*/

#ifndef CAMERACALIBRATOR_H
#define CAMERACALIBRATOR_H
#include "stdafx.h"
#include <vector>
#include <iostream>

#include <opencv2/core/core.hpp>
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/calib3d/calib3d.hpp"
#include <opencv2/highgui/highgui.hpp>

class CameraCalibrator {

// input points
std::vector<std::vector<cv::Point3f>> objectPoints;
std::vector<std::vector<cv::Point2f>> imagePoints;
// output Matrices
cv::Mat cameraMatrix;
cv::Mat distCoeffs;
std::vector<cv::Mat> rvecs, tvecs;
cv::Mat R;
cv::Mat T;
//std::vector<cv::Mat> rvecs, tvecs;
// flag to specify how calibration is done
int flag;
// used in image undistortion
cv::Mat map1,map2;
bool mustInitUndistort;

public:
CameraCalibrator() : flag(0), mustInitUndistort(true) {};

// Open the chessboard images and extract corner points
int addChessboardPoints(const std::vector<std::string>& filelist, cv::Size & boardSize);
// Add scene points and corresponding image points
void addPoints(const std::vector<cv::Point2f>& imageCorners, const std::vector<cv::Point3f>& objectCorners);
// Calibrate the camera
double calibrate(cv::Size &imageSize);
// Set the calibration flag
void setCalibrationFlag(bool radial8CoeffEnabled=false, bool tangentialParamEnabled=false);
// Remove distortion in an image (after calibration)
cv::Mat CameraCalibrator::remap(const cv::Mat &image);

// Getters
cv::Mat getCameraMatrix() { return cameraMatrix; }
cv::Mat getDistCoeffs()   { return distCoeffs; }
std::vector<cv::Mat> getR() { return rvecs; }
std::vector<cv::Mat> getT()   { return tvecs; }
};

#endif // CAMERACALIBRATOR_H

/*------------------------------------------------------------------------------------------*\
This file contains material supporting chapter 9 of the cookbook:
Computer Vision Programming using the OpenCV Library.
by Robert Laganiere, Packt Publishing, 2011.

This program is free software; permission is hereby granted to use, copy, modify,
and distribute this source code, or portions thereof, for any purpose, without fee,
subject to the restriction that the copyright notice may not be removed
or altered from any source or altered source distribution.
The software is released on an as-is basis and without any warranties of any kind.
In particular, the software is not guaranteed to be fault-tolerant or free from failure.
The author disclaims all warranties with regard to this software, any use,
and any consequent failure, is purely the responsibility of the user.

Copyright (C) 2010-2011 Robert Laganiere, www.laganiere.name
\*------------------------------------------------------------------------------------------*/
#include "stdafx.h"
#include "CameraCalibrator.h"

// Open chessboard images and extract corner points
int CameraCalibrator::addChessboardPoints(
const std::vector<std::string>& filelist,
cv::Size & boardSize) {

// the points on the chessboard
std::vector<cv::Point2f> imageCorners;
std::vector<cv::Point3f> objectCorners;

// 3D Scene Points:
// Initialize the chessboard corners
// in the chessboard reference frame
// The corners are at 3D location (X,Y,Z)= (i,j,0)
for (int i=0; i<boardSize.height; i++) {
for (int j=0; j<boardSize.width; j++) {

objectCorners.push_back(cv::Point3f(i, j, 0.0f));
}
}

// 2D Image points:
cv::Mat image; // to contain chessboard image
int successes = 0;
// for all viewpoints
for (int i=0; i<filelist.size(); i++) {

// Open the image
image = cv::imread(filelist[i],0);

// Get the chessboard corners
bool found = cv::findChessboardCorners(
image, boardSize, imageCorners);

// Get subpixel accuracy on the corners
cv::cornerSubPix(image, imageCorners,
cv::Size(5,5),
cv::Size(-1,-1),
cv::TermCriteria(cv::TermCriteria::MAX_ITER +
cv::TermCriteria::EPS,
30,		// max number of iterations
0.1));     // min accuracy

// If we have a good board, add it to our data
if (imageCorners.size() == boardSize.area()) {

// Add image and scene points from one view
addPoints(imageCorners, objectCorners);
successes++;
}

//Draw the corners
cv::drawChessboardCorners(image, boardSize, imageCorners, found);
//cv::imshow("Corners on Chessboard", image);
// cv::waitKey(100);
}

return successes;
}

// Add scene points and corresponding image points
void CameraCalibrator::addPoints(const std::vector<cv::Point2f>& imageCorners, const std::vector<cv::Point3f>& objectCorners) {

// 2D image points from one view
imagePoints.push_back(imageCorners);
// corresponding 3D scene points
objectPoints.push_back(objectCorners);
}

// Calibrate the camera
// returns the re-projection error
double CameraCalibrator::calibrate(cv::Size &imageSize)
{
// undistorter must be reinitialized
mustInitUndistort= true;

//Output rotations and translations

// start calibration
return
calibrateCamera(objectPoints, // the 3D points
imagePoints,  // the image points
imageSize,    // image size
cameraMatrix, // output camera matrix
distCoeffs,   // output distortion matrix
rvecs, tvecs, // Rs, Ts
flag);        // set options
//					,CV_CALIB_USE_INTRINSIC_GUESS);

}

// remove distortion in an image (after calibration)
cv::Mat CameraCalibrator::remap(const cv::Mat &image) {

cv::Mat undistorted;

if (mustInitUndistort) { // called once per calibration

cv::initUndistortRectifyMap(
cameraMatrix,  // computed camera matrix
distCoeffs,    // computed distortion matrix
cv::Mat(),     // optional rectification (none)
cv::Mat(),     // camera matrix to generate undistorted
cv::Size(1280,1920),
//            image.size(),  // size of undistorted
CV_32FC1,      // type of output map
map1, map2);   // the x and y mapping functions

mustInitUndistort= false;
}

// Apply mapping functions
cv::remap(image, undistorted, map1, map2,
cv::INTER_LINEAR); // interpolation type

return undistorted;
}

// Set the calibration options
// 8radialCoeffEnabled should be true if 8 radial coefficients are required (5 is default)
// tangentialParamEnabled should be true if tangeantial distortion is present
void CameraCalibrator::setCalibrationFlag(bool radial8CoeffEnabled, bool tangentialParamEnabled) {

// Set the flag used in cv::calibrateCamera()
flag = 0;
if (!tangentialParamEnabled) flag += CV_CALIB_ZERO_TANGENT_DIST;
if (radial8CoeffEnabled) flag += CV_CALIB_RATIONAL_MODEL;
}

//左相机标定
void SingleCameraCalibL()
{
//cv::namedWindow("Image");
cv::Mat image;
std::vector<std::string> filelist;//存放标定图片路径

//生成路径，此处表示图片放在工程根目录下的chessboards文件夹
for (int i = 1; i <= 13; i++)
{
std::stringstream str;
str << "ImageL" << i << ".jpg";//图片的相对路径
std::cout << str.str() << std::endl;

filelist.push_back(str.str());
image = cv::imread(str.str());
//cv::imshow("Image", image);
//cv::waitKey(100);
}

CameraCalibrator cameraCalibrator;
//从棋盘格添加角点
cv::Size boardSize(11, 8);
cameraCalibrator.addChessboardPoints(
filelist,   //图片路径
boardSize); //角点数目
//标定相机
cameraCalibrator.calibrate(image.size());
//对序列图像进行畸变消除，消除透镜畸变
//生成路径，此处表示图片放在工程根目录下的文件夹
for (int i = 1; i <= 13; i++)
{
std::stringstream str;
str << "ImageL" << i << ".jpg";//读取图片的相对路径
std::cout << str.str() << std::endl;

filelist.push_back(str.str());
image = cv::imread(str.str());
cv::Mat uImage = cameraCalibrator.remap(image);
cv::Mat roi_img_left;

roi_img_left = uImage(cv::Range(400, 1424), cv::Range(0, 1280));

std::stringstream str1;
str1 << "ImageChangeL" << i << ".jpg";//保存图片的相对路径
std::cout << str1.str() << std::endl;
imwrite(str1.str(), roi_img_left);
//cv::imshow("Image", roi_img_left);
//cv::waitKey(100);
//cout << endl;
}

//打印相机内参数矩阵（3*3矩阵）
Mat cameraMatrix = cameraCalibrator.getCameraMatrix();
cameraMatrixL = cameraCalibrator.getCameraMatrix();
std::cout << " 相机内参数矩阵：" << cameraMatrix.rows << "x" << cameraMatrix.cols << std::endl;
for (int i = 0; i<cameraMatrix.rows; i++)
for (int j = 0; j<cameraMatrix.cols; j++)
{
cout << setw(10) << cameraMatrix.at<double>(i, j);
if (j == 2)
cout << endl;
}
//打印畸变系数矩阵（1*5矩阵）
Mat distCoeffs = cameraCalibrator.getDistCoeffs();
distCoeffsL = cameraCalibrator.getDistCoeffs();
std::cout << "畸变系数矩阵：" << distCoeffs.rows << "x" << distCoeffs.cols << std::endl;
for (int i = 0; i<distCoeffs.rows; i++)
for (int j = 0; j<distCoeffs.cols; j++)
cout << distCoeffs.at<double>(i, j) << "\t";

RL = cameraCalibrator.getR();
TL = cameraCalibrator.getT();
//waitKey(100);
}