opencv-相机标定步骤、评估标定误差以及标定之后图像坐标到世界坐标的转换

最新推荐文章于 2024-04-22 15:48:49 发布

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最新推荐文章于 2024-04-22 15:48:49 发布

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分类专栏：视觉-opencv 文章标签： opencv 函数 stl sdk

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前一段时间，研究了下相机标定。关于opencv相机标定，包括标定完后，世界坐标到图像坐标的转换，以评估图像的标定误差，这些网上有很多资源和源代码。

可是，相机标定完之后，我们想要的是，知道了图像坐标，想要得到它的世界坐标，或者我们已知图像上两个点之间的像素距离，现在我们想知道两个点之间的实际距离。

楼主在网上搜了很多资源，问了很多人，都没有相关的代码，可以得到这样的结论：opencv没有提供现成的函数，满足从图像坐标到世界坐标的转换。

所以，我们最想要的这一步，是需要自己写的。（如果我理解的不对，希望看到这篇博文的人，能够批评指正）

相机标定的主要思路为：

一、获取十几张不同角度拍摄的图片，角点检测，得到每个角点的坐标；

二、分别定义十几张照片中，世界坐标系下的角点坐标，一般x、y为等间距，z为0 ；

三、开始标定，主要函数为calibrateCamera；

四、得到了相机内参和畸变系数，这是标定完后相机的属性，还会得到外参，外参代表着每张图片所在的平面；

五、opencv提供了世界坐标到图像坐标的转换函数，主要用来评估标定的误差；

六、我们最想要的，根据图像坐标到世界坐标的转换，本质上就是矩阵的运算，需要自己写；

下面贴出代码，开发环境opencv2.4.9+vs2013

[cpp] view plain copy

#include "opencv2/core/core.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/calib3d/calib3d.hpp"
#include "opencv2/highgui/highgui.hpp"
#include <iostream>
#include <fstream>
using namespace std;
using namespace cv;
const int imageWidth = 1600; //摄像头的分辨率
const int imageHeight = 1200;
const int boardWidth = 39; //横向的角点数目
const int boardHeight = 39; //纵向的角点数据
const int boardCorner = boardWidth * boardHeight; //总的角点数据
const int frameNumber =7; //相机标定时需要采用的图像帧数
const int squareSize = 10; //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(colIndex * squaresize, rowIndex * 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 CalibrationEvaluate(void)//标定结束后进行评价
{
double err=0;
double total_err=0;
//calibrateCamera(objRealPoint, corners, Size(imageWidth, imageHeight), intrinsic, distortion_coeff, rvecs, tvecs, 0);
cout << "每幅图像的定标误差：" << endl;
for (int i = 0; i < corners.size(); i++)
{
vector<Point2f> image_points2;
vector<Point3f> tempPointSet = objRealPoint[i];
projectPoints(tempPointSet, rvecs[i], tvecs[i], intrinsic, distortion_coeff, image_points2);
vector<Point2f> tempImagePoint = corners[i];
Mat tempImagePointMat = Mat(1, tempImagePoint.size(), CV_32FC2);
Mat image_points2Mat = Mat(1, image_points2.size(), CV_32FC2);
for (int j = 0; j < tempImagePoint.size(); j++)
{
image_points2Mat.at<Vec2f>(0, j) = Vec2f(image_points2[j].x, image_points2[j].y);
tempImagePointMat.at<Vec2f>(0, j) = Vec2f(tempImagePoint[j].x, tempImagePoint[j].y);
}
err = norm(image_points2Mat, tempImagePointMat, NORM_L2);
total_err = err + total_err;
cout << "第" << i + 1 << "幅图像的平均误差：" << err << "像素" << endl;
}
cout << "总体平均误差：" << total_err / (corners.size() + 1) << "像素" << endl;
}
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[])
int main()
{
Mat img;
int goodFrameCount = 0;
namedWindow("chessboard");
cout << "按Q退出 ..." << endl;
while (goodFrameCount < frameNumber)
{
char filename[100];
sprintf_s(filename, "chao%d.bmp", goodFrameCount);
//sprintf_s(filename, "chess%d.jpg", goodFrameCount);
goodFrameCount++;
rgbImage = imread(filename, 1);
cvtColor(rgbImage, grayImage, CV_BGR2GRAY);
imshow("Camera", grayImage);
bool isFind = findChessboardCorners(rgbImage, boardSize, corner, 0);
//bool isFind = findChessboardCorners(rgbImage, boardSize, corner, CV_CALIB_CB_NORMALIZE_IMAGE);
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
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();
CalibrationEvaluate();
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;
}

以上只贴出了部分代码，完整的C++代码，可到 Hust平凡之路相机标定工程下载。

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opencv-相机标定步骤、评估标定误差以及标定之后图像坐标到世界坐标的转换

前一段时间，研究了下相机标定。关于opencv相机标定，包括标定完后，世界坐标到图像坐标的转换，以评估图像的标定误差，这些网上有很多资源和源代码。可是，相机标定完之后，我们想要的是，知道了图像坐标，想要得到它的世界坐标，或者我们已知图像上两个点之间的像素距离，现在我们想知道两个点之间的实际距离。楼主在网上搜了很多资源，问了很多人，都没有相关的代码，可以得到这样的结论：opencv没有提供
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