OpenCV相机标定

OpenCV相机标定

代码1

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

#include <cctype>
#include <stdio.h>
#include <string.h>
#include <time.h>

using namespace cv;
using namespace std;

const char * usage =
" \nexample command line for calibration from a live feed.\n"
"   calibration  -w 4 -h 5 -s 0.025 -o camera.yml -op -oe\n"
" \n"
" example command line for calibration from a list of stored images:\n"
"   imagelist_creator image_list.xml *.png\n"
"   calibration -w 4 -h 5 -s 0.025 -o camera.yml -op -oe image_list.xml\n"
" where image_list.xml is the standard OpenCV XML/YAML\n"
" use imagelist_creator to create the xml or yaml list\n"
" file consisting of the list of strings, e.g.:\n"
" \n"
"<?xml version=\"1.0\"?>\n"
"<opencv_storage>\n"
"<images>\n"
"view000.png\n"
"view001.png\n"
"view002.png\n"
"view003.png\n"
"view010.png\n"
"one_extra_view.jpg\n"
"</images>\n"
"</opencv_storage>\n";




const char* liveCaptureHelp =
    "When the live video from camera is used as input, the following hot-keys may be used:\n"
        "  <ESC>, 'q' - quit the program\n"
        "  'g' - start capturing images\n"
        "  'u' - switch undistortion on/off\n";

static void help()
{
    printf( "This is a camera calibration sample.\n"
        "Usage: calibration\n"
        "     -w <board_width>         # the number of inner corners per one of board dimension\n"
        "     -h <board_height>        # the number of inner corners per another board dimension\n"
        "     [-pt <pattern>]          # the type of pattern: chessboard or circles' grid\n"
        "     [-n <number_of_frames>]  # the number of frames to use for calibration\n"
        "                              # (if not specified, it will be set to the number\n"
        "                              #  of board views actually available)\n"
        "     [-d <delay>]             # a minimum delay in ms between subsequent attempts to capture a next view\n"
        "                              # (used only for video capturing)\n"
        "     [-s <squareSize>]       # square size in some user-defined units (1 by default)\n"
        "     [-o <out_camera_params>] # the output filename for intrinsic [and extrinsic] parameters\n"
        "     [-op]                    # write detected feature points\n"
        "     [-oe]                    # write extrinsic parameters\n"
        "     [-zt]                    # assume zero tangential distortion\n"
        "     [-a <aspectRatio>]      # fix aspect ratio (fx/fy)\n"
        "     [-p]                     # fix the principal point at the center\n"
        "     [-v]                     # flip the captured images around the horizontal axis\n"
        "     [-V]                     # use a video file, and not an image list, uses\n"
        "                              # [input_data] string for the video file name\n"
        "     [-su]                    # show undistorted images after calibration\n"
        "     [input_data]             # input data, one of the following:\n"
        "                              #  - text file with a list of the images of the board\n"
        "                              #    the text file can be generated with imagelist_creator\n"
        "                              #  - name of video file with a video of the board\n"
        "                              # if input_data not specified, a live view from the camera is used\n"
        "\n" );
    printf("\n%s",usage);
    printf( "\n%s", liveCaptureHelp );
}

enum { DETECTION = 0, CAPTURING = 1, CALIBRATED = 2 };
enum Pattern { CHESSBOARD, CIRCLES_GRID, ASYMMETRIC_CIRCLES_GRID };

static double computeReprojectionErrors(
        const vector<vector<Point3f> >& objectPoints,
        const vector<vector<Point2f> >& imagePoints,
        const vector<Mat>& rvecs, const vector<Mat>& tvecs,
        const Mat& cameraMatrix, const Mat& distCoeffs,
        vector<float>& perViewErrors )
{
    vector<Point2f> imagePoints2;
    int i, totalPoints = 0;
    double totalErr = 0, err;
    perViewErrors.resize(objectPoints.size());

    for( i = 0; i < (int)objectPoints.size(); i++ )
    {
        projectPoints(Mat(objectPoints[i]), rvecs[i], tvecs[i],
                      cameraMatrix, distCoeffs, imagePoints2);
        err = norm(Mat(imagePoints[i]), Mat(imagePoints2), CV_L2);
        int n = (int)objectPoints[i].size();
        perViewErrors[i] = (float)std::sqrt(err*err/n);
        totalErr += err*err;
        totalPoints += n;
    }

    return std::sqrt(totalErr/totalPoints);
}

static void calcChessboardCorners(Size boardSize, float squareSize, vector<Point3f>& corners, Pattern patternType = CHESSBOARD)
{
    corners.resize(0);

    switch(patternType)
    {
      case CHESSBOARD:
      case CIRCLES_GRID:
        for( int i = 0; i < boardSize.height; i++ )
            for( int j = 0; j < boardSize.width; j++ )
                corners.push_back(Point3f(float(j*squareSize),
                                          float(i*squareSize), 0));
        break;

      case ASYMMETRIC_CIRCLES_GRID:
        for( int i = 0; i < boardSize.height; i++ )
            for( int j = 0; j < boardSize.width; j++ )
                corners.push_back(Point3f(float((2*j + i % 2)*squareSize),
                                          float(i*squareSize), 0));
        break;

      default:
        CV_Error(CV_StsBadArg, "Unknown pattern type\n");
    }
}

static bool runCalibration( vector<vector<Point2f> > imagePoints,
                    Size imageSize, Size boardSize, Pattern patternType,
                    float squareSize, float aspectRatio,
                    int flags, Mat& cameraMatrix, Mat& distCoeffs,
                    vector<Mat>& rvecs, vector<Mat>& tvecs,
                    vector<float>& reprojErrs,
                    double& totalAvgErr)
{
    cameraMatrix = Mat::eye(3, 3, CV_64F);
    if( flags & CV_CALIB_FIX_ASPECT_RATIO )
        cameraMatrix.at<double>(0,0) = aspectRatio;

    distCoeffs = Mat::zeros(8, 1, CV_64F);

    vector<vector<Point3f> > objectPoints(1);
    calcChessboardCorners(boardSize, squareSize, objectPoints[0], patternType);

    objectPoints.resize(imagePoints.size(),objectPoints[0]);

    double rms = calibrateCamera(objectPoints, imagePoints, imageSize, cameraMatrix,
                    distCoeffs, rvecs, tvecs, flags|CV_CALIB_FIX_K4|CV_CALIB_FIX_K5);
                    ///*|CV_CALIB_FIX_K3*/|CV_CALIB_FIX_K4|CV_CALIB_FIX_K5);
    printf("RMS error reported by calibrateCamera: %g\n", rms);

    bool ok = checkRange(cameraMatrix) && checkRange(distCoeffs);

    totalAvgErr = computeReprojectionErrors(objectPoints, imagePoints,
                rvecs, tvecs, cameraMatrix, distCoeffs, reprojErrs);

    return ok;
}


static void saveCameraParams( const string& filename,
                       Size imageSize, Size boardSize,
                       float squareSize, float aspectRatio, int flags,
                       const Mat& cameraMatrix, const Mat& distCoeffs,
                       const vector<Mat>& rvecs, const vector<Mat>& tvecs,
                       const vector<float>& reprojErrs,
                       const vector<vector<Point2f> >& imagePoints,
                       double totalAvgErr )
{
    FileStorage fs( filename, FileStorage::WRITE );

    time_t tt;
    time( &tt );
    struct tm *t2 = localtime( &tt );
    char buf[1024];
    strftime( buf, sizeof(buf)-1, "%c", t2 );

    fs << "calibration_time" << buf;

    if( !rvecs.empty() || !reprojErrs.empty() )
        fs << "nframes" << (int)std::max(rvecs.size(), reprojErrs.size());
    fs << "image_width" << imageSize.width;
    fs << "image_height" << imageSize.height;
    fs << "board_width" << boardSize.width;
    fs << "board_height" << boardSize.height;
    fs << "square_size" << squareSize;

    if( flags & CV_CALIB_FIX_ASPECT_RATIO )
        fs << "aspectRatio" << aspectRatio;

    if( flags != 0 )
    {
        sprintf( buf, "flags: %s%s%s%s",
            flags & CV_CALIB_USE_INTRINSIC_GUESS ? "+use_intrinsic_guess" : "",
            flags & CV_CALIB_FIX_ASPECT_RATIO ? "+fix_aspectRatio" : "",
            flags & CV_CALIB_FIX_PRINCIPAL_POINT ? "+fix_principal_point" : "",
            flags & CV_CALIB_ZERO_TANGENT_DIST ? "+zero_tangent_dist" : "" );
        cvWriteComment( *fs, buf, 0 );
    }

    fs << "flags" << flags;

    fs << "camera_matrix" << cameraMatrix;
    fs << "distortion_coefficients" << distCoeffs;

    fs << "avg_reprojection_error" << totalAvgErr;
    if( !reprojErrs.empty() )
        fs << "per_view_reprojection_errors" << Mat(reprojErrs);

    if( !rvecs.empty() && !tvecs.empty() )
    {
        CV_Assert(rvecs[0].type() == tvecs[0].type());
        Mat bigmat((int)rvecs.size(), 6, rvecs[0].type());
        for( int i = 0; i < (int)rvecs.size(); i++ )
        {
            Mat r = bigmat(Range(i, i+1), Range(0,3));
            Mat t = bigmat(Range(i, i+1), Range(3,6));

            CV_Assert(rvecs[i].rows == 3 && rvecs[i].cols == 1);
            CV_Assert(tvecs[i].rows == 3 && tvecs[i].cols == 1);
            //*.t() is MatExpr (not Mat) so we can use assignment operator
            r = rvecs[i].t();
            t = tvecs[i].t();
        }
        cvWriteComment( *fs, "a set of 6-tuples (rotation vector + translation vector) for each view", 0 );
        fs << "extrinsic_parameters" << bigmat;
    }

    if( !imagePoints.empty() )
    {
        Mat imagePtMat((int)imagePoints.size(), (int)imagePoints[0].size(), CV_32FC2);
        for( int i = 0; i < (int)imagePoints.size(); i++ )
        {
            Mat r = imagePtMat.row(i).reshape(2, imagePtMat.cols);
            Mat imgpti(imagePoints[i]);
            imgpti.copyTo(r);
        }
        fs << "image_points" << imagePtMat;
    }
}

static bool readStringList( const string& filename, vector<string>& l )
{
    l.resize(0);
    FileStorage fs(filename, FileStorage::READ);
    if( !fs.isOpened() )
        return false;
    FileNode n = fs.getFirstTopLevelNode();
    if( n.type() != FileNode::SEQ )
        return false;
    FileNodeIterator it = n.begin(), it_end = n.end();
    for( ; it != it_end; ++it )
        l.push_back((string)*it);
    return true;
}


static bool runAndSave(const string& outputFilename,
                const vector<vector<Point2f> >& imagePoints,
                Size imageSize, Size boardSize, Pattern patternType, float squareSize,
                float aspectRatio, int flags, Mat& cameraMatrix,
                Mat& distCoeffs, bool writeExtrinsics, bool writePoints )
{
    vector<Mat> rvecs, tvecs;
    vector<float> reprojErrs;
    double totalAvgErr = 0;

    bool ok = runCalibration(imagePoints, imageSize, boardSize, patternType, squareSize,
                   aspectRatio, flags, cameraMatrix, distCoeffs,
                   rvecs, tvecs, reprojErrs, totalAvgErr);
    printf("%s. avg reprojection error = %.2f\n",
           ok ? "Calibration succeeded" : "Calibration failed",
           totalAvgErr);

    if( ok )
        saveCameraParams( outputFilename, imageSize,
                         boardSize, squareSize, aspectRatio,
                         flags, cameraMatrix, distCoeffs,
                         writeExtrinsics ? rvecs : vector<Mat>(),
                         writeExtrinsics ? tvecs : vector<Mat>(),
                         writeExtrinsics ? reprojErrs : vector<float>(),
                         writePoints ? imagePoints : vector<vector<Point2f> >(),
                         totalAvgErr );
    return ok;
}


int main( int argc, char** argv )
{
    Size boardSize, imageSize;
    float squareSize = 1.f, aspectRatio = 1.f;
    Mat cameraMatrix, distCoeffs;
    const char* outputFilename = "out_camera_data.yml";
    const char* inputFilename = 0;

    int i, nframes = 10;
    bool writeExtrinsics = false, writePoints = false;
    bool undistortImage = false;
    int flags = 0;
    VideoCapture capture;
    bool flipVertical = false;
    bool showUndistorted = false;
    bool videofile = false;
    int delay =