Camera Calibration 相机标定：Opencv应用方法

本系列文章由 @YhL_Leo 出品，转载请注明出处。
文章链接： http://blog.csdn.net/yhl_leo/article/details/49427383

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Opencv中Camera Calibration and 3D Reconstruction中使用的是Z. Zhang(PAMI, 2000). A Flexible New Technique for Camera Calibration的方法。原理见原理简介（五）本文将对其进行介绍。

1 标定步骤

简单来说，Opencv中基于二维标定平面的标定方法主要步骤有：

• 1 读取相关设置信息，包括采用的pattern 信息（类型，尺寸），输入标定数据的信息（图像列表文件，视频采样方法），输出文件设置等，这些信息可以存为XML或YAML文件的形式或者在代码里直接显示设置。这里给出Opencv中提供的configuration file：

<?xml version="1.0"?>
<opencv_storage>
<Settings>
<!--
 Number of inner corners per a item row and column. (square, circle) 
-->
<BoardSize_Width>9</BoardSize_Width>
<BoardSize_Height>6</BoardSize_Height>
<!--
 The size of a square in some user defined metric system (pixel, millimeter)
-->
<Square_Size>50</Square_Size>
<!--
 The type of input used for camera calibration. One of: CHESSBOARD CIRCLES_GRID ASYMMETRIC_CIRCLES_GRID 
-->
<Calibrate_Pattern>"CHESSBOARD"</Calibrate_Pattern>
<!--
 The input to use for calibration. 
        To use an input camera -> give the ID of the camera, like "1"
        To use an input video  -> give the path of the input video, like "/tmp/x.avi"
        To use an image list   -> give the path to the XML or YAML file containing the list of the images, like "/tmp/circles_list.xml"

-->
<Input>"images/CameraCalibraation/VID5/VID5.xml"</Input>
<!--
  If true (non-zero) we flip the input images around the horizontal axis.
-->
<Input_FlipAroundHorizontalAxis>0</Input_FlipAroundHorizontalAxis>
<!--  Time delay between frames in case of camera.  -->
<Input_Delay>100</Input_Delay>
<!--  How many frames to use, for calibration.  -->
<Calibrate_NrOfFrameToUse>25</Calibrate_NrOfFrameToUse>
<!--
 Consider only fy as a free parameter, the ratio fx/fy stays the same as in the input cameraMatrix. 
       Use or not setting. 0 - False Non-Zero - True
-->
<Calibrate_FixAspectRatio>1</Calibrate_FixAspectRatio>
<!--
 If true (non-zero) tangential distortion coefficients  are set to zeros and stay zero.
-->
<Calibrate_AssumeZeroTangentialDistortion>1</Calibrate_AssumeZeroTangentialDistortion>
<!--
 If true (non-zero) the principal point is not changed during the global optimization.
-->
<Calibrate_FixPrincipalPointAtTheCenter>1</Calibrate_FixPrincipalPointAtTheCenter>
<!--  The name of the output log file.  -->
<Write_outputFileName>"out_camera_data.xml"</Write_outputFileName>
<!--
 If true (non-zero) we write to the output file the feature points.
-->
<Write_DetectedFeaturePoints>1</Write_DetectedFeaturePoints>
<!--
 If true (non-zero) we write to the output file the extrinsic camera parameters.
-->
<Write_extrinsicParameters>1</Write_extrinsicParameters>
<!--
 If true (non-zero) we show after calibration the undistorted images.
-->
<Show_UndistortedImage>1</Show_UndistortedImage>
</Settings>
</opencv_storage>

其中，图像文件列表images/CameraCalibraation/VID5/VID5.xmlOpencv中采用列举法：

<?xml version="1.0"?>
<opencv_storage>
<images>
images/CameraCalibraation/VID5/xx1.jpg 
images/CameraCalibraation/VID5/xx2.jpg 
images/CameraCalibraation/VID5/xx3.jpg 
images/CameraCalibraation/VID5/xx4.jpg 
images/CameraCalibraation/VID5/xx5.jpg 
images/CameraCalibraation/VID5/xx6.jpg 
images/CameraCalibraation/VID5/xx7.jpg 
images/CameraCalibraation/VID5/xx8.jpg
</images>
</opencv_storage>

文件中参数的含义比较清晰明了，此处就不累述。

• 2 依次从图像中检测pattern信息，如果检测成功，角点信息将会存储记录，用于标定解算。

cv::Mat viewGray;
if ( view.channels() == 3 )
    cv::cvtColor( view, viewGray, CV_BGR2GRAY );
else
    view.copyTo( viewGray );

std::vector<cv::Point2f> imagePoints;   
bool success = cv::findChessboardCorners( viewGray , boardSize, imagePoints);

• 3 优化角点检测精度，将上述检测成功的角点，通过精确角点定位方法，提高精度，下图为Opencv提供的检测结果。

cv::cornerSubPix( viewGray, 
              imagePoints, 
              cv::Size(11,11),
              cv::TermCriteria( CV_TERMCRIT_EPS+CV_TERMCRIT_ITER, 30, 0.1 ));

• 4 标定解算，每幅图像都进行上述的角点检测后，一般给像点对应的物方角点虚拟坐标的方式赋予对应的坐标，即可进行相机标定解算，包括相机内参，相机畸变系数，以及相机在虚拟坐标所在坐标系中相对于每幅图像的相对位置姿态（旋转向量和平移向量）。

double reprojectionError= cv::calibrateCamera(
    objectPoints,   // calibration pattern points in the calibration pattern coordinate space
    imagePoints,    // projections of calibration pattern points
    imageSize,      // Size of the image u