opencv标定程序（修改）

转载请注明来自：http://blog.csdn.net/zhouyelihua/article/details/38421377

资源下载见：点击打开链接

百度云盘免积分下载：https://pan.baidu.com/s/1bzy20u

有关于标定的基本原理详见点击打开链接

长度单位毫米

 看到本文被转载很多次很高兴但是之前的代码有点小问题且不易懂。于是乎写了一个简洁的代码

首先介绍用本程序标定的步骤：

1,。拍完图片之后将图片重命名为下图所示形式

2.将照片放在程序的cam文件夹下

3.然后运行程序，按照提示输入信息

4.最后在output文件夹找到result_data_no_optim.txt

代码如下：

//author:YeahPingYE
//function:auto calibration
//time:2014/11/25
//
//
#include<highgui.h>
#include<cv.h>
#include<iostream>
#include<fstream>
using namespace std;

void save_result(CvMat*cam_rotation_all, CvMat*cam_translation_vector_all,
	CvMat*cam_intrinsic_matrix, CvMat*cam_distortion_coeffs,char*pathc,int sucesses);
int main()
{
	/*initialation
	//input:the number of images......num_image
	//      prj_board_w,prj_board_h
	//      cam_board_w,cam_board_h
	*/
	CvMat*cam_object_points2;
  CvMat*cam_image_points2;
  int cam_board_n;
  int successes = 0;
	int img_num, cam_board_w, cam_board_h,cam_Dx,cam_Dy;
	cout << "输入的图像的组数\n";
	cin >> img_num;
	cout << "输入**真实**棋盘格的##横轴##方向的角点个数\n";
	cin >> cam_board_w;
	cout << "输入**真实**棋盘格的##纵轴##方向的角点个数\n";
	cin >> cam_board_h;
	cout << "输入**真实**棋盘格的##横轴##方向的长度\n";
	cin >> cam_Dx;
	cout << "输入**真实**棋盘格的##纵轴##方向的长度\n";
	cin >> cam_Dy;
	cam_board_n = cam_board_w*cam_board_h;
	/*
	//init
	//
	//
	*/

	//camera init
	CvSize cam_board_sz = cvSize(cam_board_w, cam_board_h);
	CvMat*cam_image_points = cvCreateMat(cam_board_n*(img_num), 2, CV_32FC1);
	CvMat*cam_object_points = cvCreateMat(cam_board_n*(img_num), 3, CV_32FC1);
	CvMat*cam_point_counts = cvCreateMat((img_num), 1, CV_32SC1);
	CvPoint2D32f*cam_corners = new CvPoint2D32f[cam_board_n];
	int cam_corner_count;
	int cam_step;
	CvMat*cam_intrinsic_matrix = cvCreateMat(3, 3, CV_32FC1);
	CvMat*cam_distortion_coeffs = cvCreateMat(4, 1, CV_32FC1);
	CvSize cam_image_sz;
	//window intit
	cvNamedWindow("window", 0);

	//get image size
	IplImage *cam_image_temp = cvLoadImage("..\\cam\\cam1.bmp", 0);
	cam_image_sz = cvGetSize(cam_image_temp);
	char failurebuf[20] = { 0 };
	/*
	//extract cornner
	// camera image
	// 
	// pattern
	*/




	/*
	//extrat the cam cornner 
	//
	//
	//
	*/
	fstream cam_data;
	cam_data.open("..\\output\\TXT\\cam_corners.txt", ofstream::out);
	fstream cam_object_data;
	cam_object_data.open("..\\output\\TXT\\cam_object_data.txt", ofstream::out);
	//process the prj image so that we can easy find cornner
	for (int ii = 1; ii < img_num + 1; ii++)
	{
		char cambuf[20] = { 0 };
		sprintf(cambuf, "..\\cam\\cam%d.bmp", ii);
		IplImage *cam_image = cvLoadImage(cambuf, 0);

		//extract cam cornner
		int cam_found = cvFindChessboardCorners(cam_image, cam_board_sz, cam_corners, &cam_corner_count,
			 CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS);
		cvFindCornerSubPix(cam_image, cam_corners, cam_corner_count,
			cvSize(11, 11), cvSize(-1, -1), cvTermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));
		cvDrawChessboardCorners(cam_image, cam_board_sz, cam_corners, cam_corner_count, cam_found);

		if (cam_corner_count != cam_board_n)
			cout << "find cam"<<ii<<"  corner failed!\n";
		
		//when cam and prj are success store the result
		if ( cam_corner_count == cam_board_n) {
			//store cam result
			cam_step = successes*cam_board_n;
			for (int i = cam_step, j = 0; j < cam_board_n; ++i, ++j) {
				CV_MAT_ELEM(*cam_image_points, float, i, 0) = cam_corners[j].x;
				CV_MAT_ELEM(*cam_image_points, float, i, 1) = cam_corners[j].y;
				CV_MAT_ELEM(*cam_object_points, float, i, 0) = (j/cam_board_w)*cam_Dx;
				CV_MAT_ELEM(*cam_object_points, float, i, 1) = (j % cam_board_w)*cam_Dy;
				CV_MAT_ELEM(*cam_object_points, float, i, 2) = 0.0f;
				cam_data << cam_corners[j].x << "\t" << cam_corners[j].y << "\n";
				cam_object_data << (j/cam_board_w)*cam_Dx << "\t" << (j %cam_board_w)*cam_Dy << "\t0\n";
			}
			CV_MAT_ELEM(*cam_point_counts, int, successes, 0) = cam_board_n;
			successes++;
			cout << "success number" << successes << endl;
			cvShowImage("window", cam_image);
			cvWaitKey(500);
		}
		

		
	}
	if (successes < 2)
		exit(0);
	/*
	//restore the success point
	*/
	//cam
	cam_image_points2 = cvCreateMat(cam_board_n*(successes), 2, CV_32FC1);
	cam_object_points2 = cvCreateMat(cam_board_n*(successes), 3, CV_32FC1);
	CvMat*cam_point_counts2 = cvCreateMat((successes), 1, CV_32SC1);
	for (int i = 0; i < successes*cam_board_n; ++i){
		CV_MAT_ELEM(*cam_image_points2, float, i, 0) = CV_MAT_ELEM(*cam_image_points, float, i, 0);
		CV_MAT_ELEM(*cam_image_points2, float, i, 1) = CV_MAT_ELEM(*cam_image_points, float, i, 1);
		CV_MAT_ELEM(*cam_object_points2, float, i, 0) = CV_MAT_ELEM(*cam_object_points, float, i, 0);
		CV_MAT_ELEM(*cam_object_points2, float, i, 1) = CV_MAT_ELEM(*cam_object_points, float, i, 1);
		CV_MAT_ELEM(*cam_object_points2, float, i, 2) = CV_MAT_ELEM(*cam_object_points, float, i, 2);

	}
	for (int i = 0; i < successes; ++i){
		CV_MAT_ELEM(*cam_point_counts2, int, i, 0) = CV_MAT_ELEM(*cam_point_counts, int, i, 0);
	}
	cvSave("..\\output\\XML\\cam_corners.xml", cam_image_points2);

	cvReleaseMat(&cam_object_points);
	cvReleaseMat(&cam_image_points);
	cvReleaseMat(&cam_point_counts);

	
	/*
	//calibration for camera 
	//
	*/
	//calib for cam
	CV_MAT_ELEM(*cam_intrinsic_matrix, float, 0, 0) = 1.0f;
	CV_MAT_ELEM(*cam_intrinsic_matrix, float, 1, 1) = 1.0f;
	CvMat* cam_rotation_all = cvCreateMat( successes, 3, CV_32FC1);
	CvMat* cam_translation_vector_all = cvCreateMat( successes,3, CV_32FC1);
	cvCalibrateCamera2(
		cam_object_points2,
		cam_image_points2,
		cam_point_counts2,
		cam_image_sz,
		cam_intrinsic_matrix,
		cam_distortion_coeffs,
		cam_rotation_all,
		cam_translation_vector_all,
		0//CV_CALIB_FIX_ASPECT_RATIO  
		);
	cvSave("..\\output\\XML\\cam_intrinsic_matrix.xml", cam_intrinsic_matrix);
	cvSave("..\\output\\XML\\cam_distortion_coeffs.xml", cam_distortion_coeffs);
	//calib 
	cvSave("..\\output\\XML\\cam_rotation_all.xml", cam_rotation_all);
	cvSave("..\\output\\XML\\cam_translation_vector_all.xml", cam_translation_vector_all);
	char path1[100] = "..\\output\\result_data_no_optim.txt";
	save_result(cam_rotation_all, cam_translation_vector_all,
		cam_intrinsic_matrix, cam_distortion_coeffs,path1,successes);
}
void save_result(CvMat*cam_rotation_all, CvMat*cam_translation_vector_all,
	CvMat*cam_intrinsic_matrix, CvMat*cam_distortion_coeffs,char*pathc,int sucesses)
{
	fstream Yeah_result;
	Yeah_result.open(pathc, ofstream::out);
	Yeah_result << setprecision(12) << "fc[0] =" << CV_MAT_ELEM(*cam_intrinsic_matrix, float, 0, 0
		) << "; fc[1] =" << CV_MAT_ELEM(*cam_intrinsic_matrix, float, 1, 1) << "; //CAM的焦距\n";
	Yeah_result  << setprecision(12) << "cc[0] = " << CV_MAT_ELEM(*cam_intrinsic_matrix, float, 0, 2) 
		<< "; cc[1] = " << CV_MAT_ELEM(*cam_intrinsic_matrix, float, 1, 2) << ";//CAM中心点\n";
	Yeah_result  << setprecision(12) << "kc[0] =" << CV_MAT_ELEM(*cam_distortion_coeffs, float, 0, 0) <<
		"; kc[1] =" << CV_MAT_ELEM(*cam_distortion_coeffs, float, 1, 0) <<
		";  kc[2] =" << CV_MAT_ELEM(*cam_distortion_coeffs, float, 2, 0) << 
		";  kc[3] =" << CV_MAT_ELEM(*cam_distortion_coeffs, float, 3, 0) 
		<< ";  kc[4] =0;//畸变参数，请参照MATLAB里的定义\n\n外参数:\n";
		for(int i=0;i<sucesses;++i)
		{
			Yeah_result<<"r:("<<setprecision(12) <<CV_MAT_ELEM(*cam_rotation_all, float, i, 0)<<"\t,"<<CV_MAT_ELEM(*cam_rotation_all, float, i, 1)<<"\t,"<<CV_MAT_ELEM(*cam_rotation_all, float, i, 2)<<")\n";
			Yeah_result<<"t:("<<setprecision(12) <<CV_MAT_ELEM(*cam_translation_vector_all, float, i, 0)<<"\t,"<<CV_MAT_ELEM(*cam_translation_vector_all, float, i, 1)<<"\t,"<<CV_MAT_ELEM(*cam_translation_vector_all, float, i, 2)<<")\n\n\n";
		}
	

}

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