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_opencv特征值转换成坐标值(1)

最新推荐文章于 2024-09-29 15:49:50 发布

2401_84976016

最新推荐文章于 2024-09-29 15:49:50 发布

阅读量384

点赞数 4

文章标签： c语言 c++ 学习

本文链接：https://blog.csdn.net/2401_84976016/article/details/138958981

版权

网上学习资料一大堆，但如果学到的知识不成体系，遇到问题时只是浅尝辄止，不再深入研究，那么很难做到真正的技术提升。

需要这份系统化的资料的朋友，可以添加戳这里获取

一个人可以走的很快，但一群人才能走的更远！不论你是正从事IT行业的老鸟或是对IT行业感兴趣的新人，都欢迎加入我们的的圈子（技术交流、学习资源、职场吐槽、大厂内推、面试辅导），让我们一起学习成长！

}
/*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 image_points2;
vector tempPointSet = objRealPoint[i];
projectPoints(tempPointSet, rvecs[i], tvecs[i], intrinsic, distortion_coeff, image_points2);
vector 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(0, j) = Vec2f(image_points2[j].x, image_points2[j].y);
tempImagePointMat.at(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(0, 0) = 256.8093262; //fx
intrinsic.at(0, 2) = 160.2826538; //cx
intrinsic.at(1, 1) = 254.7511139; //fy
intrinsic.at(1, 2) = 127.6264572; //cy
intrinsic.at(0, 1) = 0;
intrinsic.at(1, 0) = 0;
intrinsic.at(2, 0) = 0;
intrinsic.at(2, 1) = 0;
intrinsic.at(2, 2) = 1;
/*
k1 k2 p1 p2 p3
*/
distortion_coeff.at(0, 0) = -0.193740; //k1
distortion_coeff.at(1, 0) = -0.378588; //k2
distortion_coeff.at(2, 0) = 0.028980; //p1
distortion_coeff.at(3, 0) = 0.008136; //p2
distortion_coeff.at(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(0, 0) << endl << “fy :” << intrinsic.at(1, 1) << endl;
cout << “cx :” << intrinsic.at(0, 2) << endl << “cy :” << intrinsic.at(1, 2) << endl;
cout << “k1 :” << distortion_coeff.at(0, 0) << endl;
cout << “k2 :” << distortion_coeff.at(1, 0) << endl;
cout << “p1 :” << distortion_coeff.at(2, 0) << endl;
cout << “p2 :” << distortion_coeff.at(3, 0) << endl;
cout << “p3 :” << distortion_coeff.at(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;
}