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(2)

最新推荐文章于 2024-07-25 09:47:19 发布

2401_84976016

最新推荐文章于 2024-07-25 09:47:19 发布

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文章标签： c语言 c++ 学习

本文链接：https://blog.csdn.net/2401_84976016/article/details/138959007

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下面贴出代码，开发环境opencv2.4.9+vs2013

[cpp]
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#include “opencv2/core/core.hpp”
#include “opencv2/imgproc/imgproc.hpp”
#include “opencv2/calib3d/calib3d.hpp”
#include “opencv2/highgui/highgui.hpp”
#include
#include
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 rvecs; //旋转向量
vector tvecs; //平移向量
vector<vector> corners; //各个图像找到的角点的集合和objRealPoint 一一对应
vector<vector> objRealPoint; //各副图像的角点的实际物理坐标集合
vector 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>& obj, int boardwidth, int boardheight, int imgNumber, int squaresize)
{
// Mat imgpoint(boardheight, boardwidth, CV_32FC3,Scalar(0,0,0));
vector imgpoint;
for (int rowIndex = 0; rowIndex < boardheight; rowIndex++)
{
for (int colIndex = 0; colIndex < boardwidth; colIndex++)
{
// imgpoint.at(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 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
{
/*