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- // opencv_test.cpp : 定义控制台应用程序的入口点。
- //
- #include "stdafx.h"
- #include <opencv2/opencv.hpp>
- #include <highgui.hpp>
- #include "cv.h"
- #include <cv.hpp>
- #include <iostream>
- using namespace std;
- using namespace cv;
- const int imageWidth = 640; //摄像头的分辨率
- const int imageHeight = 480;
- const int boardWidth = 9; //横向的角点数目
- const int boardHeight = 6; //纵向的角点数据
- const int boardCorner = boardWidth * boardHeight; //总的角点数据
- const int frameNumber = 13; //相机标定时需要采用的图像帧数
- const int squareSize = 20; //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<Mat> rvecs; //旋转向量
- vector<Mat> tvecs; //平移向量
- vector<vector<Point2f>> corners; //各个图像找到的角点的集合 和objRealPoint 一一对应
- vector<vector<Point3f>> objRealPoint; //各副图像的角点的实际物理坐标集合
- vector<Point2f> 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<Point3f>>& obj, int boardwidth,int boardheight, int imgNumber, int squaresize)
- {
- // Mat imgpoint(boardheight, boardwidth, CV_32FC3,Scalar(0,0,0));
- vector<Point3f> imgpoint;
- for (int rowIndex = 0; rowIndex < boardheight; rowIndex++)
- {
- for (int colIndex = 0; colIndex < boardwidth; colIndex++)
- {
- // imgpoint.at<Vec3f>(rowIndex, colIndex) = Vec3f(rowIndex * squaresize, colIndex*squaresize, 0);
- imgpoint.push_back(Point3f(rowIndex * squaresize, colIndex * 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 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<double>(0,0) = 256.8093262; //fx
- intrinsic.at<double>(0, 2) = 160.2826538; //cx
- intrinsic.at<double>(1, 1) = 254.7511139; //fy
- intrinsic.at<double>(1, 2) = 127.6264572; //cy
- intrinsic.at<double>(0, 1) = 0;
- intrinsic.at<double>(1, 0) = 0;
- intrinsic.at<double>(2, 0) = 0;
- intrinsic.at<double>(2, 1) = 0;
- intrinsic.at<double>(2, 2) = 1;
- /*
- k1 k2 p1 p2 p3
- */
- distortion_coeff.at<double>(0, 0) = -0.193740; //k1
- distortion_coeff.at<double>(1, 0) = -0.378588; //k2
- distortion_coeff.at<double>(2, 0) = 0.028980; //p1
- distortion_coeff.at<double>(3, 0) = 0.008136; //p2
- distortion_coeff.at<double>(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<double>(0, 0) << endl << "fy :" << intrinsic.at<double>(1, 1) << endl;
- cout << "cx :" << intrinsic.at<double>(0, 2) << endl << "cy :" << intrinsic.at<double>(1, 2) << endl;
- cout << "k1 :" << distortion_coeff.at<double>(0, 0) << endl;
- cout << "k2 :" << distortion_coeff.at<double>(1, 0) << endl;
- cout << "p1 :" << distortion_coeff.at<double>(2, 0) << endl;
- cout << "p2 :" << distortion_coeff.at<double>(3, 0) << endl;
- cout << "p3 :" << distortion_coeff.at<double>(4, 0) << endl;
- }
- int _tmain(int argc, _TCHAR* argv[])
- {
- Mat img;
- int goodFrameCount = 0;
- namedWindow("chessboard");
- cout << "按Q退出 ..." << endl;
- while (goodFrameCount < frameNumber)
- {
- char filename[100];
- sprintf_s(filename,"image\\left%02d.jpg", goodFrameCount + 1);
- // cout << filename << endl;
- rgbImage = imread(filename, CV_LOAD_IMAGE_COLOR);
- cvtColor(rgbImage, grayImage, CV_BGR2GRAY);
- imshow("Camera", grayImage);
- bool isFind = findChessboardCorners(rgbImage, boardSize, corner,0);
- 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
- goodFrameCount++;
- 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();
- 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;
- }
OPENCV3.0版本跟2.x版本是有一点差距的,这个程序在2.4.11版本里面跑不起来。
找了很久都没有找到错误,主要是在calibrateCamera()函数的时候出错。
也参考了官方的calibration例程,但还是找不到错误在什么地方。
下面是3.0版本的代码 注释都在代码里面