OpenCV3相机单目标定程序（vs2015）

该程序是论坛里下的，在OpenCV3+VS2015下修改了一下，调了出来。可以自建文件夹然后创建新的源文件，也可以下载论坛的压缩包，论坛的压缩包里有标定图片还是很好用的。

一下是程序（在修正图片那边代码有点冗乱）：

如果需要修正图片，要自建文件夹来存放。

#include "opencv.hpp"
#include <iostream>
#include <fstream>
#include <iostream>  
#include <io.h>  
#include <string>  
#include<vector>

using namespace cv;
using namespace std;

/* 
@param File_Directory 为文件夹目录
@param FileType 为需要查找的文件类型
@param FilesName 为存放文件名的容器
*/
void getFilesName(string &File_Directory, string &FileType, vector<string>&FilesName)
{
	string buffer = File_Directory + "\\*" + FileType;//查找该目录下所有相同类型的文件
	_finddata_t c_file;   // 存放文件名的结构体
	intptr_t hFile;

	hFile = _findfirst(buffer.c_str(), &c_file);   //找第一个文件名

	if (hFile == -1L)   //检查文件夹目录下存在需要查找的文件
		printf("No %s files in current directory!\n", FileType);
	else
	{
		string fullFilePath;
		do
		{
			fullFilePath.clear();
			fullFilePath = File_Directory + "\\" + c_file.name;
			FilesName.push_back(fullFilePath);
		} while (_findnext(hFile, &c_file) == 0);  //如果找到下个文件的名字成功的话就返回0,否则返回-1  
		_findclose(hFile);
	}
}

void m_calibration(vector<string> &FilesName, Size board_size, Size square_size, Mat &cameraMatrix, Mat &distCoeffs, vector<Mat> &rvecsMat, vector<Mat> &tvecsMat)
{
	cout << "开始提取角点………………" << endl;

	int image_count = 0;                                            // 图像数量 
	Size image_size;                                                // 图像的尺寸 
	vector<Point2f> image_points;                                   // 保存每幅图像上检测到的角点
	vector<vector<Point2f>> image_points_seq;                       // 保存检测到的所有角点（亚像素精确化后）

	for (int i = 0;i < FilesName.size();i++)
	{
		image_count++;

		// 用于观察检验输出
		cout << "image_count = " << image_count << endl;//输出当前检测图片的编号
		Mat imageInput = imread(FilesName[i]);//读取图片
		if (image_count == 1)  //读入第一张图片时获取图像宽高信息
		{
			image_size.width = imageInput.cols;
			image_size.height = imageInput.rows;
			cout << "image_size.width = " << image_size.width << endl;
			cout << "image_size.height = " << image_size.height << endl;
			//image_size = Size(image_size.width, image_size.height);
		}

		/* 提取角点 */
		bool ok = findChessboardCorners(imageInput, board_size, image_points, CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_NORMALIZE_IMAGE);
		if (0 == ok)
		{
			cout <<"第"<< image_count <<"张照片提取角点失败，请删除后，重新标定！"<<endl; //找不到角点
			imshow("失败照片", imageInput);
			waitKey(0);
		}
		else
		{
			Mat view_gray;
			cout << "imageInput.channels()=" << imageInput.channels() << endl;//显示通道数
			cvtColor(imageInput, view_gray, CV_RGB2GRAY);//灰度化

			/* 亚像素精确化 */
			//find4QuadCornerSubpix(view_gray, image_points, Size(5, 5)); //对粗提取的角点进行精确化
			cornerSubPix(view_gray, image_points, cv::Size(11, 11), cv::Size(-1, -1), cv::TermCriteria(CV_TERMCRIT_ITER + CV_TERMCRIT_EPS, 20, 0.01));
			image_points_seq.push_back(image_points);  //保存亚像素角点
											   
			/* 在图像上显示角点位置 */
			drawChessboardCorners(view_gray, board_size, image_points, true); 

			imshow("Camera Calibration", view_gray);//显示图片
			waitKey(100);//暂停0.1S		
		}
	}
	cout << "角点提取完成！！！" << endl;
	
	/*棋盘三维信息*/
	vector<vector<Point3f>> object_points_seq;     // 保存标定板上角点的三维坐标

	for (int t = 0;t < image_count;t++)
	{
		vector<Point3f> object_points;
		for (int i = 0;i < board_size.height;i++)
		{
			for (int j = 0;j < board_size.width;j++)
			{
				Point3f realPoint;
				/* 假设标定板放在世界坐标系中z=0的平面上 */
				realPoint.x = i*square_size.width;
				realPoint.y = j*square_size.height;
				realPoint.z = 0;
				object_points.push_back(realPoint);//保存三维点的三个参数
			}
		}
		object_points_seq.push_back(object_points);//保存所有的三维点
	}

	ofstream fout("caliberation_result.txt");                       // 打开保存标定结果的文件 
	
																	/* 运行标定函数 */
	double err_first = calibrateCamera(object_points_seq, image_points_seq, image_size, cameraMatrix, distCoeffs, rvecsMat, tvecsMat, CV_CALIB_FIX_K3);
	fout << "重投影误差1：" << err_first << "像素" << endl << endl;
	cout << "标定完成！！！" << endl;
	
	cout << "开始评价标定结果………………";
	double total_err = 0.0;            // 所有图像的平均误差的总和 
	double err = 0.0;                  // 每幅图像的平均误差
	double totalErr = 0.0;
	double totalPoints = 0.0;
	vector<Point2f> image_points_pro;     // 保存重新计算得到的投影点

	for (int i = 0;i < image_count;i++)
	{
		//通过得到的摄像机内外参数，对角点的空间三维坐标进行重新投影计算
		projectPoints(object_points_seq[i], rvecsMat[i], tvecsMat[i], cameraMatrix, distCoeffs, image_points_pro);   
		//计算误差
		err = norm(Mat(image_points_seq[i]), Mat(image_points_pro), NORM_L2);

		totalErr += err*err;
		totalPoints += object_points_seq[i].size();

		err /= object_points_seq[i].size();
		//fout << "第" << i + 1 << "幅图像的平均误差：" << err << "像素" << endl;
		total_err += err;
	}
	fout << "均方误差：" << sqrt(totalErr / totalPoints) << "像素" << endl << endl;
	fout << "平均误差：" << total_err / image_count << "像素" << endl << endl;

	//保存定标结果  	
	cout << "开始保存定标结果………………" << endl;
	Mat rotation_matrix = Mat(3, 3, CV_32FC1, Scalar::all(0)); /* 保存每幅图像的旋转矩阵 */
	fout << "相机内参数矩阵：" << endl;
	fout << cameraMatrix << endl << endl;
	fout << "畸变系数：\n";
	fout << distCoeffs << endl << endl << endl;
	for (int i = 0; i < image_count; i++)
	{
		fout << "第" << i + 1 << "幅图像的旋转向量：" << endl;
		fout << rvecsMat[i] << endl;

		/* 将旋转向量转换为相对应的旋转矩阵 */
		Rodrigues(rvecsMat[i], rotation_matrix);
		fout << "第" << i + 1 << "幅图像的旋转矩阵：" << endl;
		fout << rotation_matrix << endl;
		fout << "第" << i + 1 << "幅图像的平移向量：" << endl;
		fout << tvecsMat[i] << endl << endl;
	}
	cout << "定标结果完成保存！！！" << endl;
	fout << endl;
}

void m_undistort(vector<string> &FilesName, Size image_size, Mat &cameraMatrix, Mat &distCoeffs)
{

	Mat mapx = Mat(image_size, CV_32FC1);   //X 坐标重映射参数
	Mat mapy = Mat(image_size, CV_32FC1);   //Y 坐标重映射参数
	Mat R = Mat::eye(3, 3, CV_32F);
	cout << "保存矫正图像" << endl;
	string imageFileName;                  //校正后图像的保存路径
	stringstream StrStm;
	string temp;

	for (int i = 0; i < FilesName.size(); i++)
	{
		Mat imageSource = imread(FilesName[i]);

		Mat newimage = imageSource.clone();

		//方法一：使用initUndistortRectifyMap和remap两个函数配合实现
		//initUndistortRectifyMap(cameraMatrix,distCoeffs,R, Mat(),image_size,CV_32FC1,mapx,mapy);
		//	remap(imageSource,newimage,mapx, mapy, INTER_LINEAR);

		//方法二：不需要转换矩阵的方式，使用undistort函数实现
		undistort(imageSource, newimage, cameraMatrix, distCoeffs);//变换图像以补偿镜头失真

		StrStm << i + 1;
		StrStm >> temp;
		imageFileName = "C:/Users/lenovo/Desktop/Calibration_multi/change_image/" + temp + "_d.jpg";
		imwrite(imageFileName, newimage);

		StrStm.clear();
		imageFileName.clear();
	}
	cout << "保存结束" << endl;
}

int main()
{
	string File_Directory1 = "C:/Users/lenovo/Desktop/Calibration_multi/chess_image";   //文件夹目录1
	
	string FileType = ".jpg";    // 需要查找的文件类型

	vector<string>FilesName1;    //存放文件名的容器

	getFilesName(File_Directory1, FileType, FilesName1);   // 标定所用图像文件的路径


	Size board_size = Size(9, 6);                         // 标定板上每行、列的角点数 
	Size square_size = Size(30, 30);                      // 实际测量得到的标定板上每个棋盘格的物理尺寸，单位mm

	Mat cameraMatrix = Mat(3, 3, CV_32FC1, Scalar::all(0));        // 摄像机内参数矩阵
	Mat distCoeffs = Mat(1, 5, CV_32FC1, Scalar::all(0));          // 摄像机的5个畸变系数：k1,k2,p1,p2,k3
	vector<Mat> rvecsMat;                                          // 存放所有图像的旋转向量，每一副图像的旋转向量为一个mat
	vector<Mat> tvecsMat;                                          // 存放所有图像的平移向量，每一副图像的平移向量为一个mat

	m_calibration(FilesName1, board_size, square_size, cameraMatrix, distCoeffs, rvecsMat, tvecsMat);
	Size image_size;
	Mat imageIn = imread(FilesName1[1]);
	image_size.width = imageIn.cols;
	image_size.height = imageIn.rows;
	m_undistort(FilesName1, image_size, cameraMatrix, distCoeffs);
	waitKey();
	destroyAllWindows();
	return 0;
}