矩阵的对应关系没有对应好,导致我的计算结果相差很多,这里记录一下矩阵是如何对应的
Matlab 的双目标定结果包括三部分:两个相机的内参数、畸变以及两个相机之间的旋转R、平移T。
将matlab标定的结果写入xml文件
参考了网上的代码
function writeXML2(cameraParams,file)
%writeXML(cameraParams,file)
%功能:将相机校正的参数保存为xml文件
%输入:
%cameraParams:相机校正数据结构
%file:xml文件名
%说明在xml文件是由一层层的节点组成的。
%首先创建父节点 fatherNode,
%然后创建子节点 childNode=docNode.createElement(childNodeName),
%再将子节点添加到父节点 fatherNode.appendChild(childNode)
docNode = com.mathworks.xml.XMLUtils.createDocument('opencv_storage'); %创建xml文件对象
docRootNode = docNode.getDocumentElement; %获取根节点
IntrinsicMatrix = (cameraParams.IntrinsicMatrix)'; %相机内参矩阵
RadialDistortion = cameraParams.RadialDistortion; %相机径向畸变参数向量1*3
TangentialDistortion =cameraParams.TangentialDistortion; %相机切向畸变向量1*2
Distortion = [RadialDistortion(1:2),TangentialDistortion];%,RadialDistortion(3)]; %构成opencv中的畸变系数向量[k1,k2,p1,p2,k3]
camera_matrix = docNode.createElement('camera-matrix'); %创建mat节点
camera_matrix.setAttribute('type_id','opencv-matrix'); %设置mat节点属性
rows = docNode.createElement('rows'); %创建行节点
rows.appendChild(docNode.createTextNode(sprintf('%d',3))); %创建文本节点,并作为行的子节点
camera_matrix.appendChild(rows); %将行节点作为mat子节点
cols = docNode.createElement('cols');
cols.appendChild(docNode.createTextNode(sprintf('%d',3)));
camera_matrix.appendChild(cols);
dt = docNode.createElement('dt');
dt.appendChild(docNode.createTextNode('d'));
camera_matrix.appendChild(dt);
data = docNode.createElement('data');
for i=1:3
for j=1:3
data.appendChild(docNode.createTextNode(sprintf('%.16f ',IntrinsicMatrix(i,j))));
end
data.appendChild(docNode.createTextNode(sprintf('\n')));
end
camera_matrix.appendChild(data);
docRootNode.appendChild(camera_matrix);
distortion = docNode.createElement('distortion');
distortion.setAttribute('type_id','opencv-matrix');
rows = docNode.createElement('rows');
rows.appendChild(docNode.createTextNode(sprintf('%d',5)));
distortion.appendChild(rows);
cols = docNode.createElement('cols');
cols.appendChild(docNode.createTextNode(sprintf('%d',1)));
distortion.appendChild(cols);
dt = docNode.createElement('dt');
dt.appendChild(docNode.createTextNode('d'));
distortion.appendChild(dt);
data = docNode.createElement('data');
for i=1:4
data.appendChild(docNode.createTextNode(sprintf('%.16f ',Distortion(i))));
end
distortion.appendChild(data);
docRootNode.appendChild(distortion);
xmlFileName = file;
xmlwrite(xmlFileName,docNode);
end
运行该函数即可将自己需要的参数分别保存到对应的文件中
opencv使用参数
Mat cameraMatrixL(3, 3, CV_64F), distCoeffL(5, 1, CV_64F);
Mat cameraMatrixR(3, 3, CV_64F), distCoeffR(5, 1, CV_64F);
//左右目之间的R,t可通过stereoCalibrate()或matlab工具箱calib求得
Mat T(3, 1, CV_64F), R(3, 3, CV_64F);
FileStorage FL;
FileStorage FR;
FileStorage FRT;
FR.open("CamerasParams/2TDanToS/intrcR.xml", FileStorage::READ);
FL.open("CamerasParams/2TDanToS/intrcL.xml", FileStorage::READ);
FRT.open("CamerasParams/2TDanToS/out_RT.xml", FileStorage::READ);
if (FL.isOpened()) {
FL["camera-matrix"] >> cameraMatrixL;
FL["distortion"] >> distCoeffL;
}
if (FR.isOpened()) {
FR["camera-matrix"] >> cameraMatrixR;
FR["distortion"] >> distCoeffR;
}
//cout << cameraMatrixL.ptr<double>(0)[2] << endl;
if (FRT.isOpened()) {
FRT["rotation"] >> R;
FRT["translation"] >> T;
}
cout << cameraMatrixL << endl;
cout << distCoeffL << endl;
cout << cameraMatrixR << endl;
cout << distCoeffR << endl;
cout << R << endl;
cout << T<<endl;
以上读入的参数中,需要对R进行转置,这是因为matlab的格式与opencv不完全一致导致的。即:
R=R.t();
否则虽然R的变化并不是很大,但是计算结果会有很大的误差
题外:线0.78,另0.75cm