最近在做双目相机测距及三维重建,我从tb买了一个双目相机,第一步需要通过棋盘图来对双目相机进行标定,由于双目相机拍出来的左右相机的图片是一张图,需要进行分割。
#include<iostream>
#include<string>
#include<sstream>
#include<opencv2/core.hpp>
#include<opencv2/highgui.hpp>
#include<opencv2/videoio.hpp>
#include<opencv2/opencv.hpp>
#include<stdio.h>
using namespace std;
using namespace cv;
//双目摄像头支持2560x720, 1280x480,640x240
#define FRAME_WIDTH 1280
#define FRAME_HEIGHT 480
const char* keys =
{
"{help h usage ? | | print this message}"
"{@video | | Video file, if not defined try to use webcamera}"
};
int main(int argc, char** argv)
{
CommandLineParser parser(argc, argv, keys);
parser.about("Video Capture");
if (parser.has("help"))
{
parser.printMessage();
return 0;
}
String videoFile = parser.get<String>(0);
if (!parser.check())
{
parser.printErrors();
return 0;
}
VideoCapture cap;
if (videoFile != "")
{
cap.open(videoFile);
}
else
{
cap.open(1); //0-笔记本自带摄像头,1-外接usb双目摄像头
cap.set(CV_CAP_PROP_FRAME_WIDTH, FRAME_WIDTH); //设置捕获视频的宽度
cap.set(CV_CAP_PROP_FRAME_HEIGHT, FRAME_HEIGHT); //设置捕获视频的高度
}
if (!cap.isOpened())
{
cout << "摄像头打开失败!" << endl;
return -1;
}
Mat frame, frame_L, frame_R;
cap >> frame; //从相机捕获一帧
Mat grayImage;
double fScale = 1.;
Size dsize = Size(frame.cols*fScale, frame.rows*fScale);
Mat imagedst = Mat(dsize, CV_32S);
resize(frame, imagedst, dsize);
char key;
char image_left[200];
char image_right[200];
int count1 = 0;
int count2 = 0;
int count = 0;
namedWindow("图片1", 1);
namedWindow("图片2", 1);
while(1)
{
key = waitKey(50);
cap >> frame;
count++;
resize(frame, imagedst, dsize);
frame_L = imagedst(Rect(0, 0, FRAME_WIDTH/2, FRAME_HEIGHT));
namedWindow("Video_L", 1);
imshow("Video_L", frame_L);
frame_R = imagedst(Rect(FRAME_WIDTH/2, 0, FRAME_WIDTH/2, FRAME_HEIGHT));
namedWindow("Video_R", 1);
imshow("Video_R", frame_R);
if (key == 27)
break;
if (key == 32) //使用空格键拍照
//if (0 == (count % 100)) //每5秒定时拍照
{
snprintf(image_left, sizeof(image_left), "left%02d.jpg", ++count1);
imwrite(image_left, frame_L);
imshow("图片1", frame_L);
snprintf(image_right, sizeof(image_right), "right%02d.jpg", ++count2);
imwrite(image_right, frame_R);
imshow("图片2", frame_R);
}
}
cap.release();
return 0;
}
CMakeLists文件如下:
cmake_minimum_required(VERSION 2.8)
project( demo )
set(OpenCV_DIR /usr/local/opencv3/share/OpenCV)
find_package( OpenCV REQUIRED )
include_directories( ${OpenCV_INCLUDE_DIRS} )
aux_source_directory(. DIR_SRCS)
add_executable(demo ${DIR_SRCS})
target_link_libraries( demo ${OpenCV_LIBS} )
编译:
cmake .
make
这样就能得到左右相机分开的照片,可根据需要用空格键拍摄或者定时拍摄,做为标定用的棋盘图一般拍摄20-30张左右。