opencv的张定友相机标定法
代码参考:https://blog.csdn.net/dcrmg/article/details/52929669
代码如下:
#include "stdafx.h"
#include "opencv2/core/core.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/calib3d/calib3d.hpp"
#include "opencv2/highgui/highgui.hpp"
#include <iostream>
#include <fstream>
using namespace cv;
using namespace std;
int main()
{
ifstream fin("Calibdata.txt"); /* 标定所用图像文件的路径 */
ofstream fout("CaliberationResult.txt"); /* 保存标定结果的文件 */
//读取每一幅图像,从中提取出角点,然后对角点进行亚像素精确化
cout<<"开始提取角点………………";
int image_count=0; /* 图像数量 */
Size image_size; /* 图像的尺寸 */
Size board_size = Size(9,6); /* 标定板上每行、列的角点数 */
vector<Point2f> image_points_buf; /* 缓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 */
string filename;
int count= -1 ;//用于存储角点个数。
while (getline(fin,filename))
{
image_count++;
// 用于观察检验输出
cout<<"image_count = "<<image_count<<endl;
/* 输出检验*/
cout<<"-->count = "<<count;
Mat imageInput=imread(filename);
if (image_count==1)//读入第一张图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;
}
//提取角点
if (0==findChessboardCorners(imageInput,board_size,image_points_buf))
{
cout<<"can not find chessboard corners!\n"; //找不到角点
exit(1);
}
else
{
Mat view_gray;
cvtColor(imageInput,view_gray,CV_RGB2GRAY);
//亚像素精确化
find4QuadCornerSubpix(view_gray,image_points_buf,Size(11,11));//对粗提取的角点进行精确化
image_points_seq.push_back(image_points_buf);//保存亚像素角点
//在图像上显示角点位置
drawChessboardCorners(view_gray,board_size,image_points_buf,true);//用于在图片上显示角点
imshow("Camera Calibration",view_gray);//显示图片
waitKey(500);//暂停0.5S
}
}
int total=image_points_seq.size();
cout<<"total="<<total<<endl;
int CornerNum=board_size.width*board_size.height;//每张图片上总的角点数
for (int ii=0;ii<total;ii++)
{
if (0 == ii%CornerNum)// 24 是每幅图片的角点个数。此判断语句是为了输出 图片号,便于控制台观看
{
int i = -1;
i = ii/CornerNum;
int j=i+1;
cout<<"--> 第 "<<j <<"图片的数据 --> : "<<endl;
}
if (0 == ii%3) // 此判断语句,格式化输出,便于控制台查看
{
cout<<endl;
}
else
{
cout.width(10);
}
//输出所有的角点
cout<<" -->"<<image_points_seq[ii][0].x;
cout<<" -->"<<image_points_seq[ii][0].y;
}
cout<<"角点提取完成!\n";
//相机标定
cout<<"开始标定........";
//棋盘三维信息
Size square_size = Size(10,10); /* 实际测量得到的标定板上每个棋盘格的大小 */
vector<vector<Point3f>> object_points; /* 保存标定板上角点的三维坐标 */
/*内外参数*/
Mat cameraMatrix=Mat(3,3,CV_32FC1,Scalar::all(0)); /* 摄像机内参数矩阵 */
vector<int> point_counts; // 每幅图像中角点的数量
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> tvecsMat; /* 每幅图像的旋转向量 */
vector<Mat> rvecsMat; /* 每幅图像的平移向量 */
/* 初始化标定板上角点的三维坐标 */
int i,j,t;
for (t=0;t<image_count;t++)
{
vector<Point3f> tempPointSet;
for (i=0;i<board_size.height;i++)
{
for (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;
tempPointSet.push_back(realPoint);
}
}
object_points.push_back(tempPointSet);
}
/* 初始化每幅图像中的角点数量,假定每幅图像中都可以看到完整的标定板 */
for (i=0;i<image_count;i++)
{
point_counts.push_back(board_size.width*board_size.height);
}
/* 开始标定 */
// object_points 世界坐标系中的角点的三维坐标
// image_points_seq 每一个内角点对应的图像坐标点
// image_size 图像的像素尺寸大小
// cameraMatrix 输出,内参矩阵
// distCoeffs 输出,畸变系数
// rvecsMat 输出,旋转向量
// tvecsMat 输出,位移向量
// 0 标定时所采用的算法
calibrateCamera(object_points,image_points_seq,image_size,cameraMatrix,distCoeffs,rvecsMat,tvecsMat,0);
cout<<"标定完成!\n";
//标定结果进行评价
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
vector<Point2f>image_points2;//保存重新计算得到的投影点
cout<<"\t每幅图像的标定误差:\n";
fout<<"每幅图像的标定误差:\n";
for (i=0;i<image_count;i++)
{
vector<Point3f> tempPointSet=object_points[i];
/* 通过得到的摄像机内外参数,对空间的三维点进行重新投影计算,得到新的投影点 */
projectPoints(tempPointSet,rvecsMat[i],tvecsMat[i],cameraMatrix,distCoeffs,image_points2);
/* 计算新的投影点和旧的投影点之间的误差*/
vector<Point2f> tempImagePoint = image_points_seq[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<Vec2f>(0,j) = Vec2f(image_points2[j].x, image_points2[j].y);
tempImagePointMat.at<Vec2f>(0,j) = Vec2f(tempImagePoint[j].x, tempImagePoint[j].y);
}
err = norm(image_points2Mat, tempImagePointMat, NORM_L2);
total_err += err/= point_counts[i];
std::cout<<"第"<<i+1<<"幅图像的平均误差:"<<err<<"像素"<<endl;
fout<<"第"<<i+1<<"幅图像的平均误差:"<<err<<"像素"<<endl;
}
std::cout<<"总体平均误差:"<<total_err/image_count<<"像素"<<endl;
fout<<"总体平均误差:"<<total_err/image_count<<"像素"<<endl<<endl;
std::cout<<"评价完成!"<<endl;
//保存定标结果
std::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<<tvecsMat[i]<<endl;
/* 将旋转向量转换为相对应的旋转矩阵 */
Rodrigues(tvecsMat[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<<rvecsMat[i]<<endl<<endl;
}
std::cout<<"完成保存"<<endl;
fout<<endl;
system("pause");
return 0;
}
运行前需要把准备标定的图片放入文本中,放在程序所在目录下:
结果如图所示: