使用Opencv标定Camera的代码如下:
void help(char *argv[]) {
}
int calib_camera(int argc, char* argv[]) {
int n_boards = 0; // Will be set by input list
float image_sf = 1.0f;//0.5f;
float delay = 1.f;
int board_w = 0;
int board_h = 0;
if (argc < 4 || argc > 6) {
cout << "\nERROR: Wrong number of input parameters";
help(argv);
return -1;
}
board_w = atoi(argv[1]);
board_h = atoi(argv[2]);
n_boards = atoi(argv[3]);
if (argc > 4) delay = atof(argv[4]);
if (argc > 5) image_sf = atof(argv[5]);
int board_n = board_w * board_h;
cv::Size board_sz = cv::Size(board_w, board_h);
cv::VideoCapture capture(0);
if (!capture.isOpened()) {
cout << "\nCouldn't open the camera\n";
help(argv);
return -1;
}
// ALLOCATE STORAGE
//
vector< vector<cv::Point2f> > image_points;
vector< vector<cv::Point3f> > object_points;
// Capture corner views: loop until we've got n_boards successful
// captures (all corners on the board are found).
//
double last_captured_timestamp = 0;
cv::Size image_size;
while (image_points.size() < (size_t)n_boards) {
cv::Mat image0, image;
capture >> image0;
image_size = image0.size();
cv::resize(image0, image, cv::Size(), image_sf, image_sf, cv::INTER_LINEAR);
// Find the board
//
vector<cv::Point2f> corners;
bool found = cv::findChessboardCorners(image, board_sz, corners);
// Draw it
//
drawChessboardCorners(image, board_sz, corners, found);
// If we got a good board, add it to our data
//
double timestamp = (double)clock() / CLOCKS_PER_SEC;
if (found && timestamp - last_captured_timestamp > 1) {
last_captured_timestamp = timestamp;
image ^= cv::Scalar::all(255);
cv::Mat mcorners(corners); // do not copy the data
mcorners *= (1. / image_sf); // scale the corner coordinates
image_points.push_back(corners);
object_points.push_back(vector<Point3f>());
vector<cv::Point3f>& opts = object_points.back();
opts.resize(board_n);
for (int j = 0; j<board_n; j++) {
opts[j] = cv::Point3f((float)(j / board_w), (float)(j%board_w), 0.f);
}
cout << "Collected our " << (int)image_points.size() <<
" of " << n_boards << " needed chessboard images\n" << endl;
}
cv::imshow("Calibration", image); //show in color if we did collect the image
if ((cv::waitKey(30) & 255) == 27)
return -1;
}
// END COLLECTION WHILE LOOP.
cv::destroyWindow("Calibration");
cout << "\n\n*** CALIBRATING THE CAMERA...\n" << endl;
// CALIBRATE THE CAMERA!
//
cv::Mat intrinsic_matrix, distortion_coeffs;
double err = cv::calibrateCamera(
object_points,
image_points,
image_size,
intrinsic_matrix,
distortion_coeffs,
cv::noArray(),
cv::noArray(),
cv::CALIB_ZERO_TANGENT_DIST | cv::CALIB_FIX_PRINCIPAL_POINT
);
// SAVE THE INTRINSICS AND DISTORTIONS
cout << " *** DONE!\n\nReprojection error is " << err <<
"\nStoring Intrinsics.xml and Distortions.xml files\n\n";
cv::FileStorage fs("intrinsics.xml", FileStorage::WRITE);
fs << "image_width" << image_size.width << "image_height" << image_size.height
<< "camera_matrix" << intrinsic_matrix << "distortion_coefficients"
<< distortion_coeffs;
fs.release();
// EXAMPLE OF LOADING THESE MATRICES BACK IN:
fs.open("intrinsics.xml", cv::FileStorage::READ);
cout << "\nimage width: " << (int)fs["image_width"];
cout << "\nimage height: " << (int)fs["image_height"];
cv::Mat intrinsic_matrix_loaded, distortion_coeffs_loaded;
fs["camera_matrix"] >> intrinsic_matrix_loaded;
fs["distortion_coefficients"] >> distortion_coeffs_loaded;
cout << "\nintrinsic matrix:" << intrinsic_matrix_loaded;
cout << "\ndistortion coefficients: " << distortion_coeffs_loaded << endl;
// Build the undistort map which we will use for all
// subsequent frames.
//
cv::Mat map1, map2;
cv::initUndistortRectifyMap(
intrinsic_matrix_loaded,
distortion_coeffs_loaded,
cv::Mat(),
intrinsic_matrix_loaded,
image_size,
CV_16SC2,
map1,
map2
);
// Just run the camera to the screen, now showing the raw and
// the undistorted image.
//
for (;;) {
cv::Mat image, image0;
capture >> image0;
if (image0.empty()) break;
cv::remap(
image0,
image,
map1,
map2,
cv::INTER_LINEAR,
cv::BORDER_CONSTANT,
cv::Scalar()
);
cv::imshow("Undistorted", image);
if ((cv::waitKey(30) & 255) == 27) break;
}
return 0;
}