Learning opencv 例11-1（单应性摄像头定标）程序详解

学习机器视觉。尝试例11-1，程序比较抽象，又没有找到详细解释，于是决定自己看程序，测试程序，理解单应性相机标定。（申明：这是个人通过测试和理解的心得，不一定完全正确。）

源程序：

#include "stdafx.h"

#include <cv.h>

#include <highgui.h>

#include <stdio.h>

#include <stdlib.h>

int n_boards = 0; //Will be set by input list

const int board_dt = 20;// wait 20 frames per chessboard view

int board_w;

int board_h;

int main(int argc, char* argv[]) {

//int main(4,8,8,10,0){   //如果不用脚本引导main程序执行，则可以像这样自行输入参数。

if(argc != 4){

printf("ERROR:Wrong number of input parametersn");

return -1;

}

board_w = atoi(argv[1]); //棋盘板的宽度（横向棋盘格数）

board_h = atoi(argv[2]);  //棋盘板的高度（纵向棋盘格数）

n_boards = atoi(argv[3]);//图像张数

int board_n   = board_w * board_h;

CvSize board_sz = cvSize( board_w, board_h );  

CvCapture* capture = cvCreateCameraCapture(0);

assert(capture);

    cvNamedWindow( "Calibration" );

    //ALLOCATE STORAGE 

    CvMat* image_points         = cvCreateMat(n_boards*board_n,2,CV_32FC1);  //总的图像点存储

    CvMat* object_points       = cvCreateMat(n_boards*board_n,3,CV_32FC1);//总的实物点存储

    CvMat* point_counts         = cvCreateMat(n_boards,1,CV_32SC1);  

    CvMat* intrinsic_matrix   = cvCreateMat(3,3,CV_32FC1); //内部参数矩阵

    CvMat* distortion_coeffs = cvCreateMat(5,1,CV_32FC1); //畸变矩阵

   

    CvPoint2D32f* corners = new CvPoint2D32f[ board_n ];  //角

    int corner_count;

    int successes = 0;

    int step,frame=0;

    IplImage *image = cvQueryFrame(capture); //读图像

    IplImage *gray_image = cvCreateImage(cvGetSize(image),8,1);

    //subpixel

    //capture corner views loop until we've got n_boards

    //successful captures (all corners on the board are found)

    //

    while(successes<n_boards){  //每张图循环一次

  //skip every board_dt frames to allow user to move chessboard

  if(frame++ % board_dt==0){  //每20帧取一张

  //Find chessboard corners://寻找棋盘内角点，将个数存入 corner_count，将角点像素存入corners。

  int found = cvFindChessboardCorners(image,board_sz,corners,&corner_count,CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS);

  

  //Get Subpixel accuracy on those corners

  cvCvtColor(image,gray_image,CV_BGR2GRAY); //转换图像类型。

  cvFindCornerSubPix(gray_image,corners,corner_count,cvSize(11,11),cvSize(-1,-1),cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER,30,0.1));//寻找内角点的压像素值。

  //Draw it

  cvDrawChessboardCorners(image,board_sz,corners,corner_count,found);

  cvShowImage("Calibration",image);  //画出角点

  //If we got a good board ,add it to our data

  if(corner_count == board_n){  //角点全部被找出

  step = successes*board_n;

  for(int i=step,j=0;j<board_n;++i,++j){

  CV_MAT_ELEM(*image_points,float,i,0)=corners[j].x;

  CV_MAT_ELEM(*image_points,float,i,1)=corners[j].y;  //将角点坐标存储到图像点当中。

  CV_MAT_ELEM(*object_points,float,i,0)=j/board_w;  

  CV_MAT_ELEM(*object_points,float,i,1)=j%board_w;  //世界坐标，说明设定每个格子的长度为1.

  CV_MAT_ELEM(*object_points,float,i,2)=0.0f;   //Z轴坐标值为0，将棋盘平面设为世界坐标的XOY平面。

  }

  CV_MAT_ELEM(*point_counts,int,successes,0)=board_n;

  successes++;

  }

  }//end skip board_dt between chessboard capture

  //Handle pause/unpause and ESC

  int c =cvWaitKey(15);   //暂停和退出设置。

  if(c=='p'){

  c = 0;

  while(c!='p'&&c!=27){

  c=cvWaitKey(250);

  }

  }

  if(c==27)

  return 0;

  image = cvQueryFrame(capture);//Get next image

    }//End collection while loop.

    //allocate matrices according to how many chessboards found

    CvMat * object_points2 = cvCreateMat(successes*board_n,3,CV_32FC1);

    CvMat * image_points2 = cvCreateMat(successes*board_n,2,CV_32FC1);

    CvMat * point_counts2 = cvCreateMat(successes,1,CV_32FC1);

    //transfer the points into the correct size matrices

    //below, we write out the details in the next two loops.we could instead have written:

    //image_points->rows=object_points->rows=

    //successes*board_n;point_counts->rows = successes;

    //

    for(int i = 0;i<successes*board_n;++i){

  CV_MAT_ELEM(*image_points2,float,i,0)= CV_MAT_ELEM(*image_points,float,i,0);

  CV_MAT_ELEM(*image_points2,float,i,1)= CV_MAT_ELEM(*image_points,float,i,1);

  CV_MAT_ELEM(*object_points2,float,i,0)= CV_MAT_ELEM(*object_points,float,i,0);

  CV_MAT_ELEM(*object_points2,float,i,1)= CV_MAT_ELEM(*object_points,float,i,1);

  CV_MAT_ELEM(*object_points2,float,i,2)= CV_MAT_ELEM(*image_points,float,i,2);

    }

    for(int i=0;i<successes;++i){//There are all the same number

  CV_MAT_ELEM(*point_counts2,int,i,0)=CV_MAT_ELEM(

  *point_counts,int,i,0);

    }

    cvReleaseMat(&object_points);

    cvReleaseMat(&image_points);

    cvReleaseMat(&point_counts);//搞不懂为什么不直接用 point_counts等，而要赋给point_counts2

    //at this point we have all of the chessboard corners we need.

    //initialize the intrinsic matrix such that the two focal

    //lengths have a ratio of 1.0

    //

    CV_MAT_ELEM(*intrinsic_matrix,float,0,0)=1.0f; //初始化内参矩阵

    CV_MAT_ELEM(*intrinsic_matrix,float,1,1)=1.0f;

    //calibrate the camera!

    cvCalibrateCamera2(

  object_points2,image_points2,

  point_counts2,cvGetSize(image),

  intrinsic_matrix,distortion_coeffs,

  NULL,NULL,0 //CV_CALIB_FIX_ASPECT_RATIO

  );  //定标，校正和旋转平移

    //save the intrinsics and distortions

    cvSave("Intrinsics.xml",intrinsic_matrix);  //把参数存下来。

    cvSave("Distortion.xml",distortion_coeffs);

    //example of loading these matrices back in:

    CvMat *intrinsic = (CvMat*)cvLoad("Intrinsics.xml");// intrinsic把参数读出来，传给重投影的函数应用的指针。

    CvMat *distortion = (CvMat*)cvLoad("Distortion.xml");

    //build the undistort map that will use for all

    //subsequent frames

    //

    IplImage* mapx = cvCreateImage(cvGetSize(image),IPL_DEPTH_32F,1);

    IplImage* mapy = cvCreateImage(cvGetSize(image),IPL_DEPTH_32F,1);

    cvInitUndistortMap(

  intrinsic,

  distortion,

  mapx,

  mapy

  );

    //just run the camera to the screen, now showing the raw and the undistorted image.

    //

    cvNamedWindow("Undistort");

    while(image){

  IplImage *t=cvCloneImage(image);

  cvShowImage("Calibration",image);//show raw image

  cvRemap(t,image,mapx,mapy);//undistort image  //重投影图像。

  cvReleaseImage(&t);

          cvShowImage("Undistort",image);//show corrected image

  //handle pause/unpause and ESC

  int c = cvWaitKey(15);

  if(c=='p'){

  c=0;

  while(c!='p'&&c!=27){

  c=cvWaitKey(250);

  }

  }

  if(c==27)

  break;

  image = cvQueryFrame(capture);

    }

    return 0;

    }