MATLAB/OpenCV--基于棋盘格/对称圆点/非对称圆点--相机标定教程

已于 2024-07-09 14:35:59 修改
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于 2021-11-11 19:43:04 首次发布
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目录

前言

标定图像获取

一、棋盘格图像

二、对称圆点图像

三、非对称圆点图像

使用MATLAB进行相机标定

一、单目相机标定

一、基于棋盘格进行标定

二、基于对称圆点进行标定

三、基于非对称圆点进行标定

二、双目相机标定

使用OpenCV进行相机标定

前言

整个标定过程包括如下步骤：

1、打印一张标定图片（棋盘格/对称圆点/非对称圆点），把它贴在一个平面上，作为标定物。
2、通过调整标定物或摄像机的方向，为标定物拍摄一些不同方向的照片。
3、从照片中提取棋盘格角点/圆点。
4、估算理想无畸变的情况下，五个内参和六个外参。
5、应用最小二乘法估算实际存在径向畸变下的畸变系数。
6、应用极大似然法，优化估计，提升估计精度。

本文使用的程序版本为：

MATLAB R2021b（只有该版本的matlab支持对称圆点标定和非对称圆点标定）

OpenCV-3.4.12

本文参考文档：

opencv生成棋盘格图像_dawudayudaxue的博客-CSDN博客

相机标定系列（三）利用matlab进行相机标定_AI视觉Daily-CSDN博客_matlab相机标定

opencv标定实现总结(圆点，棋盘格和非对称圆点)_冯相文要加油呀！的博客-CSDN博客

标定图像获取

一、棋盘格图像

        （1）在matlab命令行窗口中输入以下代码，即可打开matlab内置的棋盘格图像。

open checkerboardPattern.pdf

        （2）opencv库实现生成一张黑白棋盘格代码（棋盘格格数、图片分辨率、图片格式均可自行修改设定）：

#include<iostream>
#include<opencv2\core\core.hpp>
#include<opencv2\highgui\highgui.hpp>

using namespace std;
using namespace cv;

const int perBoardPixel = 1000;
const Size boardSize(9,7);
const Size resolution(9000,7000);

int main()
{
	int basisHeight = (resolution.height - perBoardPixel*boardSize.height) / 2;
	int basisWidth = (resolution.width - perBoardPixel*boardSize.width) / 2;
	if( basisHeight < 0  ||  basisWidth < 0)
	{
		cout<<"Resolution doesn't match!"<<endl;
	}
	Mat image(resolution,CV_8UC1,Scalar::all(255));
	int flag = 0;
	for(int j = 0;j < boardSize.height;j++)
	{
		for(int i = 0;i < boardSize.width;i++)
		{
			flag = (i+j) % 2;
			if(flag == 0)
			{
				for(int n = j * perBoardPixel;n < (j+1) * perBoardPixel;n++)
					for(int m = i * perBoardPixel;m < (i+1) * perBoardPixel;m++)
						image.at<uchar>(n + basisHeight,m + basisWidth) = 0;
			}
		}
	}
	cv::imwrite("checkerboardPattern.png",image);
	waitKey(0);
	return 0;
}

二、对称圆点图像

        （1）在matlab命令行窗口中输入以下命令，即可打开matlab内置的对称圆点图像。

open symmetricCirclesGridPattern.pdf

        （2）opencv库实现生成一张黑白对称圆点代码（圆点个数、图片分辨率、图片格式均可自行修改设定）： 

#include <opencv2/opencv.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>

using namespace cv;
using namespace std;

#define WINDOW_WIDTH 1200 //定义窗口大小的宏
#define WINDOW_LENTH 1700
#define WINDOW_NAME1 "【绘制图1】" //为窗口标题定义的宏
#define WINDOW_NAME2 "【绘制图2】" //为窗口标题定义的宏

void drawFilledCircle(Mat img, Point center) 
{
    int thickness = -1;
    int lineType = 8;
    circle(img, center, WINDOW_WIDTH / 12, Scalar(0, 0, 0), thickness, lineType);
}

int main()
{
    Mat atomImage(WINDOW_WIDTH, WINDOW_LENTH, CV_8UC3, Scalar(255, 255, 255));
    for (int i = 180 + WINDOW_WIDTH / 12; i < WINDOW_LENTH; i = i + WINDOW_WIDTH / 4)
    {
        for (int j = 50 + WINDOW_WIDTH / 12; j < WINDOW_WIDTH; j = j + WINDOW_WIDTH / 4)
        {
            drawFilledCircle(atomImage, cv::Point(i, j));
        }

    }
    imwrite("symmetricCirclesGridPattern.png", atomImage);
    imshow(WINDOW_NAME1, atomImage);
    waitKey(0);
    return(0);
}

三、非对称圆点图像

        在matlab命令行窗口中输入以下命令，即可打开matlab内置的非对称圆点图像

open asymmetricCirclesGridPattern.pdf

使用MATLAB进行相机标定

一、单目相机标定

一、基于棋盘格进行标定

        在matlab工具栏APP中，找到图像处理和计算机视觉下的Camera Calibration工具；

        单击Camera Calibration进入，界面如下所示；

         单击Add Image，可以选择从文件中读取或从相机中读取，本文选择从文件中读取（即From file），找到你所存放标定图片的路径，将所有图片全部选中，单击打开；

        Choose Pattern即选择标定板图案，有Checkerboard（棋盘格）、Symmetric Circle Grid（对称圆网格）、Asymmetric Circle Grid（非对称圆网格）三种；

        Size of checkerboard square表示棋盘格中一个格子的尺寸，默认为25mm×25mm，需要根据自己所用棋盘格图案的实际尺寸修改；

        Image distortion表示图像的失真程度，根据实际情况选择Low/High；

        选择完毕单击确定；

        等待加载；

        加载完毕，会显示检测结果；

        总图像10张，添加9张， 添加失败1张，添加失败的原因可能是图像较远无法清晰识别出棋盘格，单击view images可查看为被添加进去的图像；

        点击确定；

        逐个检测左边添加成功的图片，去除X，Y轴，圆点以及角点选错的图片；

 

        若为鱼眼相机，则选择Fisheye模式，其他普通相机选择Standard模式 ；

        单击Options，

        径向畸变选择3个系数（即Radial Distortion下选择3 Coefficients），勾选Skew，Tangential Distortior；

        然后单击Calibrate进行标定；

 

        右上角Reprojection Errors显示重投影误差，右下角可切换视图（以相机为中心或以图像为中心）；

        单击Export Camera Parameters可将相机参数导出；

        双击cameraParams即可看到相机各项参数；

        在命令行中键入变量名也可查看；

        命令行键入cameraParams.IntrinsicMatrix可直接得到相机内参矩阵：

二、基于对称圆点进行标定

        注意：要检测圆形网格图案，图案必须：

  • 至少包含 16 个圆圈

  • 在单个相机的图像或一对立体相机的两个图像中完全可见

        基于对称圆点图案进行标定时，只需将图片导入时在Choose Pattern选择Symmetric Circle Grid即可；

        选择为Symmetric Circle Grid后，Center-to-center distance表示圆心距，默认值为25mm，需要根据实际标定板尺寸进行修改；

        Number of rows为行数，Number of Columns为列数，如上图所示，需要根据实际标定板尺寸进行修改；

        其他操作步骤同上。

三、基于非对称圆点进行标定

        基于非对称圆点图案进行标定时，只需将图片导入时在Choose Pattern选择Asymmetric Circle Grid即可；

        选择为Asymmetric Circle Grid后，Center-to-center distance表示圆心距，默认值为25mm，需要根据实际标定板尺寸进行修改；

        特别注意，非对称圆点中最后两个参数与对称圆点中的不同，Dim1与Dim2所代表的意义如上图所示，需要根据实际标定板尺寸进行修改。

二、双目相机标定

        在matlab工具栏APP中，找到图像处理和计算机视觉下的Stereo Camera Calibration工具；

         标定步骤同单目相机标定步骤一致。

使用OpenCV进行相机标定

打开opencv下的该路径

\opencv\sources\samples\cpp\tutorial_code\calib3d\camera_calibration

文件夹中：
camera_calibration.cpp是opencv相机标定实例程序源码，
in_VID5是标定参数设置文件，
VID5是标定图片路径，
out_camera_data内存有标定结果 ，
使用opencv官方示例程序只需修改in_VID5和VID5两个XML文档。
opencv官方标定程序同样支持Checkerboard（棋盘格）、Symmetric Circle Grid（对称圆网格）、Asymmetric Circle Grid（非对称圆网格）三种标定图案。

创建控制台应用，将camera_calibration.cpp的代码复制到新建项目中，

搜索default.xml，将句代码 const string inputSettingsFile = argc > 1 ? argv[1] : "default.xml";中的default.xml修改为我们的文件名，比如示例中的in_VID5.xml。

然后打开in_VID5.xml。

 我们需要修改的参数有：

1、<BoardSize_Width> 9</BoardSize_Width>         每行棋盘格内点的个数或圆点的个数
2、<BoardSize_Height>6</BoardSize_Height>        每列棋盘格内点的个数或圆点的个数
3、<Square_Size>50</Square_Size>                       棋盘格的边长或圆心距，单位mm
4、<Calibrate_Pattern>"CHESSBOARD"</Calibrate_Pattern>
     图案模式，CHESSBOARD棋盘格，CIRCLES_GRID对称圆，
     ASYMMETRIC_CIRCLES_GRID非对称圆
5、<Input>"images/CameraCalibration/VID5/VID5.xml"</Input>
      储存图片路径的文件，该文件的书写方式为：


图片路径可以使用绝对路径或相对路径
6、<Calibrate_NrOfFrameToUse>8</Calibrate_NrOfFrameToUse>              图片数量
7、<Write_outputFileName>"out_camera_data.xml"</Write_outputFileName>
      输出文件的路径及文件名

 其他参数可根据需求选择是否修改，代码及注释如下：

<?xml version="1.0"?>
<opencv_storage>
<Settings>
  <!-- Number of inner corners per a item row and column. (square, circle) -->
  每个项目行和列的内角数（正方形，圆形）
  <BoardSize_Width> 9</BoardSize_Width>
  <BoardSize_Height>6</BoardSize_Height>
  
  <!-- The size of a square in some user defined metric system (pixel, millimeter)-->
  某些用户定义的公制系统中正方形的大小（像素，毫米）
  <Square_Size>50</Square_Size>
  
  <!-- The type of input used for camera calibration. One of: CHESSBOARD CIRCLES_GRID ASYMMETRIC_CIRCLES_GRID -->
  用于相机校准的输入类型
  <Calibrate_Pattern>"CHESSBOARD"</Calibrate_Pattern>
  
  <!-- The input to use for calibration. 
		To use an input camera -> give the ID of the camera, like "1"
		To use an input video  -> give the path of the input video, like "/tmp/x.avi"
		To use an image list   -> give the path to the XML or YAML file containing the list of the images, like "/tmp/circles_list.xml"
		-->
  用于校准的输入
        使用输入相机 -> 给出相机的 ID，如“1”
        使用输入视频 -> 给出输入视频的路径，如“/tmp/x.avi”
        要使用图像列表 -> 提供包含图像列表的 XML 或 YAML 文件的路径，例如 
        “/tmp/circles_list.xml”
  <Input>"images/CameraCalibration/VID5/VID5.xml"</Input>
  <!--  If true (non-zero) we flip the input images around the horizontal axis.-->
  如果为真（非零），我们将围绕水平轴翻转输入图像
  <Input_FlipAroundHorizontalAxis>0</Input_FlipAroundHorizontalAxis>
  
  <!-- Time delay between frames in case of camera. -->
  相机的帧之间的时间延迟
  <Input_Delay>100</Input_Delay>	
  
  <!-- How many frames to use, for calibration. -->
  使用多少帧，用于校准
  <Calibrate_NrOfFrameToUse>25</Calibrate_NrOfFrameToUse>
  <!-- Consider only fy as a free parameter, the ratio fx/fy stays the same as in the input cameraMatrix. 
	   Use or not setting. 0 - False Non-Zero - True-->
  仅将 fy 视为自由参数，比率 fx/fy 与输入 cameraMatrix 中的比率保持相同。
       使用或不设置。 0 - Fales 非零 - True
  <Calibrate_FixAspectRatio> 1 </Calibrate_FixAspectRatio>
  <!-- If true (non-zero) tangential distortion coefficients  are set to zeros and stay zero.-->
  如果真（非零）切向失真系数设置为零并保持为零
  <Calibrate_AssumeZeroTangentialDistortion>1</Calibrate_AssumeZeroTangentialDistortion>
  <!-- If true (non-zero) the principal point is not changed during the global optimization.-->
  如果为真（非零），则在全局优化期间主点不会改变
  <Calibrate_FixPrincipalPointAtTheCenter> 1 </Calibrate_FixPrincipalPointAtTheCenter>
  
  <!-- The name of the output log file. -->
  输出日志文件的名称
  <Write_outputFileName>"out_camera_data.xml"</Write_outputFileName>
  <!-- If true (non-zero) we write to the output file the feature points.-->
  如果为真（非零），我们将特征点写入输出文件
  <Write_DetectedFeaturePoints>1</Write_DetectedFeaturePoints>
  <!-- If true (non-zero) we write to the output file the extrinsic camera parameters.-->
  如果为真（非零），我们将外部相机参数写入输出文件
  <Write_extrinsicParameters>1</Write_extrinsicParameters>
  <!-- If true (non-zero) we show after calibration the undistorted images.-->
  如果为真（非零），我们在校准后显示未失真的图像
  <Show_UndistortedImage>1</Show_UndistortedImage>
  <!-- If true (non-zero) will be used fisheye camera model.-->
  如果为真（非零）将使用鱼眼相机模型
  <Calibrate_UseFisheyeModel>0</Calibrate_UseFisheyeModel>
  <!-- If true (non-zero) distortion coefficient k1 will be equals to zero.-->
  如果真（非零）失真系数 k1 将等于零
  <Fix_K1>0</Fix_K1>
  <!-- If true (non-zero) distortion coefficient k2 will be equals to zero.-->
  如果真（非零）失真系数 k2 将等于零
  <Fix_K2>0</Fix_K2>
  <!-- If true (non-zero) distortion coefficient k3 will be equals to zero.-->
  如果真（非零）失真系数 k3 将等于零
  <Fix_K3>0</Fix_K3>
  <!-- If true (non-zero) distortion coefficient k4 will be equals to zero.-->
  如果真（非零）失真系数 k4 将等于零
  <Fix_K4>1</Fix_K4>
  <!-- If true (non-zero) distortion coefficient k5 will be equals to zero.-->
  如果真（非零）失真系数 k5 将等于零
  <Fix_K5>1</Fix_K5>
</Settings>
</opencv_storage>

将上述参数设置好后，直接运行即可。

标定过程结束后会显示校正后的图像，按Enter键会逐个矫正。

out_camera_data中的文件内容及注释：

%YAML:1.0
calibration_Time: "08/19/11 20:44:38" 标定时间
nrOfFrames: 8 图片数量
image_Width: 640 图片宽
image_Height: 480 图片高
board_Width: 9 行点数
board_Height: 6 列点数
square_Size: 50. 点距
FixAspectRatio: 1. 纵横比
# flags:  +fix_aspectRatio +fix_principal_point +zero_tangent_dist
flagValue: 14
Camera_Matrix: !!opencv-matrix 相机内参
   rows: 3
   cols: 3
   dt: d
   data: [ 6.5746697810243404e+002, 0., 3.1950000000000000e+002, 0.,
       6.5746697810243404e+002, 2.3950000000000000e+002, 0., 0., 1. ]
Distortion_Coefficients: !!opencv-matrix 畸变系数
   rows: 5
   cols: 1
   dt: d
   data: [ -4.1802327018241026e-001, 5.0715243805833121e-001, 0., 0.,
       -5.7843596847939704e-001 ]
Avg_Reprojection_Error: 3.8441346462381665e-001 平均重投影误差
Per_View_Reprojection_Errors: !!opencv-matrix 每张图片重投影误差
   rows: 8
   cols: 1
   dt: f
   data: [ 5.04357755e-001, 4.85754758e-001, 3.99563968e-001,
       4.13829178e-001, 3.53570908e-001, 3.21116358e-001,
       2.74473161e-001, 2.39761785e-001 ]
# a set of 6-tuples (rotation vector + translation vector) for each view
# 每个视图的一组 6 元组（旋转向量 + 平移向量）
Extrinsic_Parameters: !!opencv-matrix 外参
   rows: 8
   cols: 6
   dt: d
   data: [ -7.8704123655486097e-002, -1.5922384772614945e-001,
       3.1166227207451498e+000, 2.4224388101960471e+002,
       1.1795590397660339e+002, 6.2576484126093249e+002,
       -1.4117480285164308e-001, -1.7917415443804836e-002,
       3.1333182268743949e+000, 2.5943034781849354e+002,
       1.4039780562976958e+002, 6.3848706527260981e+002,
       7.2230525186138789e-002, -7.5445981266787754e-002,
       1.5712860749221762e+000, 1.7426560451795339e+002,
       -1.9309240362258871e+002, 7.0891416556762647e+002,
       2.0367310600105853e-002, 6.8565520026996951e-002,
       -5.4313033031644169e-004, -2.0146314940404827e+002,
       -1.3305643514116997e+002, 7.4933554744027231e+002,
       -3.4468530027734055e-002, 2.1921265175331925e-002,
       -1.5731053528054522e+000, -1.1155718744299284e+002,
       2.0307615364261443e+002, 8.4915903914333899e+002,
       3.7425562109513817e-002, 7.4883169379022230e-002,
       -3.6031632305130512e-002, -2.0094505419395196e+002,
       -1.1627359108310560e+002, 9.2021583518760133e+002,
       6.8105689976949157e-002, 6.4426739692440949e-002,
       -7.0967130057087435e-002, -1.9233852871740035e+002,
       -1.0334652096641923e+002, 1.0755293563503658e+003,
       -5.8017546499862287e-002, -1.6909812666033443e-003,
       -1.5876137659782963e+000, -1.0242234847115104e+002,
       2.2583088401423066e+002, 1.1125972190244058e+003 ]
Image_points: !!opencv-matrix
   rows: 8
   cols: 54
   dt: "2f"
   data: [ 5.58494690e+002, 3.55650085e+002, 5.13314697e+002,
       3.59107666e+002, 4.65728333e+002, 3.62133911e+002,
       4.15701111e+002, 3.65026459e+002, 3.64399353e+002,
       3.67339203e+002, 3.12101196e+002, 3.69211914e+002,
       2.59208405e+002, 3.70413513e+002, 2.07456192e+002,
       3.71175995e+002, 1.56619507e+002, 3.72176544e+002,
       5.60868713e+002, 3.08104828e+002, 5.15191772e+002,
       3.10485626e+002, 4.67032959e+002, 3.12660004e+002,
       4.16112152e+002, 3.14887177e+002, 3.64010712e+002,
       3.16825775e+002, 3.10712372e+002, 3.18640808e+002,
       2.56853943e+002, 3.20017365e+002, 2.04168182e+002,
       3.20908417e+002, 1.52469528e+002, 3.22105377e+002,
       5.62328369e+002, 2.58646881e+002, 5.16396301e+002,
       2.59919281e+002, 4.67907654e+002, 2.61257874e+002,
       4.16463440e+002, 2.62675537e+002, 3.63546570e+002,
       2.64064117e+002, 3.09528137e+002, 2.65489990e+002,
       2.54765533e+002, 2.66862030e+002, 2.01299225e+002,
       2.67997345e+002, 1.48913437e+002, 2.69627167e+002,
       5.63098022e+002, 2.08423523e+002, 5.16782654e+002,
       2.08424667e+002, 4.68059296e+002, 2.08661697e+002,
       4.16216431e+002, 2.09268982e+002, 3.62888763e+002,
       2.10013397e+002, 3.08458557e+002, 2.11074738e+002,
       2.53267990e+002, 2.12496582e+002, 1.99121384e+002,
       2.14005814e+002, 1.46551376e+002, 2.15851318e+002,
       5.62997437e+002, 1.57966492e+002, 5.16406494e+002,
       1.56580688e+002, 4.67334900e+002, 1.55756500e+002,
       4.15378235e+002, 1.55492874e+002, 3.62096710e+002,
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       4.02903351e+002, 1.93625381e+002, 4.02272827e+002,
       1.65004440e+002, 4.01353333e+002, 1.36796814e+002 ]

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