相机标定Opencv实现以及标定流程（四）_人生几何_新浪博客

完整的工程代码：

 

[cpp]  view plain  copy  print ?

1. #include "opencv2/core/core.hpp"  
2. #include "opencv2/imgproc/imgproc.hpp"  
3. #include "opencv2/calib3d/calib3d.hpp"  
4. #include "opencv2/highgui/highgui.hpp"  
5. #include   
6. #include   
7.   
8. using namespace cv;  
9. using namespace std;  
10.   
11. void main()   
12. {  
13.     ifstream fin("calibdata.txt");   
14.     ofstream fout("caliberation_result.txt");      
15.     //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   
16.     cout<<"开始提取角点………………";  
17.     int image_count=0;    
18.     Size image_size;    
19.     Size board_size = Size(4,6);      
20.     vector image_points_buf;    
21.     vector> image_points_seq;   
22.     string filename;  
23.     int count= -1 ;//用于存储角点个数。  
24.     while (getline(fin,filename))  
25.     {  
26.         image_count++;        
27.         // 用于观察检验输出  
28.         cout<<"image_count = "<<image_count<<endl;          
29.           
30.         cout<<"-->count = "<<count;        
31.         Mat imageInput=imread(filename);  
32.         if (image_count == 1)  //读入第一张图片时获取图像宽高信息  
33.         {  
34.             image_size.width = imageInput.cols;  
35.             image_size.height =imageInput.rows;           
36.             cout<<"image_size.width = "<<image_size.width<<endl;  
37.             cout<<"image_size.height = "<<image_size.height<<endl;  
38.         }  
39.   
40.           
41.         if (0 == findChessboardCorners(imageInput,board_size,image_points_buf))  
42.         {             
43.             cout<<"can not find chessboard corners!\n"; //找不到角点  
44.             exit(1);  
45.         }   
46.         else   
47.         {  
48.             Mat view_gray;  
49.             cvtColor(imageInput,view_gray,CV_RGB2GRAY);  
50.               
51.             find4QuadCornerSubpix(view_gray,image_points_buf,Size(11,11)); //对粗提取的角点进行精确化  
52.             image_points_seq.push_back(image_points_buf);  //保存亚像素角点  
53.               
54.             drawChessboardCorners(view_gray,board_size,image_points_buf,true); //用于在图片中标记角点  
55.             imshow("Camera Calibration",view_gray);//显示图片  
56.             waitKey(500);//暂停0.5S         
57.         }  
58.     }  
59.     int total = image_points_seq.size();  
60.     cout<<"total = "<<total<<endl;  
61.     int CornerNum=board_size.width*board_size.height;  //每张图片上总的角点数  
62.     for (int ii=0 ; ii
63.     {  
64.         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   
65.         {     
66.             int i = -1;  
67.             i = ii/CornerNum;  
68.             int j=i+1;  
69.             cout<<"--> 第 "<<j <<"图片的数据 --> : "<<endl;  
70.         }  
71.         if (0 == ii%3)  // 此判断语句，格式化输出，便于控制台查看  
72.         {  
73.             cout<<endl;  
74.         }  
75.         else  
76.         {  
77.             cout.width(10);  
78.         }  
79.         //输出所有的角点  
80.         cout<<" -->"<<image_points_seq[ii][0].x;  
81.         cout<<" -->"<<image_points_seq[ii][0].y;  
82.     }     
83.     cout<<"角点提取完成！\n";  
84.   
85.     //以下是摄像机标定  
86.     cout<<"开始标定………………";  
87.       
88.     Size square_size = Size(10,10);    
89.     vector> object_points;   
90.       
91.     Mat cameraMatrix=Mat(3,3,CV_32FC1,Scalar::all(0));   
92.     vector<<span class="datatypes" style="margin: 0px; padding: 0px; border: none; color: rgb(46, 139, 87); font-weight: bold; background-color: inherit;">int> point_counts;  // 每幅图像中角点的数量  
93.     Mat distCoeffs=Mat(1,5,CV_32FC1,Scalar::all(0));   
94.     vector tvecsMat;    
95.     vector rvecsMat;   
96.       
97.     int i,j,t;  
98.     for (t=0;t
99.     {  
100.         vector tempPointSet;  
101.         for (i=0;i
102.         {  
103.             for (j=0;j
104.             {  
105.                 Point3f realPoint;  
106.                   
107.                 realPoint.x = i*square_size.width;  
108.                 realPoint.y = j*square_size.height;  
109.                 realPoint.z = 0;  
110.                 tempPointSet.push_back(realPoint);  
111.             }  
112.         }  
113.         object_points.push_back(tempPointSet);  
114.     }  
115.       
116.     for (i=0;i
117.     {  
118.         point_counts.push_back(board_size.width*board_size.height);  
119.     }     
120.       
121.     calibrateCamera(object_points,image_points_seq,image_size,cameraMatrix,distCoeffs,rvecsMat,tvecsMat,0);  
122.     cout<<"标定完成！\n";  
123.     //对标定结果进行评价  
124.     cout<<"开始评价标定结果………………\n";  
125.     double total_err = 0.0;   
126.     double err = 0.0;   
127.     vector image_points2;   
128.     cout<<"\t每幅图像的标定误差：\n";  
129.     fout<<"每幅图像的标定误差：\n";  
130.     for (i=0;i
131.     {  
132.         vector tempPointSet=object_points[i];  
133.           
134.         projectPoints(tempPointSet,rvecsMat[i],tvecsMat[i],cameraMatrix,distCoeffs,image_points2);  
135.           
136.         vector tempImagePoint = image_points_seq[i];  
137.         Mat tempImagePointMat = Mat(1,tempImagePoint.size(),CV_32FC2);  
138.         Mat image_points2Mat = Mat(1,image_points2.size(), CV_32FC2);  
139.         for (int j = 0 ; j < tempImagePoint.size(); j++)  
140.         {  
141.             image_points2Mat.at(0,j) = Vec2f(image_points2[j].x, image_points2[j].y);  
142.             tempImagePointMat.at(0,j) = Vec2f(tempImagePoint[j].x, tempImagePoint[j].y);  
143.         }  
144.         err = norm(image_points2Mat, tempImagePointMat, NORM_L2);  
145.         total_err += err/=  point_counts[i];     
146.         std::cout<<"第"<<i+1<<"幅图像的平均误差："<<err<<"像素"<<endl;     
147.         fout<<"第"<<i+1<<"幅图像的平均误差："<<err<<"像素"<<endl;     
148.     }     
149.     std::cout<<"总体平均误差："<<total_err/image_count<<"像素"<<endl;     
150.     fout<<"总体平均误差："<<total_err/image_count<<"像素"<<endl<<endl;     
151.     std::cout<<"评价完成！"<<endl;    
152.     //保存定标结果      
153.     std::cout<<"开始保存定标结果………………"<<endl;         
154.     Mat rotation_matrix = Mat(3,3,CV_32FC1, Scalar::all(0));   
155.     fout<<"相机内参数矩阵："<<endl;     
156.     fout<<cameraMatrix<<endl<<endl;     
157.     fout<<"畸变系数：\n";     
158.     fout<<distCoeffs<<endl<<endl<<endl;     
159.     for (int i=0; i
160.     {   
161.         fout<<"第"<<i+1<<"幅图像的旋转向量："<<endl;     
162.         fout<<tvecsMat[i]<<endl;     
163.              
164.         Rodrigues(tvecsMat[i],rotation_matrix);     
165.         fout<<"第"<<i+1<<"幅图像的旋转矩阵："<<endl;     
166.         fout<<rotation_matrix<<endl;     
167.         fout<<"第"<<i+1<<"幅图像的平移向量："<<endl;     
168.         fout<<rvecsMat[i]<<endl<<endl;     
169.     }     
170.     std::cout<<"完成保存"<<endl;   
171.     fout<<endl;  
172.     system("pause");      
173.     return ;  
174. }