鱼眼镜头模型
鱼眼镜头的内参模型可以表示为 
设（X,Y,Z）为一个三维坐标点，投影在图像上的二维坐标为(u,v)，如果不考虑畸变，投影关系如下：
R和t分别代表相机外参中的旋转矩阵和平移向量。
标定流程
首先调用OpenCV的FindChessboardCorners()来寻找图像上的标定板的角点，再根据标定板的尺寸指定这些角点对应的三维点的三维坐标，再调用fisheye::calibrate()来进行标定，利用标定结果中的内参和畸变参数调用fisheye::undistortImage()对图像做去畸变操作。最后调用一张待测试的畸变图片利用标定结果进行畸变校正。
<code class="hljs cpp has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-top-left-radius: 0px; border-top-right-radius: 0px; border-bottom-right-radius: 0px; border-bottom-left-radius: 0px; word-wrap: normal; background: transparent;"><span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//运行环境 VS2012+opencv3.0</span>
<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">#include <opencv2\opencv.hpp></span>
<span class="hljs-preprocessor" style="color: rgb(68, 68, 68); box-sizing: border-box;">#include <fstream></span>
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">using</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">namespace</span> <span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">std</span>;
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">using</span> <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">namespace</span> cv;
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> main()
{
ofstream fout(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"caliberation_result.txt"</span>); <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/** 保存定标结果的文件 **/</span>
<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/************************************************************************
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
*************************************************************************/</span>
<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">cout</span><<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"开始提取角点………………"</span><<endl;
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> image_count= <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">25</span>; <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/**** 图像数量 ****/</span>
Size board_size = Size(<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">9</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">6</span>); <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/**** 定标板上每行、列的角点数 ****/</span>
<span class="hljs-stl_container" style="box-sizing: border-box;"><span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">vector</span><Point2f></span> corners; <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/**** 缓存每幅图像上检测到的角点 ****/</span>
<span class="hljs-stl_container" style="box-sizing: border-box;"><span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">vector</span><<span class="hljs-stl_container" style="box-sizing: border-box;"><span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">vector</span><Point2f></span>></span> corners_Seq; <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/**** 保存检测到的所有角点 ****/</span>
<span class="hljs-stl_container" style="box-sizing: border-box;"><span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">vector</span><Mat></span> image_Seq;
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> successImageNum = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>; <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/**** 成功提取角点的棋盘图数量 ****/</span>
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> count = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span>( <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> i = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>; i != image_count ; i++)
{
<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">cout</span><<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Frame #"</span><<i+<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span><<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"..."</span><<endl;
<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">string</span> imageFileName;
<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">std</span>::<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">stringstream</span> StrStm;
StrStm<<i+<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>;
StrStm>>imageFileName;
imageFileName += <span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">".jpg"</span>;
cv::Mat image = imread(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"img"</span>+imageFileName);
<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/* 提取角点 */</span>
Mat imageGray;
cvtColor(image, imageGray , CV_RGB2GRAY);
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">bool</span> patternfound = findChessboardCorners(image, board_size, corners,CALIB_CB_ADAPTIVE_THRESH + CALIB_CB_NORMALIZE_IMAGE+
CALIB_CB_FAST_CHECK );
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> (!patternfound)
{
<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">cout</span><<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"can not find chessboard corners!\n"</span>;
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">continue</span>;
<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">exit</span>(<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);
}
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">else</span>
{
<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/* 亚像素精确化 */</span>
cornerSubPix(imageGray, corners, Size(<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">11</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">11</span>), Size(-<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>, -<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>), TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">30</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0.1</span>));
<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/* 绘制检测到的角点并保存 */</span>
Mat imageTemp = image.clone();
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> j = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>; j < corners.size(); j++)
{
circle( imageTemp, corners[j], <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">10</span>, Scalar(<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">255</span>), <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">2</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">8</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>);
}
<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">string</span> imageFileName;
<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">std</span>::<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">stringstream</span> StrStm;
StrStm<<i+<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>;
StrStm>>imageFileName;
imageFileName += <span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"_corner.jpg"</span>;
imwrite(imageFileName,imageTemp);
<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">cout</span><<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Frame corner#"</span><<i+<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span><<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"...end"</span><<endl;
count = count + corners.size();
successImageNum = successImageNum + <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>;
corners_Seq.push_back(corners);
}
image_Seq.push_back(image);
}
<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">cout</span><<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"角点提取完成！\n"</span>;
<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/************************************************************************
摄像机定标
*************************************************************************/</span>
<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">cout</span><<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"开始定标………………"</span><<endl;
Size square_size = Size(<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">20</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">20</span>);
<span class="hljs-stl_container" style="box-sizing: border-box;"><span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">vector</span><<span class="hljs-stl_container" style="box-sizing: border-box;"><span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">vector</span><Point3f></span>></span> object_Points; <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/**** 保存定标板上角点的三维坐标 ****/</span>
Mat image_points = Mat(<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>, count, CV_32FC2, Scalar::all(<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>)); <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/***** 保存提取的所有角点 *****/</span>
<span class="hljs-stl_container" style="box-sizing: border-box;"><span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">vector</span><<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span>></span> point_counts;
<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/* 初始化定标板上角点的三维坐标 */</span>
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> t = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>; t<successImageNum; t++)
{
<span class="hljs-stl_container" style="box-sizing: border-box;"><span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">vector</span><Point3f></span> tempPointSet;
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> i = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>; i<board_size.height; i++)
{
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> j = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>; j<board_size.width; j++)
{
<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/* 假设定标板放在世界坐标系中z=0的平面上 */</span>
Point3f tempPoint;
tempPoint.x = i*square_size.width;
tempPoint.y = j*square_size.height;
tempPoint.z = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;
tempPointSet.push_back(tempPoint);
}
}
object_Points.push_back(tempPointSet);
}
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> i = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>; i< successImageNum; i++)
{
point_counts.push_back(board_size.width*board_size.height);
}
<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/* 开始定标 */</span>
Size image_size = image_Seq[<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>].size();
cv::Matx33d intrinsic_matrix; <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/***** 摄像机内参数矩阵 ****/</span>
cv::Vec4d distortion_coeffs; <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/* 摄像机的4个畸变系数：k1,k2,k3,k4*/</span>
<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">std</span>::<span class="hljs-stl_container" style="box-sizing: border-box;"><span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">vector</span><cv::Vec3d></span> rotation_vectors; <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/* 每幅图像的旋转向量 */</span>
<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">std</span>::<span class="hljs-stl_container" style="box-sizing: border-box;"><span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">vector</span><cv::Vec3d></span> translation_vectors; <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/* 每幅图像的平移向量 */</span>
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> flags = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;
flags |= cv::fisheye::CALIB_RECOMPUTE_EXTRINSIC;
flags |= cv::fisheye::CALIB_CHECK_COND;
flags |= cv::fisheye::CALIB_FIX_SKEW;
fisheye::calibrate(object_Points, corners_Seq, image_size, intrinsic_matrix, distortion_coeffs, rotation_vectors, translation_vectors, flags, cv::TermCriteria(<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">3</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">20</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1e-6</span>));
<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">cout</span><<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"定标完成！\n"</span>;
<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/************************************************************************
对定标结果进行评价
*************************************************************************/</span>
<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">cout</span><<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"开始评价定标结果………………"</span><<endl;
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">double</span> total_err = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0.0</span>; <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/* 所有图像的平均误差的总和 */</span>
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">double</span> err = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0.0</span>; <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/* 每幅图像的平均误差 */</span>
<span class="hljs-stl_container" style="box-sizing: border-box;"><span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">vector</span><Point2f></span> image_points2; <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/**** 保存重新计算得到的投影点 ****/</span>
<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">cout</span><<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"每幅图像的定标误差："</span><<endl;
<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">cout</span><<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"每幅图像的定标误差："</span><<endl<<endl;
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> i=<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>; i<image_count; i++)
{
<span class="hljs-stl_container" style="box-sizing: border-box;"><span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">vector</span><Point3f></span> tempPointSet = object_Points[i];
<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/**** 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 ****/</span>
fisheye::projectPoints(tempPointSet, image_points2, rotation_vectors[i], translation_vectors[i], intrinsic_matrix, distortion_coeffs);
<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/* 计算新的投影点和旧的投影点之间的误差*/</span>
<span class="hljs-stl_container" style="box-sizing: border-box;"><span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">vector</span><Point2f></span> tempImagePoint = corners_Seq[i];
Mat tempImagePointMat = Mat(<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>,tempImagePoint.size(),CV_32FC2);
Mat image_points2Mat = Mat(<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>,image_points2.size(), CV_32FC2);
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (size_t i = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span> ; i != tempImagePoint.size(); i++)
{
image_points2Mat.at<Vec2f>(<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>,i) = Vec2f(image_points2[i].x, image_points2[i].y);
tempImagePointMat.at<Vec2f>(<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>,i) = Vec2f(tempImagePoint[i].x, tempImagePoint[i].y);
}
err = norm(image_points2Mat, tempImagePointMat, NORM_L2);
total_err += err/= point_counts[i];
<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">cout</span><<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"第"</span><<i+<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span><<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"幅图像的平均误差："</span><<err<<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"像素"</span><<endl;
fout<<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"第"</span><<i+<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span><<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"幅图像的平均误差："</span><<err<<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"像素"</span><<endl;
}
<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">cout</span><<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"总体平均误差："</span><<total_err/image_count<<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"像素"</span><<endl;
fout<<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"总体平均误差："</span><<total_err/image_count<<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"像素"</span><<endl<<endl;
<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">cout</span><<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"评价完成！"</span><<endl;
<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/************************************************************************
保存定标结果
*************************************************************************/</span>
<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">cout</span><<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"开始保存定标结果………………"</span><<endl;
Mat rotation_matrix = Mat(<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">3</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">3</span>,CV_32FC1, Scalar::all(<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>)); <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/* 保存每幅图像的旋转矩阵 */</span>
fout<<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"相机内参数矩阵："</span><<endl;
fout<<intrinsic_matrix<<endl;
fout<<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"畸变系数：\n"</span>;
fout<<distortion_coeffs<<endl;
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> i=<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>; i<image_count; i++)
{
fout<<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"第"</span><<i+<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span><<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"幅图像的旋转向量："</span><<endl;
fout<<rotation_vectors[i]<<endl;
<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/* 将旋转向量转换为相对应的旋转矩阵 */</span>
Rodrigues(rotation_vectors[i],rotation_matrix);
fout<<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"第"</span><<i+<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span><<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"幅图像的旋转矩阵："</span><<endl;
fout<<rotation_matrix<<endl;
fout<<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"第"</span><<i+<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span><<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"幅图像的平移向量："</span><<endl;
fout<<translation_vectors[i]<<endl;
}
<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">cout</span><<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"完成保存"</span><<endl;
fout<<endl;
<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/************************************************************************
显示定标结果
*************************************************************************/</span>
Mat mapx = Mat(image_size,CV_32FC1);
Mat mapy = Mat(image_size,CV_32FC1);
Mat R = Mat::eye(<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">3</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">3</span>,CV_32F);
<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">cout</span><<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"保存矫正图像"</span><<endl;
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> (<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">int</span> i = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span> ; i != image_count ; i++)
{
<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">cout</span><<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Frame #"</span><<i+<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span><<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"..."</span><<endl;
Mat newCameraMatrix = Mat(<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">3</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">3</span>,CV_32FC1,Scalar::all(<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>));
fisheye::initUndistortRectifyMap(intrinsic_matrix,distortion_coeffs,R,intrinsic_matrix,image_size,CV_32FC1,mapx,mapy);
Mat t = image_Seq[i].clone();
cv::remap(image_Seq[i],t,mapx, mapy, INTER_LINEAR);
<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">string</span> imageFileName;
<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">std</span>::<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">stringstream</span> StrStm;
StrStm<<i+<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>;
StrStm>>imageFileName;
imageFileName += <span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"_d.jpg"</span>;
imwrite(imageFileName,t);
}
<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">cout</span><<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"保存结束"</span><<endl;
<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">/************************************************************************
测试一张图片
*************************************************************************/</span>
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> (<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>)
{
<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">cout</span><<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"TestImage ..."</span><<endl;
Mat newCameraMatrix = Mat(<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">3</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">3</span>,CV_32FC1,Scalar::all(<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>));
Mat testImage = imread(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"a.jpg"</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>);
fisheye::initUndistortRectifyMap(intrinsic_matrix,distortion_coeffs,R,intrinsic_matrix,image_size,CV_32FC1,mapx,mapy);
Mat t = testImage.clone();
cv::remap(testImage,t,mapx, mapy, INTER_LINEAR);
imwrite(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"TestOutput.jpg"</span>,t);
<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">cout</span><<<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"保存结束"</span><<endl;
}
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">return</span> <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;
}</code>
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