相机标定

相机标定

1、相机模型

相机模型	适用相机范围	标定具体参数	参考论文（代码）
pinhole(针孔相机模型)	FOV<180度	fx,fy,cx,cy	https://docs.opencv.org/4.5.0/d4/d94/tutorial_camera_calibration.html
Kannala-Brandt	鱼眼镜头相机以及常规和广角镜头相机的通用相机模型	六个参数和八个参数的	A Generic Camera Model and Calibration Method for Conventional,Wide-Angle, and Fish-Eye Lenses
mei	单视角全向相机	五个参数	Single View Point Omnidirectional Camera Calibration from Planar Grids
Double Sphere（DS）	鱼眼相机	六个参数	The Double Sphere Camera Modelhttps://vision.in.tum.de/research/vslam/double-sphere
scaramuzza	全向相机		https://sites.google.com/site/scarabotix/ocamcalib-toolbox/ocamcalib-toolbox-download-page
improve_scaramuzza	广角、鱼眼、全向相机		Improved Wide-Angle, Fisheye and Omnidirectional Camera Calibrationhttps://github.com/urbste/ImprovedOcamCalib

2、相机标定评测

相机标定评测主要通过两种办法来评估：定性评估，定量评估。

定量评估：重投影误差，计算时间。

定性评估：校正前的图像与校正后的图像对比。

2.1 内参标定程序解读

intrinsic_calib.cc

#include <algorithm>
#include <boost/algorithm/string.hpp>
#include <boost/filesystem.hpp>
#include <boost/program_options.hpp>
#include <iomanip>
#include <iostream>
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>

#include "camodocal/calib/CameraCalibration.h"
#include "camodocal/chessboard/Chessboard.h"
#include "camodocal/gpl/gpl.h"

int main( int argc, char** argv )
{
    cv::Size boardSize;
    float squareSize;
    std::string inputDir;
    std::string cameraModel;
    std::string cameraName;
    std::string prefix;
    std::string fileExtension;
    bool useOpenCV;
    bool viewResults;
    bool verbose;

    //========= Handling Program options =========
    // print help message
    /***************************生成帮助信息******************************/
    boost::program_options::options_description desc( "Allowed options" );
    desc.add_options( )( "help", "produce help message" )(
    "width,w",
    boost::program_options::value< int >( &boardSize.width )->default_value( 8 ),
    "Number of inner corners on the chessboard pattern in x direction" )(
    "height,h",
    boost::program_options::value< int >( &boardSize.height )->default_value( 12 ),
    "Number of inner corners on the chessboard pattern in y direction" )(
    "size,s",
    boost::program_options::value< float >( &squareSize )->default_value( 7.f ),
    "Size of one square in mm" )( "input,i",
                                  boost::program_options::value< std::string >( &inputDir )->default_value( "calibration_desktop" ),
                                  "Input directory containing chessboard images" )(
    "prefix,p",
    boost::program_options::value< std::string >( &prefix )->default_value( "frame" ),
    "Prefix of images" )( "file-extension,e",
                          boost::program_options::value< std::string >( &fileExtension )->default_value( ".jpg" ),
                          "File extension of images" )(
    "camera-model",
    boost::program_options::value< std::string >( &cameraModel )->default_value( "mei" ),
    "Camera model: kannala-brandt | mei | pinhole" )(
    "camera-name",
    boost::program_options::value< std::string >( &cameraName )->default_value( "camera" ),
    "Name of camera" )( "opencv",
                        boost::program_options::bool_switch( &useOpenCV )->default_value( true ),
                        "Use OpenCV to detect corners" )(
    "view-results",
    boost::program_options::bool_switch( &viewResults )->default_value( false ),
    "View results" )( "verbose,v",
                      boost::program_options::bool_switch( &verbose )->default_value( true ),
                      "Verbose output" );

    boost::program_options::positional_options_description pdesc;
    pdesc.add( "input", 1 );

    boost::program_options::variables_map vm;
    boost::program_options::store( boost::program_options::command_line_parser( argc, argv )
                                   .options( desc )
                                   .positional( pdesc )
                                   .run( ),
                                   vm );
    boost::program_options::notify( vm );
     /***************************生成帮助信息******************************/
    // if open help,then print help message.
    if ( vm.count( "help" ) )
    {
        std::cout << desc << std::endl;
        return 1;
    }
    //check file whether exists
    //检查文件是否存在
    if ( !boost::filesystem::exists( inputDir ) && !boost::filesystem::is_directory( inputDir ) )
    {
        std::cerr << "# ERROR: Cannot find input directory " << inputDir << "." << std::endl;
        return 1;
    }
    //support camera type
    //支持相机模型
    camodocal::Camera::ModelType modelType;
    if ( boost::iequals( cameraModel, "kannala-brandt" ) )
    {
        modelType = camodocal::Camera::KANNALA_BRANDT;
    }
    else if ( boost::iequals( cameraModel, "mei" ) )
    {
        modelType = camodocal::Camera::MEI;
    }
    else if ( boost::iequals( cameraModel, "pinhole" ) )
    {
        modelType = camodocal::Camera::PINHOLE;
    }
    else if ( boost::iequals( cameraModel, "pinhole_full" ) )
    {
        modelType = camodocal::Camera::PINHOLE_FULL;
    }
    else if ( boost::iequals( cameraModel, "scaramuzza" ) )
    {
        modelType = camodocal::Camera::SCARAMUZZA;
    }
    else
    {
        std::cerr << "# ERROR: Unknown camera model: " << cameraModel << std::endl;
        return 1;
    }
/*********************************打印选择的模型*********************************/
    switch ( modelType )
    {
        case camodocal::Camera::KANNALA_BRANDT:
            std::cout << "# INFO: Camera model: Kannala-Brandt" << std::endl;
            break;
        case camodocal::Camera::MEI:
            std::cout << "# INFO: Camera model: Mei" << std::endl;
            break;
        case camodocal::Camera::PINHOLE:
            std::cout << "# INFO: Camera model: Pinhole" << std::endl;
            break;
        case camodocal::Camera::PINHOLE_FULL:
            std::cout << "# INFO: Camera model: PinholeFull" << std::endl;
            break;
        case camodocal::Camera::SCARAMUZZA:
            std::cout << "# INFO: Camera model: Scaramuzza-Omnidirect" << std::endl;
            break;
    }
/*********************************打印选择的模型*********************************/
    // look for images in input directory
    std::vector< std::string > imageFilenames;
    boost::filesystem::directory_iterator itr;
    for ( boost::filesystem::directory_iterator itr( inputDir );
          itr != boost::filesystem::directory_iterator( );
          ++itr )
    {
        //判断文件的状态信息
        if ( !boost::filesystem::is_regular_file( itr->status( ) ) )
        {
            continue;
        }

        std::string filename = itr->path( ).filename( ).string( );

        // check if prefix matches
        if ( !prefix.empty( ) )
        {
            if ( filena