OpenCV的Sample分析:相机标定(5)
之前讲了棋盘格标定函数,以及重投影误差的计算方式,现在要讲如何把标定结果输出的代码,
saveCameraParams(s, imageSize, cameraMatrix, distCoeffs, rvecs, tvecs, reprojErrs, imagePoints,
totalAvgErr);
看它的原函数,
static void saveCameraParams( Settings& s, Size& imageSize, Mat& cameraMatrix, Mat& distCoeffs,
const vector<Mat>& rvecs, const vector<Mat>& tvecs,
const vector<float>& reprojErrs, const vector<vector<Point2f> >& imagePoints,
double totalAvgErr )
这些变量的具体意义在之前讲过,这里不做重复。
FileStorage fs( s.outputFileName, FileStorage::WRITE );
time_t tm;
time( &tm );
struct tm *t2 = localtime( &tm );
char buf[1024];
strftime( buf, sizeof(buf), "%c", t2 );
fs << "calibration_time" << buf;
if( !rvecs.empty() || !reprojErrs.empty() )
fs << "nr_of_frames" << (int)std::max(rvecs.size(), reprojErrs.size());
fs << "image_width" << imageSize.width;
fs << "image_height" << imageSize.height;
fs << "board_width" << s.boardSize.width;
fs << "board_height" << s.boardSize.height;
fs << "square_size" << s.squareSize;
建立了一个输出文件,然后把标定的结果一一写上去,不难理解
if (s.flag)
{
std::stringstream flagsStringStream;
if (s.useFisheye)
{
flagsStringStream << "flags:"
<< (s.flag & fisheye::CALIB_FIX_SKEW ? " +fix_skew" : "")
<< (s.flag & fisheye::CALIB_FIX_K1 ? " +fix_k1" : "")
<< (s.flag & fisheye::CALIB_FIX_K2 ? " +fix_k2" : "")
<< (s.flag & fisheye::CALIB_FIX_K3 ? " +fix_k3" : "")
<< (s.flag & fisheye::CALIB_FIX_K4 ? " +fix_k4" : "")
<< (s.flag & fisheye::CALIB_RECOMPUTE_EXTRINSIC ? " +recompute_extrinsic" : "");
}
else
{
flagsStringStream << "flags:"
<< (s.flag & CALIB_USE_INTRINSIC_GUESS ? " +use_intrinsic_guess" : "")
<< (s.flag & CALIB_FIX_ASPECT_RATIO ? " +fix_aspectRatio" : "")
<< (s.flag & CALIB_FIX_PRINCIPAL_POINT ? " +fix_principal_point" : "")
<< (s.flag & CALIB_ZERO_TANGENT_DIST ? " +zero_tangent_dist" : "")
<< (s.flag & CALIB_FIX_K1 ? " +fix_k1" : "")
<< (s.flag & CALIB_FIX_K2 ? " +fix_k2" : "")
<< (s.flag & CALIB_FIX_K3 ? " +fix_k3" : "")
<< (s.flag & CALIB_FIX_K4 ? " +fix_k4" : "")
<< (s.flag & CALIB_FIX_K5 ? " +fix_k5" : "");
}
fs.writeComment(flagsStringStream.str());
}
这里有一个小技巧,就是建立一个stringstream类变量flagsStringStream
fs << "flags" << s.flag;
fs << "fisheye_model" << s.useFisheye;
fs << "camera_matrix" << cameraMatrix;
fs << "distortion_coefficients" << distCoeffs;
fs << "avg_reprojection_error" << totalAvgErr;
if (s.writeExtrinsics && !reprojErrs.empty())
fs << "per_view_reprojection_errors" << Mat(reprojErrs);
if(s.writeExtrinsics && !rvecs.empty() && !tvecs.empty() )
{
CV_Assert(rvecs[0].type() == tvecs[0].type());
Mat bigmat((int)rvecs.size(), 6, CV_MAKETYPE(rvecs[0].type(), 1));
bool needReshapeR = rvecs[0].depth() != 1 ? true : false;
bool needReshapeT = tvecs[0].depth() != 1 ? true : false;
for( size_t i = 0; i < rvecs.size(); i++ )
{
Mat r = bigmat(Range(int(i), int(i+1)), Range(0,3));
Mat t = bigmat(Range(int(i), int(i+1)), Range(3,6));
if(needReshapeR)
rvecs[i].reshape(1, 1).copyTo(r);
else
{
//*.t() is MatExpr (not Mat) so we can use assignment operator
CV_Assert(rvecs[i].rows == 3 && rvecs[i].cols == 1);
r = rvecs[i].t();
}
if(needReshapeT)
tvecs[i].reshape(1, 1).copyTo(t);
else
{
CV_Assert(tvecs[i].rows == 3 && tvecs[i].cols == 1);
t = tvecs[i].t();
}
}
fs.writeComment("a set of 6-tuples (rotation vector + translation vector) for each view");
fs << "extrinsic_parameters" << bigmat;
}
if(s.writePoints && !imagePoints.empty() )
{
Mat imagePtMat((int)imagePoints.size(), (int)imagePoints[0].size(), CV_32FC2);
for( size_t i = 0; i < imagePoints.size(); i++ )
{
Mat r = imagePtMat.row(int(i)).reshape(2, imagePtMat.cols);
Mat imgpti(imagePoints[i]);
imgpti.copyTo(r);
}
fs << "image_points" << imagePtMat;
}
}
输出外参数,以及输出像素点
好了,opencv的sample中的相机标定分析就到这里了。
大致有两点是值得学习的,第一是读入XML文件以及写入XML文件的方法,第二是棋盘格标定中,一些列函数的调用以及最后重投影误差的求解方法。不必做过深的分析(除非是研究的需要),只求用的时候,可以把今天学到的东西用上,这就可以啦。