注: 程序所用的VS是2015版, OpenCV版本是 3.2.0版 ,其他版本可能有所不同
先贴一下完整的工程代码:
- #include "opencv2/core/core.hpp"
- #include "opencv2/imgproc/imgproc.hpp"
- #include "opencv2/calib3d/calib3d.hpp"
- #include "opencv2/highgui/highgui.hpp"
- #include <iostream>
- #include <fstream>
- using namespace cv;
- using namespace std;
- void main()
- {
- ifstream fin(""E:\\VS2015\\cameracalib\\calibration\\calibration\\calibdata.txt"); /* 标定所用图像文件的路径 */
- ofstream fout(""E:\\VS2015\\cameracalib\\calibration\\calibration\\caliberation_result.txt"); /* 保存标定结果的文件 */
- //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
- cout<<"开始提取角点………………";
- int image_count=0; /* 图像数量 */
- Size image_size; /* 图像的尺寸 */
- Size board_size = Size(6,9); /* 标定板上每行、列的角点数 */
- vector<Point2f> image_points_buf; /* 缓存每幅图像上检测到的角点 */
- vector<vector<Point2f>> image_points_seq; /* 保存检测到的所有角点 */
- string filename;
- int count= -1 ;//用于存储角点个数。
- while (getline(fin,filename))
- {
- image_count++;
- // 用于观察检验输出
- cout<<"image_count = "<<image_count<<endl;
- /* 输出检验*/
- cout<<"-->count = "<<count;
- Mat imageInput=imread("E:\\VS2015\\cameracalib\\calibration\\calibration\\”+filename); //此段一定要用“+”做连接,否则会编译没问题,但就是读取图片不成功,因为filename=“left01.bmp”,并不是filename=left01.bmp,多了“”,会报错
- if (image_count == 1) //读入第一张图片时获取图像宽高信息
- {
- image_size.width = imageInput.cols;
- image_size.height =imageInput.rows;
- cout<<"image_size.width = "<<image_size.width<<endl;
- cout<<"image_size.height = "<<image_size.height<<endl;
- }
- /* 提取角点 */
- if (0 == findChessboardCorners(imageInput,board_size,image_points_buf))
- {
- cout<<"can not find chessboard corners!\n"; //找不到角点
- exit(1);
- }
- else
- {
- Mat view_gray;
- cvtColor(imageInput,view_gray,CV_RGB2GRAY);
- /* 亚像素精确化 */
- find4QuadCornerSubpix(view_gray,image_points_buf,Size(11,11)); //对粗提取的角点进行精确化
- image_points_seq.push_back(image_points_buf); //保存亚像素角点
- /* 在图像上显示角点位置 */
- drawChessboardCorners(view_gray,board_size,image_points_buf,true); //用于在图片中标记角点
- imshow("Camera Calibration",view_gray);//显示图片
- waitKey(500);//暂停0.5S
- }
- }
- int total = image_points_seq.size();
- cout<<"total = "<<total<<endl;
- int CornerNum=board_size.width*board_size.height; //每张图片上总的角点数
- for (int ii=0 ; ii<total ;ii++)
- {
- 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
- {
- int i = -1;
- i = ii/CornerNum;
- int j=i+1;
- cout<<"--> 第 "<<j <<"图片的数据 --> : "<<endl;
- }
- if (0 == ii%3) // 此判断语句,格式化输出,便于控制台查看
- {
- cout<<endl;
- }
- else
- {
- cout.width(10);
- }
- //输出所有的角点
- cout<<" -->"<<image_points_seq[ii][0].x;
- cout<<" -->"<<image_points_seq[ii][0].y;
- }
- cout<<"角点提取完成!\n";
- //以下是摄像机标定
- cout<<"开始标定………………";
- /*棋盘三维信息*/
- Size square_size = Size(10,10); /* 实际测量得到的标定板上每个棋盘格的大小 */
- vector<vector<Point3f>> object_points; /* 保存标定板上角点的三维坐标 */
- /*内外参数*/
- Mat cameraMatrix=Mat(3,3,CV_32FC1,Scalar::all(0)); /* 摄像机内参数矩阵 */
- vector<int> point_counts; // 每幅图像中角点的数量
- Mat distCoeffs=Mat(1,5,CV_32FC1,Scalar::all(0)); /* 摄像机的5个畸变系数:k1,k2,p1,p2,k3 */
- vector<Mat> tvecsMat; /* 每幅图像的旋转向量 */
- vector<Mat> rvecsMat; /* 每幅图像的平移向量 */
- /* 初始化标定板上角点的三维坐标 */
- int i,j,t;
- for (t=0;t<image_count;t++)
- {
- vector<Point3f> tempPointSet;
- for (i=0;i<board_size.height;i++)
- {
- for (j=0;j<board_size.width;j++)
- {
- Point3f realPoint;
- /* 假设标定板放在世界坐标系中z=0的平面上 */
- realPoint.x = i*square_size.width;
- realPoint.y = j*square_size.height;
- realPoint.z = 0;
- tempPointSet.push_back(realPoint);
- }
- }
- object_points.push_back(tempPointSet);
- }
- /* 初始化每幅图像中的角点数量,假定每幅图像中都可以看到完整的标定板 */
- for (i=0;i<image_count;i++)
- {
- point_counts.push_back(board_size.width*board_size.height);
- }
- /* 开始标定 */
- calibrateCamera(object_points,image_points_seq,image_size,cameraMatrix,distCoeffs,rvecsMat,tvecsMat,0);
- cout<<"标定完成!\n";
- //对标定结果进行评价
- cout<<"开始评价标定结果………………\n";
- double total_err = 0.0; /* 所有图像的平均误差的总和 */
- double err = 0.0; /* 每幅图像的平均误差 */
- vector<Point2f> image_points2; /* 保存重新计算得到的投影点 */
- cout<<"\t每幅图像的标定误差:\n";
- fout<<"每幅图像的标定误差:\n";
- for (i=0;i<image_count;i++)
- {
- vector<Point3f> tempPointSet=object_points[i];
- /* 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 */
- projectPoints(tempPointSet,rvecsMat[i],tvecsMat[i],cameraMatrix,distCoeffs,image_points2);
- /* 计算新的投影点和旧的投影点之间的误差*/
- vector<Point2f> tempImagePoint = image_points_seq[i];
- Mat tempImagePointMat = Mat(1,tempImagePoint.size(),CV_32FC2);
- Mat image_points2Mat = Mat(1,image_points2.size(), CV_32FC2);
- for (int j = 0 ; j < tempImagePoint.size(); j++)
- {
- image_points2Mat.at<Vec2f>(0,j) = Vec2f(image_points2[j].x, image_points2[j].y);
- tempImagePointMat.at<Vec2f>(0,j) = Vec2f(tempImagePoint[j].x, tempImagePoint[j].y);
- }
- err = norm(image_points2Mat, tempImagePointMat, NORM_L2);
- total_err += err/= point_counts[i];
- std::cout<<"第"<<i+1<<"幅图像的平均误差:"<<err<<"像素"<<endl;
- fout<<"第"<<i+1<<"幅图像的平均误差:"<<err<<"像素"<<endl;
- }
- std::cout<<"总体平均误差:"<<total_err/image_count<<"像素"<<endl;
- fout<<"总体平均误差:"<<total_err/image_count<<"像素"<<endl<<endl;
- std::cout<<"评价完成!"<<endl;
- //保存定标结果
- std::cout<<"开始保存定标结果………………"<<endl;
- Mat rotation_matrix = Mat(3,3,CV_32FC1, Scalar::all(0)); /* 保存每幅图像的旋转矩阵 */
- fout<<"相机内参数矩阵:"<<endl;
- fout<<cameraMatrix<<endl<<endl;
- fout<<"畸变系数:\n";
- fout<<distCoeffs<<endl<<endl<<endl;
- for (int i=0; i<image_count; i++)
- {
- fout<<"第"<<i+1<<"幅图像的旋转向量:"<<endl;
- fout<<tvecsMat[i]<<endl;
- /* 将旋转向量转换为相对应的旋转矩阵 */
- Rodrigues(tvecsMat[i],rotation_matrix);
- fout<<"第"<<i+1<<"幅图像的旋转矩阵:"<<endl;
- fout<<rotation_matrix<<endl;
- fout<<"第"<<i+1<<"幅图像的平移向量:"<<endl;
- fout<<rvecsMat[i]<<endl<<endl;
- }
- std::cout<<"完成保存"<<endl;
- fout<<endl;
- system("pause");
- return ;
- }
本代码在运行完以后,标定结果也保存下来以后会报错,是堆出现了问题,暂时没有找出来。
运行前需要先准备标定图片和记录标定图片列表的文本文件,并放入程序所在目录下,如下图所示:
(我的文件夹里面既有bmp,又有jpg是当时报错了自己以为是图片格式有问题,所以改了格式,自己做的时候可以只保留一种格式)
文本文件的内容如下:
运行效果图1:
图2:
图3:
图4:
最后在程序所在目录下生成“caliberation_result.txt”文件,记录了标定的误差、相机内外参数信息: