需要把棋盘格打印下来，然后用手机拍，手机拍电脑或者电脑拍手机，很难识别。目前只是了解一下相机标定这个东西。
opencv版本是4.2
#include <iostream>
#include <sstream>
#include <time.h>
#include <stdio.h>
#include <fstream>
#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/highgui/highgui.hpp>
using namespace cv;
using namespace std;
/// <summary>
/// 截屏
/// </summary>
/// <returns></returns>
int jieping() {
VideoCapture inputVideo(0);
if (!inputVideo.isOpened())
{
cout << "Could not open the input video " << endl;
return -1;
}
Mat frame;
string imgname;
int f = 1;
while (1)
{
inputVideo >> frame;
if (frame.empty())
break;
imshow("Camera", frame);
char key = waitKey(1);
if (key == 'q' || key == 'Q') // 退出运行
break;
if (key == 'k' || key == 'K') // 截取图片
{
cout << "frame:" << f << endl;
imgname = to_string(f++) + ".jpg";
imwrite(imgname, frame);
}
}
cout << "Finished writing" << endl;
return 0;
}
void main()
{
ifstream fin("calibdata.txt"); /* 标定所用图像文件的路径 */
ofstream fout("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
int image_count = 0; /* 图像数量 */
Size image_size; /* 图像的尺寸 */
Size board_size = Size(7, 7); /* 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; // 图片名
vector<string> filenames;
while (getline(fin, filename))
{
++image_count;
Mat imageInput = imread(filename);
filenames.push_back(filename);
// 读入第一张图片时获取图片大小
if (image_count == 1)
{
image_size.width = imageInput.cols;
image_size.height = imageInput.rows;
}
/* 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, COLOR_RGB2GRAY); // 转灰度图
/* 亚像素精确化 */
// image_points_buf 初始的角点坐标向量，同时作为亚像素坐标位置的输出
// Size(5,5) 搜索窗口大小
// （-1，-1）表示没有死区
// TermCriteria 角点的迭代过程的终止条件, 可以为迭代次数和角点精度两者的组合
cornerSubPix(view_gray, image_points_buf, Size(5, 5), Size(-1, -1), TermCriteria(TermCriteria::EPS + TermCriteria::COUNT, 30, 0.1));
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, false); // 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 CornerNum = board_size.width * board_size.height; // 每张图片上总的角点数
//-------------以下是摄像机标定------------------
/*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 */
// object_points 世界坐标系中的角点的三维坐标
// image_points_seq 每一个内角点对应的图像坐标点
// image_size 图像的像素尺寸大小
// cameraMatrix 输出，内参矩阵
// distCoeffs 输出，畸变系数
// rvecsMat 输出，旋转向量
// tvecsMat 输出，位移向量
// 0 标定时所采用的算法
calibrateCamera(object_points, image_points_seq, image_size, cameraMatrix, distCoeffs, rvecsMat, tvecsMat, 0);
//------------------------标定完成------------------------------------
// -------------------对标定结果进行评价------------------------------
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 */
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];
fout << "第" << i + 1 << "幅图像的平均误差：" << err << "像素" << endl;
}
fout << "总体平均误差：" << total_err / image_count << "像素" << endl << endl;
//-------------------------评价完成---------------------------------------------
//-----------------------保存定标结果-------------------------------------------
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;
}
fout << endl;
//--------------------标定结果保存结束-------------------------------
//----------------------显示定标结果--------------------------------
Mat mapx = Mat(image_size, CV_32FC1);
Mat mapy = Mat(image_size, CV_32FC1);
Mat R = Mat::eye(3, 3, CV_32F);
string imageFileName;
std::stringstream StrStm;
for (int i = 0; i != image_count; i++)
{
initUndistortRectifyMap(cameraMatrix, distCoeffs, R, cameraMatrix, image_size, CV_32FC1, mapx, mapy);
Mat imageSource = imread(filenames[i]);
Mat newimage = imageSource.clone();
remap(imageSource, newimage, mapx, mapy, INTER_LINEAR);
StrStm.clear();
imageFileName.clear();
StrStm << i + 1;
StrStm >> imageFileName;
imageFileName += "_d.jpg";
imwrite(imageFileName, newimage);
}
fin.close();
fout.close();
return;
}
pnp测距
#include <opencv2/opencv.hpp>
#include <math.h>
using namespace std;
using namespace cv;
int main(int argc, char** argv)
{
Mat image = imread("1.jpg");
// 2D 特征点像素坐标，这里是用PS找出，也可以用鼠标事件画出特征点
vector<Point2d> image_points;
image_points.push_back(Point2d(152, 92));
image_points.push_back(Point2d(426, 94));
image_points.push_back(Point2d(428, 394));
image_points.push_back(Point2d(126, 380));
// 画出四个特征点
for (int i = 0; i < image_points.size(); i++)
{
circle(image, image_points[i], 3, Scalar(0, 0, 255), -1);
}
// 3D 特征点世界坐标，与像素坐标对应，单位是mm
std::vector<Point3d> model_points;
model_points.push_back(Point3d(-42.5f, -42.5f, 0)); // 左上角(-42.5mm,-42.5mm)
model_points.push_back(Point3d(+42.5f, -42.5f, 0));
model_points.push_back(Point3d(+42.5f, +42.5f, 0));
model_points.push_back(Point3d(-42.5f, +42.5f, 0));
// 注意世界坐标和像素坐标要一一对应
// 相机内参矩阵和畸变系数均由相机标定结果得出
// 相机内参矩阵
Mat camera_matrix = (Mat_<double>(3, 3) << 505.1666120558573, 0, 310.1660811401983,
0, 488.6105193422827, 249.9495562500046,
0, 0, 1);
// 相机畸变系数
Mat dist_coeffs = (Mat_<double>(5, 1) << 0.1311093141581356, -0.9654453502019078,
0.001118708198552768, -0.001126801336773416, 2.286059640823912);
cout << "Camera Matrix " << endl << camera_matrix << endl << endl;
// 旋转向量
Mat rotation_vector;
// 平移向量
Mat translation_vector;
// pnp求解
solvePnP(model_points, image_points, camera_matrix, dist_coeffs, \
rotation_vector, translation_vector, 0, TermCriteria::EPS + TermCriteria::COUNT);
// 默认ITERATIVE方法，可尝试修改为EPNP（CV_EPNP）,P3P（CV_P3P）
cout << "Rotation Vector " << endl << rotation_vector << endl << endl;
cout << "Translation Vector" << endl << translation_vector << endl << endl;
Mat Rvec;
Mat_<float> Tvec;
rotation_vector.convertTo(Rvec, CV_32F); // 旋转向量转换格式
translation_vector.convertTo(Tvec, CV_32F); // 平移向量转换格式
Mat_<float> rotMat(3, 3);
Rodrigues(Rvec, rotMat);
// 旋转向量转成旋转矩阵
cout << "rotMat" << endl << rotMat << endl << endl;
Mat P_oc;
P_oc = -rotMat.inv() * Tvec;
// 求解相机的世界坐标，得出p_oc的第三个元素即相机到物体的距离即深度信息，单位是mm
cout << "P_oc" << endl << P_oc << endl;
imshow("Output", image);
waitKey(0);
}
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