android opencv 相机标定程序,《学习opencv3.0》第18章相机标定程序18.1详解

// Example 18-1. Reading a chessboard’s width and height, reading and collecting

// the requested number of views, and calibrating the camera

#include

#include

using std::vector;

using std::cout;

using std::cerr;

using std::endl;

void help(char **argv) {  // todo rewrite this

cout << "\n\n"

<< "Example 18-1:\nReading a chessboard’s width and height,\n"

<< "              reading and collecting the requested number of views,\n"

<< "              and calibrating the camera\n\n"

<< "Call:\n" << argv[0] << " \n\n"

<< "Example:\n" << argv[0] << " 9 6 15 500 0.5\n"

<< "-- to use the checkerboard9x6.png provided\n\n"

<< " * First it reads in checker boards and calibrates itself\n"

<< " * Then it saves and reloads the calibration matricies\n"

<< " * Then it creates an undistortion map and finally\n"

<< " * It displays an undistorted image\n"

<< endl;

}

//读取图片

int main(int argc, char *argv[]) {

int n_boards = 0;           // 照片的数量

float image_sf = 1.f;      // 照片缩放比例

float delay = 1.f;

int board_w = 0;            //

int board_h = 0;

if (argc < 4 || argc > 6) {

cout << "\nERROR: Wrong number of input parameters\n";

help(argv);

return -1;

}*/

board_w = atoi(argv[1]);//图像的一些参数，和int main里面的argv[]相对应不需要管

board_h = atoi(argv[2]);

n_boards = atoi(argv[3]);

if (argc > 4) {

delay = atof(argv[4]);

}

if (argc > 5) {

image_sf = atof(argv[5]);

}

int board_n = board_w * board_h;

cv::Size board_sz = cv::Size(board_w, board_h);//board_w表示每行的角点,board_h表示每列的角点

cv::VideoCapture capture(0);

if (!capture.isOpened()) {

cout << "\nCouldn't open the camera\n";

help(argv);

return -1;

}

// ALLOCATE STORAGE

//

vector > image_points;//缓存所有图像上检测到的角点

vector > object_points;//物理世界相对应的三维坐标

// Capture corner views: loop until we've got n_boards successful

// captures (all corners on the board are found).

//

double last_captured_timestamp = 0;

cv::Size image_size;//图像尺寸

while (image_points.size() < (size_t)n_boards) {

cv::Mat image0, image;

capture >> image0;

image_size = image0.size();

cv::resize(image0, image, cv::Size(), image_sf, image_sf, cv::INTER_LINEAR);//image_sf缩放比；cv::INTER_LINEAR插值方式

// Find the board

//

vector<:point2f> corners;

bool found = cv::findChessboardCorners(image, board_sz, corners);//corners表示存储角点位置的数组指针

// Draw it

//

drawChessboardCorners(image, board_sz, corners, found);//found

布尔值

// If we got a good board, add it to our data

//

double timestamp = static_cast(clock()) / CLOCKS_PER_SEC;//运行时间

if (found && timestamp - last_captured_timestamp > 1) {

last_captured_timestamp = timestamp;

image ^= cv::Scalar::all(255);//求异或，相同取0，不同取1，在此进行图像处理

cv::Mat mcorners(corners);

// do not copy the data

mcorners *= (1.0 / image_sf);//缩放角点坐标系

// scale the corner coordinates

image_points.push_back(corners);

object_points.push_back(vector<:point3f>());

vector<:point3f> &opts = object_points.back();//最末尾元素的引用

opts.resize(board_n);

for (int j = 0; j < board_n; j++) {

opts[j] = cv::Point3f(static_cast(j / board_w),

static_cast(j % board_w), 0.0f);

}

cout << "Collected our " << static_cast(image_points.size())

<< " of " << n_boards << " needed chessboard images\n" << endl;

}

cv::imshow("Calibration", image);

// show in color if we did collect the image

if ((cv::waitKey(30) & 255) == 27)

return -1;

}

// END COLLECTION WHILE LOOP.

cv::destroyWindow("Calibration");

cout << "\n\n*** CALIBRATING THE CAMERA...\n" << endl;

// CALIBRATE THE CAMERA!

//开始标定相机

cv::Mat intrinsic_matrix, distortion_coeffs;

double err = cv::calibrateCamera(

object_points, image_points, image_size, intrinsic_matrix,

distortion_coeffs, cv::noArray(), cv::noArray(),

cv::CALIB_ZERO_TANGENT_DIST | cv::CALIB_FIX_PRINCIPAL_POINT);

// SAVE THE INTRINSICS AND DISTORTIONS

//存储相应的数据

cout << " *** DONE!\n\nReprojection error is " << err

<< "\nStoring Intrinsics.xml and Distortions.xml files\n\n";

cv::FileStorage fs("intrinsics.xml", cv::FileStorage::WRITE);

fs << "image_width" << image_size.width << "image_height" << image_size.height

<< "camera_matrix" << intrinsic_matrix << "distortion_coefficients"

<< distortion_coeffs;

fs.release();

// EXAMPLE OF LOADING THESE MATRICES BACK IN:

fs.open("intrinsics.xml", cv::FileStorage::READ);

cout << "\nimage width: " << static_cast(fs["image_width"]);

cout << "\nimage height: " << static_cast(fs["image_height"]);

cv::Mat intrinsic_matrix_loaded, distortion_coeffs_loaded;

fs["camera_matrix"] >> intrinsic_matrix_loaded;

fs["distortion_coefficients"] >> distortion_coeffs_loaded;

cout << "\nintrinsic matrix:" << intrinsic_matrix_loaded;

cout << "\ndistortion coefficients: " << distortion_coeffs_loaded << endl;

// Build the undistort map which we will use for all

// subsequent frames.

//

cv::Mat map1, map2;

cv::initUndistortRectifyMap(intrinsic_matrix_loaded, distortion_coeffs_loaded,

cv::Mat(), intrinsic_matrix_loaded, image_size,

CV_16SC2, map1, map2);

// Just run the camera to the screen, now showing the raw and

// the undistorted image.

//

for (;;) {

cv::Mat image, image0;

capture >> image0;

if (image0.empty()) {

break;

}

cv::remap(image0, image, map1, map2, cv::INTER_LINEAR,

cv::BORDER_CONSTANT, cv::Scalar());

cv::imshow("Undistorted", image);

if ((cv::waitKey(delay) & 255) == 27) {

break;

}

}

system("pause");

return 0;

}