广角摄像头畸变校正(1)-标定

1.标定
标定板:标定的最开始阶段最需要的肯定是标定板。两种方法，直接从opencv官网上能下载到：
http://docs.opencv.org/2.4/_downloads/pattern.png
(1)利用Matlab标定工具箱
Matlab2018b -> APP -> Camera Calibration -> Add images -> options -> 2 coefficients -> compute 根据需要决定是否计算错切和桶形畸变 -> Calibrate开始标定 -> Show Undistorted显示校正后棋盘格->Export Camera Parameters导出参数。
(2)C++程序标定

//
// Created by root on 2020/11/3.
//
#include <opencv2/opencv.hpp>
#include <stdio.h>
#include <iostream>

using namespace std;
using namespace cv;

// Defining the dimensions of checkerboard
// 定义棋盘格的尺寸
int CHECKERBOARD[2]{ 6,9 };

int main()
{
    // Creating vector to store vectors of 3D points for each checkerboard image
    // 创建矢量以存储每个棋盘图像的三维点矢量
    std::vector<std::vector<cv::Point3f> > objpoints;

    // Creating vector to store vectors of 2D points for each checkerboard image
    // 创建矢量以存储每个棋盘图像的二维点矢量
    std::vector<std::vector<cv::Point2f> > imgpoints;

    // Defining the world coordinates for 3D points
    // 为三维点定义世界坐标系
    std::vector<cv::Point3f> objp;
    for (int i{ 0 }; i < CHECKERBOARD[1]; i++)
    {
        for (int j{ 0 }; j < CHECKERBOARD[0]; j++)
        {
            objp.push_back(cv::Point3f(j, i, 0));
        }
    }

    // Extracting path of individual image stored in a given directory
    // 提取存储在给定目录中的单个图像的路径
    std::vector<cv::String> images;

    // Path of the folder containing checkerboard images
    // 包含棋盘图像的文件夹的路径
    std::string path = "/home/cynthia/Chen/Code/Downloads/广角摄像头畸变校正/PanoCamera/noanjiao/1102/biaodingC/*.jpg";

    // 使用glob函数读取所有图像的路径
    cv::glob(path, images);

    cv::Mat frame, gray;

    // vector to store the pixel coordinates of detected checker board corners
    // 存储检测到的棋盘转角像素坐标的矢量
    std::vector<cv::Point2f> corner_pts;
    bool success;

    // Looping over all the images in the directory
    // 循环读取图像
    for (int i{ 0 }; i < images.size(); i++)
    {
        frame = cv::imread(images[i]);
        if (frame.empty())
        {
            continue;
        }
        if (i == 40)
        {
            int b = 1;
        }
        cout << "the current image is " << i << "th" << endl;
        cv::cvtColor(frame, gray, cv::COLOR_BGR2GRAY);

        // Finding checker board corners
        // 寻找角点
        // If desired number of corners are found in the image then success = true
        // 如果在图像中找到所需数量的角，则success = true
        // opencv4以下版本，flag参数为CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FAST_CHECK | CV_CALIB_CB_NORMALIZE_IMAGE
        success = cv::findChessboardCorners(gray, cv::Size(CHECKERBOARD[0], CHECKERBOARD[1]), corner_pts, CALIB_CB_ADAPTIVE_THRESH | CALIB_CB_FAST_CHECK | CALIB_CB_NORMALIZE_IMAGE);

        /*
         * If desired number of corner are detected,
         * we refine the pixel coordinates and display
         * them on the images of checker board
        */
        // 如果检测到所需数量的角点，我们将细化像素坐标并将其显示在棋盘图像上
        if (success)
        {
            // 如果是OpenCV4以下版本，第一个参数为CV_TERMCRIT_EPS | CV_TERMCRIT_ITER
            cv::TermCriteria criteria(TermCriteria::EPS | TermCriteria::Type::MAX_ITER, 30, 0.001);

            // refining pixel coordinates for given 2d points.
            // 为给定的二维点细化像素坐标
            cv::cornerSubPix(gray, corner_pts, cv::Size(11, 11), cv::Size(-1, -1), criteria);

            // Displaying the detected corner points on the checker board
            // 在棋盘上显示检测到的角点
            cv::drawChessboardCorners(frame, cv::Size(CHECKERBOARD[0], CHECKERBOARD[1]), corner_pts, success);

            objpoints.push_back(objp);
            imgpoints.push_back(corner_pts);
        }

        //cv::imshow("Image", frame);
        //cv::waitKey(0);
    }

    cv::destroyAllWindows();

    cv::Mat cameraMatrix, distCoeffs, R, T;

    /*
     * Performing camera calibration by
     * passing the value of known 3D points (objpoints)
     * and corresponding pixel coordinates of the
     * detected corners (imgpoints)
    */
    // 通过传递已知3D点（objpoints）的值和检测到的角点（imgpoints）的相应像素坐标来执行相机校准
    cv::calibrateCamera(objpoints, imgpoints, cv::Size(gray.rows, gray.cols), cameraMatrix, distCoeffs, R, T);

    // 内参矩阵
    std::cout << "cameraMatrix : " << cameraMatrix << std::endl;
    // 透镜畸变系数
    std::cout << "distCoeffs : " << distCoeffs << std::endl;
    // rvecs
    std::cout << "Rotation vector : " << R << std::endl;
    // tvecs
    std::cout << "Translation vector : " << T << std::endl;

    return 0;
}