基于opencv的张正友标定法代码

最新推荐文章于 2024-05-16 05:05:15 发布

小小小代码

最新推荐文章于 2024-05-16 05:05:15 发布

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本文链接：https://blog.csdn.net/weixin_41880360/article/details/131492468

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#include <iostream>
#include <vector>
#include <opencv2/opencv.hpp>

using namespace std;
using namespace cv;

int main()
{
    // 读取标定板图像
    vector<vector<Point3f>> object_points;  // 存储标定板上的三维坐标
    vector<vector<Point2f>> image_points;   // 存储图像上的二维坐标
    Size board_size(6, 9);                  // 标定板角点数
    float square_size = 30.0f;              // 标定板方格大小，单位mm
    Mat image, gray_image;
    vector<Point2f> corners;
    int success_count = 0;
    for (int i = 0; i < 20; i++) {
        string filename = "calibration" + to_string(i) + ".jpg";
        image = imread(filename);
        if (image.empty()) {
            cout << "Failed to read image " << filename << endl;
            continue;
        }
        cvtColor(image, gray_image, COLOR_BGR2GRAY);
        bool found = findChessboardCorners(gray_image, board_size, corners,
                                            CALIB_CB_ADAPTIVE_THRESH | CALIB_CB_NORMALIZE_IMAGE);
        if (found) {
            cornerSubPix(gray_image, corners, Size(11, 11), Size(-1, -1),
                         TermCriteria(TermCriteria::EPS + TermCriteria::MAX_ITER, 30, 0.1));
            drawChessboardCorners(image, board_size, corners, found);
            imshow("Chessboard", image);
            waitKey(100);
            // 生成标定板上的三维坐标
            vector<Point3f> object_corner;
            for (int j = 0; j < board_size.height; j++) {
                for (int k = 0; k < board_size.width; k++) {
                    object_corner.push_back(Point3f(j * square_size, k * square_size, 0));
                }
            }
            object_points.push_back(object_corner);
            image_points.push_back(corners);
            success_count++;
        } else {
            cout << "Failed to find chessboard corners in image " << filename << endl;
        }
    }
    destroyAllWindows();

    // 进行相机标定
    Mat camera_matrix, dist_coeffs;
    vector<Mat> rvecs, tvecs;
    calibrateCamera(object_points, image_points, Size(gray_image.cols, gray_image.rows),
                    camera_matrix, dist_coeffs, rvecs, tvecs);

    // 输出标定结果
    cout << "Camera matrix:" << endl << camera_matrix << endl;
    cout << "Distortion coefficients:" << endl << dist_coeffs << endl;

    return 0;
}