参考 https://blog.csdn.net/u011574296/article/details/73823569 修改
#include <opencv2/opencv.hpp>
#include <iostream>
#include <fstream>
#include <string>
#include <vector>
using namespace cv;
using namespace std;
void m_calibration(vector<string> &FilesName, Size board_size, Size square_size, Mat &cameraMatrix, Mat &distCoeffs, vector<Mat> &rvecsMat, vector<Mat> &tvecsMat)
{
ofstream fout("caliberation_result.txt"); // 保存标定结果的文件
cout << "开始提取角点………………" << endl;
int image_count = 0; // 图像数量
Size image_size; // 图像的尺寸
vector<Point2f> image_points; // 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
for (int i = 0; i < FilesName.size(); i++)
{
image_count++;
// 用于观察检验输出
cout << "image_count = " << image_count << endl;
Mat imageInput = imread(FilesName[i]);
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 */
bool bRes = findChessboardCorners(imageInput, board_size, image_points, 0);
if (bRes)
{
Mat view_gray;
cout << "imageInput.channels()=" << imageInput.channels() << endl;
cvtColor(imageInput, view_gray, cv::COLOR_RGB2GRAY);
/* 亚像素精确化 */
cv::cornerSubPix(view_gray, image_points, cv::Size(11, 11), cv::Size(-1, -1), cv::TermCriteria(TermCriteria::EPS + TermCriteria::COUNT, 30, 0.01));
image_points_seq.push_back(image_points); //保存亚像素角点
/* 在图像上显示角点位置 */
drawChessboardCorners(view_gray, board_size, image_points, true);
//imshow("Camera Calibration", view_gray);//显示图片
//waitKey(100);//暂停0.1S
}
else
{
cout << "第" << image_count << "张照片提取角点失败,请删除后,重新标定!" << endl; //找不到角点
imshow("失败照片", imageInput);
waitKey(0);
}
}
cout << "角点提取完成!!!" << endl;
/*棋盘三维信息*/
vector<vector<Point3f>> object_points_seq; // 保存标定板上角点的三维坐标
for (int t = 0; t < image_count; t++)
{
vector<Point3f> object_points;
for (int i = 0; i < board_size.height; i++)
{
for (int 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;
object_points.push_back(realPoint);
}
}
object_points_seq.push_back(object_points);
}
/* 运行标定函数 */
double rms = calibrateCamera(object_points_seq, image_points_seq, image_size, cameraMatrix, distCoeffs, rvecsMat, tvecsMat, cv::CALIB_FIX_K3 + cv::CALIB_ZERO_TANGENT_DIST);
cout << "RMS:" << rms << "像素" << endl << endl;
cout << "标定完成!!!" << endl;
cout << "开始评价标定结果………………";
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
double totalErr = 0.0;
double totalPoints = 0.0;
vector<Point2f> image_points_pro; // 保存重新计算得到的投影点
for (int i = 0; i < image_count; i++)
{
projectPoints(object_points_seq[i], rvecsMat[i], tvecsMat[i], cameraMatrix, distCoeffs, image_points_pro); //通过得到的摄像机内外参数,对角点的空间三维坐标进行重新投影计算
err = norm(Mat(image_points_seq[i]), Mat(image_points_pro), NORM_L2);
totalErr += err * err;
totalPoints += object_points_seq[i].size();
err /= object_points_seq[i].size();
//fout << "第" << i + 1 << "幅图像的平均误差:" << err << "像素" << endl;
total_err += err;
}
fout << "重投影误差2:" << sqrt(totalErr / totalPoints) << "像素" << endl << endl;
fout << "重投影误差3:" << total_err / image_count << "像素" << endl << endl;
cout << "x = " << cameraMatrix.at<double>(0, 2) << endl;
cout << "y = " << cameraMatrix.at<double>(1, 2) << endl;
//保存定标结果
// 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 << rvecsMat[i] << endl;
// /* 将旋转向量转换为相对应的旋转矩阵 */
// Rodrigues(rvecsMat[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 << tvecsMat[i] << endl << endl;
// }
cout << "定标结果完成保存!!!" << endl;
fout << endl;
}
int main()
{
string File_Directory1 = "./*.jpg"; //文件夹目录1
std::vector<cv::String> filenames;
// getFilesName(File_Directory1, FileType, FilesName1); // 标定所用图像文件的路径
cv::glob(File_Directory1, filenames);
Size board_size = Size(11, 8); // 标定板上每行、列的角点数
Size square_size = Size(30, 30); // 实际测量得到的标定板上每个棋盘格的物理尺寸,单位mm
Mat cameraMatrix = Mat(3, 3, CV_32FC1, Scalar::all(0)); // 摄像机内参数矩阵
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> rvecsMat; // 存放所有图像的旋转向量,每一副图像的旋转向量为一个mat
vector<Mat> tvecsMat; // 存放所有图像的平移向量,每一副图像的平移向量为一个mat
m_calibration(filenames, board_size, square_size, cameraMatrix, distCoeffs, rvecsMat, tvecsMat);
//m_undistort(FilesName1, image_size, cameraMatrix, distCoeffs);
return 0;
}