camera calibration 相机标定 opencv3.4 和 matlab 实现及对比

matlab实现

我用的是matlab8.0，apps中没有直接能用的camera calibrator

1. 下载matlab标定工具箱：http://www.vision.caltech.edu/bouguetj/calib_doc/ （工具包下载及介绍和示例教程）
   
   点击download page下载最新的标定工具包。
   
   将解压好的文件放到Matlab安装目录下的toolbox目录下

sudo cp -rf /home/username/下载/TOOLBOX_calib /usr/local/MATLAB/R2013a/toolbox

2. 添加路径
   点击 Set Path - Add Folder - 选择刚刚的TOOLBOX_calib路径 - OK - Save
   

3. 选择current folder，文件夹内要包含要标定的图像。

4. 在matlab command window下，

   calib_gui

   
   选择第一个 standard
   
   按read images
   
   填一下basename和image format
   按 extract grid corners
   设置window size， 默认11×11

   如果，默认的square size 不一样 要提前clear一下:
   clear dX dY
   然后选点的时候就会问你方块大小。
   

   继续extract grid corners
   依次选择四个边缘角点（不是棋盘格的外轮廓，是检测点最外面的四个角点）
   选完了所有的图之后进行5

   中间可能会遇到边缘角点选择不够准确，需要手动输入X、Y方向的方块数（注意是方块数，不是角点数，而且要注意方向）
   

5. 按calibration， 得到标定参数
   
   其他的功能可以自己尝试一下。

opencv3.4实现

opencv有自己的例程，在/home/username/OpenCV3.4.5/opencv/samples/cpp/tutorial_code/calib3d/camera_calibration下，可以参考。官网讲解：http://www.opencv.org.cn/opencvdoc/2.3.2/html/doc/tutorials/calib3d/camera_calibration/camera_calibration.html#cameracalibrationopencv

using namespace std;
using namespace cv;


//inputs:
//      imgVec: input image vector
//      boardSize:square num of each board, h*w
//      squareSize
///
//outputs: calibrate results
//      rvecs
//      tvecs
///
//image plane m(u,v)
//board plane Mi(x,y)
//board 3d Qi(x,y,0,1)

void chessBoardCalib(vector<Mat> &imgVec, Size &boardSize, float &squareSize,
					 vector<Mat> &rvecs, vector<Mat> &tvecs)
{
	vector<vector<Point2f>> mPointsSeq;
	vector<vector<Point3f>> objPointsSeq;
	//board plane corner points in obj coordinate- MiPoints
	//image plane corner points- mPoints
	vector<Point2f> MiPoints, mPoints;
	vector<Point3f> objPoints;
	//vector<Mat> Qi;
	Size imageSize;
	int imgNum = imgVec.size();

	for (int i = 0; i < imgNum; i++)
	{
		Mat src, srcGray;
		src = imgVec[i];

		// deal with the first img
		// get image size
		// generate object points -- corners on board plane
		if (i == 0)
		{
			imageSize = src.size();
			for (int ii = 0; ii < boardSize.height; ii++)
				for (int jj = 0; jj < boardSize.width; jj++)
				{
					//squareSize = 50;
					objPoints.push_back(Point3f(float(jj * squareSize),
								 				float(ii * squareSize), 0));
					MiPoints.push_back(Point2f(float(jj * squareSize),
											   float(ii * squareSize)));
				}
		}
		objPointsSeq.push_back(objPoints);

		//find chessboard corners on image plane
		bool found = findChessboardCorners(src, boardSize, mPoints,
										   CALIB_CB_ADAPTIVE_THRESH | CALIB_CB_FAST_CHECK | CALIB_CB_NORMALIZE_IMAGE);
		if (!found)
		{
			cout << "No." << i << "image failed to find chessboard corners" << endl;
			cout << "Please check and recalibrate..." << endl;
			imshow("failed image", src);
			waitKey(0);
		}
		else
		{
			//subPixel and draw corners
			cvtColor(src, srcGray, COLOR_BGR2GRAY);
			//Size(11, 11),
			cornerSubPix(srcGray, mPoints, Size(11,11),
						 Size(-1, -1), TermCriteria(TermCriteria::EPS + TermCriteria::COUNT, 30, 0.1));
			mPointsSeq.push_back(mPoints);
			drawChessboardCorners(src, boardSize, Mat(mPoints), found);
		}

		// if chessboard not all captured
		if (mPoints.size() != boardSize.width * boardSize.height)
		{
			cerr << "chessboard image is incomplete... " << endl;
			cout << "Please check and recalibrate..." << endl;
			imshow("failed image", src);
			waitKey(0);
		}

		// // show images
		// namedWindow("Image View", WINDOW_NORMAL);
		// imshow("Image View", src);
		// waitKey(0);
	}

	//calibrate
	Mat cameraMatrix = Mat::eye(3, 3, CV_64F);
	Mat distCoeffs = Mat::zeros(5, 1, CV_64F);

	double rms = calibrateCamera(objPointsSeq, mPointsSeq, imageSize, cameraMatrix,
								 distCoeffs, rvecs, tvecs, 0);
	cout << "RMS error reported by calibrateCamera: " << rms << endl;
	// intrinsic matrix: A = cameraMatrix
	cout << "cameraMatrix is " << endl
		 << cameraMatrix << endl
		 << endl;
	cout << "distCoeffs is " << endl
		 << distCoeffs << endl;
	cout << "tvecs[0]" << tvecs[0] << endl;
	
	// // calculate the reproject error, the same with rms
	// vector<Point2f> imagePoints2;
	// double totalError = 0,error;
	// int totalPoints = 0;
	// for (int i=0; i<imgNum; i++){
	//         //Mat Rvec;
	//         //Rodrigues(rvecs[i],Rvec);
	//         projectPoints(objPointsSeq[i],rvecs[i],tvecs[i],cameraMatrix,
	//                 distCoeffs,imagePoints2);
	//         error = norm(mPointsSeq[i],imagePoints2, CV_L2);
	//         int n = objPointsSeq[i].size();
	//         totalPoints += n;
	//         totalError += error*error;
	// }
	// totalError = sqrt(totalError/totalPoints);
	// cout << "totalError is "<< endl <<totalError<<endl;

	
}

对比

放在一起对比一下（上opencv，下matlab）。principal point 对应 cx,cy, 即内参矩阵最后一列的前两个数字。

MATLAB和OpenCV使用基本相同的校准算法。但是，MATLAB使用Levenberg-Marquardt非线性最小二乘算法进行优化（参见文档），而OpenCV使用梯度下降。我猜这可以解释重投影错误的大部分差异。此外，MATLAB和OpenCV使用不同的算法进行棋盘检测。参考：https://stackoverflow.com/questions/24290086/cv-difference-between-matlab-and-opencv-camera-calibration-techniques