// opencv_test.cpp : 定義控制檯應用程序的入口點。
//
#include "stdafx.h"
#include <opencv2/opencv.hpp>
#include <highgui.hpp>
#include "cv.h"
#include <cv.hpp>
#include <iostream>
using namespace std;
using namespace cv;
const int imageWidth = 640; //攝像頭的分辨率
const int imageHeight = 480;
const int boardWidth = 9; //橫向的角點數目
const int boardHeight = 6; //縱向的角點數據
const int boardCorner = boardWidth * boardHeight; //總的角點數據
const int frameNumber = 13; //相機標定時需要採用的圖像幀數
const int squareSize = 20; //標定板黑白格子的大小 單位mm
const Size boardSize = Size(boardWidth, boardHeight); //
Mat intrinsic; //相機內參數
Mat distortion_coeff; //相機畸變參數
vector<Mat> rvecs; //旋轉向量
vector<Mat> tvecs; //平移向量
vector<vector<Point2f>> corners; //各個圖像找到的角點的集合 和objRealPoint 一一對應
vector<vector<Point3f>> objRealPoint; //各副圖像的角點的實際物理座標集合
vector<Point2f> corner; //某一副圖像找到的角點
Mat rgbImage, grayImage;
/*計算標定板上模塊的實際物理座標*/
void calRealPoint(vector<vector<Point3f>>& obj, int boardwidth,int boardheight, int imgNumber, int squaresize)
{
// Mat imgpoint(boardheight, boardwidth, CV_32FC3,Scalar(0,0,0));
vector<Point3f> imgpoint;
for (int rowIndex = 0; rowIndex < boardheight; rowIndex++)
{
for (int colIndex = 0; colIndex < boardwidth; colIndex++)
{
// imgpoint.at<Vec3f>(rowIndex, colIndex) = Vec3f(rowIndex * squaresize, colIndex*squaresize, 0);
imgpoint.push_back(Point3f(rowIndex * squaresize, colIndex * squaresize, 0));
}
}
for (int imgIndex = 0; imgIndex < imgNumber; imgIndex++)
{
obj.push_back(imgpoint);
}
}
/*設置相機的初始參數 也可以不估計*/
void guessCameraParam(void )
{
/*分配內存*/
intrinsic.create(3, 3, CV_64FC1);
distortion_coeff.create(5, 1, CV_64FC1);
/*
fx 0 cx
0 fy cy
0 0 1
*/
intrinsic.at<double>(0,0) = 256.8093262; //fx
intrinsic.at<double>(0, 2) = 160.2826538; //cx
intrinsic.at<double>(1, 1) = 254.7511139; //fy
intrinsic.at<double>(1, 2) = 127.6264572; //cy
intrinsic.at<double>(0, 1) = 0;
intrinsic.at<double>(1, 0) = 0;
intrinsic.at<double>(2, 0) = 0;
intrinsic.at<double>(2, 1) = 0;
intrinsic.at<double>(2, 2) = 1;
/*
k1 k2 p1 p2 p3
*/
distortion_coeff.at<double>(0, 0) = -0.193740; //k1
distortion_coeff.at<double>(1, 0) = -0.378588; //k2
distortion_coeff.at<double>(2, 0) = 0.028980; //p1
distortion_coeff.at<double>(3, 0) = 0.008136; //p2
distortion_coeff.at<double>(4, 0) = 0; //p3
}
void outputCameraParam(void )
{
/*保存數據*/
//cvSave("cameraMatrix.xml", &intrinsic);
//cvSave("cameraDistoration.xml", &distortion_coeff);
//cvSave("rotatoVector.xml", &rvecs);
//cvSave("translationVector.xml", &tvecs);
/*輸出數據*/
cout << "fx :" << intrinsic.at<double>(0, 0) << endl << "fy :" << intrinsic.at<double>(1, 1) << endl;
cout << "cx :" << intrinsic.at<double>(0, 2) << endl << "cy :" << intrinsic.at<double>(1, 2) << endl;
cout << "k1 :" << distortion_coeff.at<double>(0, 0) << endl;
cout << "k2 :" << distortion_coeff.at<double>(1, 0) << endl;
cout << "p1 :" << distortion_coeff.at<double>(2, 0) << endl;
cout << "p2 :" << distortion_coeff.at<double>(3, 0) << endl;
cout << "p3 :" << distortion_coeff.at<double>(4, 0) << endl;
}
int _tmain(int argc, _TCHAR* argv[])
{
Mat img;
int goodFrameCount = 0;
namedWindow("chessboard");
cout << "按Q退出 ..." << endl;
while (goodFrameCount < frameNumber)
{
char filename[100];
sprintf_s(filename,"image\\left%02d.jpg", goodFrameCount + 1);
// cout << filename << endl;
rgbImage = imread(filename, CV_LOAD_IMAGE_COLOR);
cvtColor(rgbImage, grayImage, CV_BGR2GRAY);
imshow("Camera", grayImage);
bool isFind = findChessboardCorners(rgbImage, boardSize, corner,0);
if (isFind == true) //所有角點都被找到 說明這幅圖像是可行的
{
/*
Size(5,5) 搜索窗口的一半大小
Size(-1,-1) 死區的一半尺寸
TermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 20, 0.1)迭代終止條件
*/
cornerSubPix(grayImage, corner, Size(5,5), Size(-1, -1), TermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 20, 0.1));
drawChessboardCorners(rgbImage, boardSize, corner, isFind);
imshow("chessboard", rgbImage);
corners.push_back(corner);
//string filename = "res\\image\\calibration";
//filename += goodFrameCount + ".jpg";
//cvSaveImage(filename.c_str(), &IplImage(rgbImage)); //把合格的圖片保存起來
goodFrameCount++;
cout << "The image is good" << endl;
}
else
{
cout << "The image is bad please try again" << endl;
}
// cout << "Press any key to continue..." << endl;
// waitKey(0);
if (waitKey(10) == 'q')
{
break;
}
// imshow("chessboard", rgbImage);
}
/*
圖像採集完畢 接下來開始攝像頭的校正
calibrateCamera()
輸入參數 objectPoints 角點的實際物理座標
imagePoints 角點的圖像座標
imageSize 圖像的大小
輸出參數
cameraMatrix 相機的內參矩陣
distCoeffs 相機的畸變參數
rvecs 旋轉矢量(外參數)
tvecs 平移矢量(外參數)
*/
/*設置實際初始參數 根據calibrateCamera來 如果flag = 0 也可以不進行設置*/
guessCameraParam();
cout << "guess successful" << endl;
/*計算實際的校正點的三維座標*/
calRealPoint(objRealPoint, boardWidth, boardHeight,frameNumber, squareSize);
cout << "cal real successful" << endl;
/*標定攝像頭*/
calibrateCamera(objRealPoint, corners, Size(imageWidth, imageHeight), intrinsic, distortion_coeff, rvecs, tvecs, 0);
cout << "calibration successful" << endl;
/*保存並輸出參數*/
outputCameraParam();
cout << "out successful" << endl;
/*顯示畸變校正效果*/
Mat cImage;
undistort(rgbImage, cImage, intrinsic, distortion_coeff);
imshow("Corret Image", cImage);
cout << "Correct Image" << endl;
cout << "Wait for Key" << endl;
waitKey(0);
system("pause");
return 0;
}
OPENCV3.0 單目攝像頭標定(使用官方自帶的標定圖片)
發表評論
所有評論
還沒有人評論,想成為第一個評論的人麼? 請在上方評論欄輸入並且點擊發布.