5_相机标定_3_calibrateCamera()例子

 // 最小分辨率（560x420像素）

    Size dsize = Size(560, 420);

    Mat shrink;

    resize(img, shrink, dsize, 0, 0, INTER_AREA);

          

    //保存

    stringstream str;

    str << "../opencv_/data/pic/11" <<  ".png";

    imwrite(str.str(), shrink);

 std::vector imagePointBuf;  /* 缓存每幅图像上检测到的角点 */

    std::vector     <std::vector> imagePointSeq; /* 保存检测到的所有角点 */     </std::vector

    int imageCount=0;  /* 图像数量 */

    cv::Size boardSize = cv::Size(7,7);    /* 标定板上每行、列的角点数 */

    cv::Size imageSize;  /* 图像的尺寸 */

          

    for(int i=1; i<12; i++){

        std::string pic("../CalibrateCamera/data/pic/" + std::to_string(i) +".png" );

        cv::Mat imageInput = cv::imread(pic);

          

        //cv::findChessboardCorners(imageInput,boardSize,imagePointBuf);

        bool ret = cv::findCirclesGrid(imageInput,boardSize,imagePointBuf);    

        if(true == ret){

            qDebug() << "findChessboardCorners success " << i;

            imageCount++;

          

            if (1 == imageCount) {

                imageSize.width = imageInput.cols;

                imageSize.height =imageInput.rows;

            }

          

            cv::Mat viewGray;

//            cv::cvtColor(imageInput,viewGray,CV_BGR2GRAY);

            cv::cvtColor(imageInput,viewGray,cv::COLOR_BGR2GRAY);

          

            /* 亚像素精确化 */

            cv::find4QuadCornerSubpix(viewGray,imagePointBuf,cv::Size(7,7)); //对粗提取的角点进行精确化

            imagePointSeq.push_back(imagePointBuf); //保存亚像素角点

          

//            cv::drawChessboardCorners(imageInput, boardSize, imagePointBuf, true);

//            cv::imshow("Camera Calibration",viewGray);//显示图片

        }else{

            qDebug() << "findChessboardCorners failed " << i;

        }

    }

    qDebug() << "角点提取完成！\n";

          

    //以下是摄像机标定

    qDebug() << "开始标定………………";

    /*棋盘三维信息 mm*/

    cv::Size2f squareSize = cv::Size2f(12.5,12.5);  /* 实际测量得到的标定板上每个棋盘格的大小 */    

    std::vector     <std::vector> objectPoints; /* 保存标定板上角点的三维坐标 */     </std::vector

    /*内外参数*/

    cv::Mat cameraMatrix = cv::Mat(3,3,CV_32FC1,cv::Scalar::all(0)); /* 摄像机内参数矩阵 */

    std::vector pointCounts;  // 每幅图像中角点的数量

    cv::Mat distCoeffs = cv::Mat(1,5,CV_32FC1,cv::Scalar::all(0)); /* 摄像机的5个畸变系数：k1,k2,p1,p2,k3 */

    std::vector rotateMat;  /* 每幅图像的旋转向量 */

    std::vector transMat; /* 每幅图像的平移向量 */

          

    int i,j,t;

    for (t=0;t

        std::vector tempPointSet;

        for (i=0;i     <boardSize.height;i++){< span>     </boardSize.height;i++){<>

            for (j=0;j     <boardSize.width;j++){< span>     </boardSize.width;j++){<>

                cv::Point3f realPoint;

                /* 假设标定板放在世界坐标系中z=0的平面上 */

                realPoint.x = i*squareSize.width;

                realPoint.y = j*squareSize.height;

                realPoint.z = 0;

                tempPointSet.push_back(realPoint);

            }

        }

        objectPoints.push_back(tempPointSet);

    }
    /* 初始化每幅图像中的角点数量，假定每幅图像中都可以看到完整的标定板 */

        for (i=0;i     <imageCount;i++){< span>     </imageCount;i++){<>

            pointCounts.push_back(boardSize.width*boardSize.height);

        }

        /* 开始标定 */    

        cv::calibrateCamera(objectPoints, imagePointSeq, imageSize,

                            cameraMatrix, distCoeffs, rotateMat, transMat, 0);

        qDebug() <<"标定完成！\n";