opencv单目摄像机标定

#include <cv.h>

#include <highgui.h>

#include <iostream>

#include <stdio.h>

#include <stdlib.h>

using namespace std;

 int n_boards=;//图像数目

 const int board_dt=;//等20帧每棋盘视图 //int sn_board=0;//成功找到角点的图像数目

 int board_w;//图像的角点行列数   canshu

 int board_h; //canshu

int main(int argc ,char * argv[])

{

 /*读入图像*/

board_w=;      //canshu

board_h=;      //canshu

n_boards=;     //canshu

int board_n=board_h*board_w;//每幅图像的角点数

CvSize board_size=cvSize(board_w,board_h);//每幅图像的角点数

CvCapture*capture;

capture=cvCreateCameraCapture();

//assert(capture);              

if(!capture) { printf("\nCouldn't open the camera\n"); return -;}

cvNamedWindow("MyCalib");

cvNamedWindow("Raw Video");

 //allocate storage

 CvMat*object_points     = cvCreateMat(board_n*n_boards,,CV_32FC1);

 CvMat*image_points      =cvCreateMat(board_n*n_boards,,CV_32FC1);

 CvMat*point_counts      =cvCreateMat(n_boards,,CV_32SC1);

 CvMat * camera_matrix   =cvCreateMat(,,CV_32FC1);//摄像机矩阵（内参数矩阵）

 CvMat * distortion_coeffs=cvCreateMat(,,CV_32FC1);//畸变系数

 CvPoint2D32f*corners=new CvPoint2D32f[board_n];//一幅图像的角点数组

 int corner_count;

 int successes=;     //   本文 successes就是 sn_board

 int step,frame=;    

 IplImage*image=cvQueryFrame(capture);

 IplImage *gray_image=cvCreateImage(cvGetSize(image),,);//创建头并分配数据

 //亚像素subpixel

 //capture corner views  loop  until  we've got n_boards

 //成功捕获（找到所有角点on the board）

 while (successes<n_boards)

 {   //skip every board_dt frames to allow user to move chessboard

    if(frame++%board_dt==)

    {

        int found=cvFindChessboardCorners(image,board_size,corners,&corner_count,CV_CALIB_CB_ADAPTIVE_THRESH|CV_CALIB_CB_FILTER_QUADS);

        //精确到亚像素,绘制棋盘角点

        cvCvtColor(image,gray_image,CV_BGR2GRAY);

        cvFindCornerSubPix(gray_image,corners,corner_count,cvSize(,),cvSize(-,-),cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER,,0.1));

        cvDrawChessboardCorners(image,board_size,corners,corner_count,found);

        //cvShowImage("MyCalib",image);

        //如果得到一个好板，则把把它加入到我们的数据中

        if(corner_count==board_n){   //xin

             cvShowImage( "Calibration", image ); //show in color if we did collect the image

            step=successes*board_n;   //xin

            for(int i=step,j=;j<board_n;++i,++j){

                CV_MAT_ELEM(*image_points,float,i,)  =corners[j].x;//CV_MAT_ELEM用来访问矩阵每个元素的宏，这个宏只对单通道矩阵有效，多通道会报错

                CV_MAT_ELEM(*image_points,float,i,)  =corners[j].y;//(要访问的矩阵，矩阵元素的类型，所要访问元素的行数，列数)

                                         //上两句是将检测到的点以坐标形式存储

                CV_MAT_ELEM(*object_points,float,i,) =float(j/board_w);

                CV_MAT_ELEM(*object_points,float,i,) =float(j%board_w);

                                        //上两句是将检测到的点的数目，以行列形式存储

                CV_MAT_ELEM(*object_points,float,i,) =0.0f;

            }

             CV_MAT_ELEM(*point_counts,int,successes,)=board_n;

             successes++;

             printf("Collected our %d of %d needed chessboard images\n",successes,n_boards);

       }

       else

         cvShowImage( "Calibration", gray_image );//Show Gray if we didn't collect the image

      }//end skip board_dt between chessboard capture

    //暂停模块

     int c = cvWaitKey();

     if(c == 'p'){

       c = ;

       while(c != 'p' && c != ){

            c = cvWaitKey();

       }

     }

     if(c == )

        return ;

    image = cvQueryFrame( capture ); //Get next image

    cvShowImage("Raw Video", image);

  } //END COLLECTION WHILE LOOP.

   cvDestroyWindow("Calibration");

    printf("\n\n*** CALLIBRATING THE CAMERA...");

     //重新赋值，又重新分配了矩阵空间

  CvMat * object_points0= cvCreateMat(board_n*successes,,CV_32FC1);

  CvMat * image_points0=cvCreateMat(board_n*successes,,CV_32FC1);

  CvMat * point_counts0=cvCreateMat(successes,,CV_32SC1);

  //transfer THE points INTO THE correct size matrices

   for (int i=;i<successes*board_n;i++)//board_n为每幅图像的角点数*sn_board为成功找到角点的图像数目

    {

    CV_MAT_ELEM(*image_points0,float,i,)=CV_MAT_ELEM(*image_points,float,i,);

    CV_MAT_ELEM(*image_points0,float,i,)=CV_MAT_ELEM(*image_points,float,i,);

    CV_MAT_ELEM(*object_points0,float,i,)=CV_MAT_ELEM(*object_points,float,i,);

    CV_MAT_ELEM(*object_points0,float,i,)=CV_MAT_ELEM(*object_points,float,i,);

    CV_MAT_ELEM(*object_points0,float,i,)=0.0f;

    }

  for (int i=;i<successes;i++)

   {

    CV_MAT_ELEM(*point_counts0,int,i,)=CV_MAT_ELEM(*point_counts,int,i,);

   }

   cvReleaseMat(&object_points);//世界坐标点

   cvReleaseMat(&point_counts); //每张图像中的角点数

   cvReleaseMat(&image_points); //图像坐标点

   //使用cvReleaseMat函数之后，系统将释放刚才载入矩阵的内存空间（也即这个矩阵已经不在内存中了）

   // At this point we have all of the chessboard corners we need

   // Initialize the intrinsic matrix such that the two focal

  // lengths have a ratio of 1.0

    CV_MAT_ELEM( *camera_matrix, float, ,  ) = 1.0f;

    CV_MAT_ELEM( *camera_matrix, float, ,  ) = 1.0f;

  //CALIBRATE THE CAMERA!

  cvCalibrateCamera2(

      object_points0, image_points0,

      point_counts0,  cvGetSize( image ),

      camera_matrix, distortion_coeffs,

      NULL, NULL,  //CV_CALIB_FIX_ASPECT_RATIO

  );

   // SAVE THE INTRINSICS AND DISTORTIONS     xin

   printf("......保存内部参数与畸变参数\n");

   cvSave("camera_matrix1111.xml",camera_matrix);

   cvSave("distortion_coeffs.xml",distortion_coeffs);

   // EXAMPLE OF LOADING THESE MATRICES BACK IN:      xin

  CvMat *intrinsic = (CvMat*)cvLoad("Intrinsics.xml");

  CvMat *distortion = (CvMat*)cvLoad("Distortion.xml");

  // Build the undistort map which we will use for all

  // subsequent frames.建立不失真的图map

  //

  IplImage* mapx = cvCreateImage( cvGetSize(image), IPL_DEPTH_32F,  );

  IplImage* mapy = cvCreateImage( cvGetSize(image), IPL_DEPTH_32F,  );

  cvInitUndistortMap(intrinsic,distortion,mapx, mapy);

  // Just run the camera to the screen, now showing the raw and

  // the undistorted image.

  //

  cvNamedWindow( "Undistort" );

  while(image) {

    IplImage *t = cvCloneImage(image);

    cvShowImage( "Raw Video", image ); // Show raw image

    cvRemap( t, image, mapx, mapy );     // Undistort image

    cvReleaseImage(&t);

    cvShowImage("Undistort", image);     // Show corrected image

  //Handle pause/unpause and ESC

    int c = cvWaitKey();

    if(c == 'p'){

       c = ;

       while(c != 'p' && c != ){

            c = cvWaitKey();

       }

    }

     if(c == )

        break;

    image = cvQueryFrame( capture );

  }

  return ;

}

opencv单目摄像机标定的相关教程结束。