相机标定——基于张正友标定标定法与MFC的单目相机标定
来源：互联网 发布：python递归函数 编辑：程序博客网 时间：2024/04/30 04:47
本次介绍的是基于张正友标定法的基础并结合MFC的界面化操作来实现的单目相机标定。界面如下：
程序实在VS2013+opencv2.4.9平台上编写的，由于这个版本的opencv没有CvvImage类，所以简单提供如下：
#pragma once #ifndef CVVIMAGE_CLASS_DEF #define CVVIMAGE_CLASS_DEF #include "opencv.hpp" /* CvvImage class definition */ class CvvImage { public: CvvImage(); virtual ~CvvImage(); /* Create image (BGR or grayscale) */ virtual bool Create( int width, int height, int bits_per_pixel, int image_origin = 0 ); /* Load image from specified file */ virtual bool Load( const char* filename, int desired_color = 1 ); /* Load rectangle from the file */ virtual bool LoadRect( const char* filename, int desired_color, CvRect r ); #if defined WIN32 || defined _WIN32 virtual bool LoadRect( const char* filename, int desired_color, RECT r ) { return LoadRect( filename, desired_color, cvRect( r.left, r.top, r.right - r.left, r.bottom - r.top )); } #endif /* Save entire image to specified file. */ virtual bool Save( const char* filename ); /* Get copy of input image ROI */ virtual void CopyOf( CvvImage& image, int desired_color = -1 ); virtual void CopyOf( IplImage* img, int desired_color = -1 ); IplImage* GetImage() { return m_img; }; virtual void Destroy(void); /* width and height of ROI */ int Width() { return !m_img ? 0 : !m_img->roi ? m_img->width : m_img->roi->width; }; int Height() { return !m_img ? 0 : !m_img->roi ? m_img->height : m_img->roi->height;}; int Bpp() { return m_img ? (m_img->depth & 255)*m_img->nChannels : 0; }; virtual void Fill( int color ); /* draw to highgui window */ virtual void Show( const char* window ); #if defined WIN32 || defined _WIN32 /* draw part of image to the specified DC */ virtual void Show( HDC dc, int x, int y, int width, int height, int from_x = 0, int from_y = 0 ); /* draw the current image ROI to the specified rectangle of the destination DC */ virtual void DrawToHDC( HDC hDCDst, RECT* pDstRect ); #endif protected: IplImage* m_img; }; typedef CvvImage CImage; #endif #include "StdAfx.h" #include "CvvImage.h" ////////////////////////////////////////////////////////////////////// // Construction/Destruction ////////////////////////////////////////////////////////////////////// CV_INLINE RECT NormalizeRect( RECT r ); CV_INLINE RECT NormalizeRect( RECT r ) { int t; if( r.left > r.right ) { t = r.left; r.left = r.right; r.right = t; } if( r.top > r.bottom ) { t = r.top; r.top = r.bottom; r.bottom = t; } return r; } CV_INLINE CvRect RectToCvRect( RECT sr ); CV_INLINE CvRect RectToCvRect( RECT sr ) { sr = NormalizeRect( sr ); return cvRect( sr.left, sr.top, sr.right - sr.left, sr.bottom - sr.top ); } CV_INLINE RECT CvRectToRect( CvRect sr ); CV_INLINE RECT CvRectToRect( CvRect sr ) { RECT dr; dr.left = sr.x; dr.top = sr.y; dr.right = sr.x + sr.width; dr.bottom = sr.y + sr.height; return dr; } CV_INLINE IplROI RectToROI( RECT r ); CV_INLINE IplROI RectToROI( RECT r ) { IplROI roi; r = NormalizeRect( r ); roi.xOffset = r.left; roi.yOffset = r.top; roi.width = r.right - r.left; roi.height = r.bottom - r.top; roi.coi = 0; return roi; } void FillBitmapInfo( BITMAPINFO* bmi, int width, int height, int bpp, int origin ) { assert( bmi && width >= 0 && height >= 0 && (bpp == 8 || bpp == 24 || bpp == 32)); BITMAPINFOHEADER* bmih = &(bmi->bmiHeader); memset( bmih, 0, sizeof(*bmih)); bmih->biSize = sizeof(BITMAPINFOHEADER); bmih->biWidth = width; bmih->biHeight = origin ? abs(height) : -abs(height); bmih->biPlanes = 1; bmih->biBitCount = (unsigned short)bpp; bmih->biCompression = BI_RGB; if( bpp == 8 ) { RGBQUAD* palette = bmi->bmiColors; int i; for( i = 0; i < 256; i++ ) { palette[i].rgbBlue = palette[i].rgbGreen = palette[i].rgbRed = (BYTE)i; palette[i].rgbReserved = 0; } } } CvvImage::CvvImage() { m_img = 0; } void CvvImage::Destroy() { cvReleaseImage( &m_img ); } CvvImage::~CvvImage() { Destroy(); } bool CvvImage::Create( int w, int h, int bpp, int origin ) { const unsigned max_img_size = 10000; if( (bpp != 8 && bpp != 24 && bpp != 32) || (unsigned)w >= max_img_size || (unsigned)h >= max_img_size || (origin != IPL_ORIGIN_TL && origin != IPL_ORIGIN_BL)) { assert(0); // most probably, it is a programming error return false; } if( !m_img || Bpp() != bpp || m_img->width != w || m_img->height != h ) { if( m_img && m_img->nSize == sizeof(IplImage)) Destroy(); /* prepare IPL header */ m_img = cvCreateImage( cvSize( w, h ), IPL_DEPTH_8U, bpp/8 ); } if( m_img ) m_img->origin = origin == 0 ? IPL_ORIGIN_TL : IPL_ORIGIN_BL; return m_img != 0; } void CvvImage::CopyOf( CvvImage& image, int desired_color ) { IplImage* img = image.GetImage(); if( img ) { CopyOf( img, desired_color ); } } #define HG_IS_IMAGE(img)((img) != 0 && ((const IplImage*)(img))->nSize == sizeof(IplImage) && ((IplImage*)img)->imageData != 0) void CvvImage::CopyOf( IplImage* img, int desired_color ) { if( HG_IS_IMAGE(img) ) { int color = desired_color; CvSize size = cvGetSize( img ); if( color < 0 ) color = img->nChannels > 1; if( Create( size.width, size.height, (!color ? 1 : img->nChannels > 1 ? img->nChannels : 3)*8, img->origin )) { cvConvertImage( img, m_img, 0 ); } } } bool CvvImage::Load( const char* filename, int desired_color ) { IplImage* img = cvLoadImage( filename, desired_color ); if( !img ) return false; CopyOf( img, desired_color ); cvReleaseImage( &img ); return true; } bool CvvImage::LoadRect( const char* filename, int desired_color, CvRect r ) { if( r.width < 0 || r.height < 0 ) return false; IplImage* img = cvLoadImage( filename, desired_color ); if( !img ) return false; if( r.width == 0 || r.height == 0 ) { r.width = img->width; r.height = img->height; r.x = r.y = 0; } if( r.x > img->width || r.y > img->height || r.x + r.width < 0 || r.y + r.height < 0 ) { cvReleaseImage( &img ); return false; } /* truncate r to source image */ if( r.x < 0 ) { r.width += r.x; r.x = 0; } if( r.y < 0 ) { r.height += r.y; r.y = 0; } if( r.x + r.width > img->width ) r.width = img->width - r.x; if( r.y + r.height > img->height ) r.height = img->height - r.y; cvSetImageROI( img, r ); CopyOf( img, desired_color ); cvReleaseImage( &img ); return true; } bool CvvImage::Save( const char* filename ) { if( !m_img ) return false; cvSaveImage( filename, m_img ); return true; } void CvvImage::Show( const char* window ) { if( m_img ) cvShowImage( window, m_img ); } void CvvImage::Show( HDC dc, int x, int y, int w, int h, int from_x, int from_y ) { if( m_img && m_img->depth == IPL_DEPTH_8U ) { uchar buffer[sizeof(BITMAPINFOHEADER) + 1024]; BITMAPINFO* bmi = (BITMAPINFO*)buffer; int bmp_w = m_img->width, bmp_h = m_img->height; FillBitmapInfo( bmi, bmp_w, bmp_h, Bpp(), m_img->origin ); from_x = MIN( MAX( from_x, 0 ), bmp_w - 1 ); from_y = MIN( MAX( from_y, 0 ), bmp_h - 1 ); int sw = MAX( MIN( bmp_w - from_x, w ), 0 ); int sh = MAX( MIN( bmp_h - from_y, h ), 0 ); SetDIBitsToDevice( dc, x, y, sw, sh, from_x, from_y, from_y, sh, m_img->imageData + from_y*m_img->widthStep, bmi, DIB_RGB_COLORS ); } } void CvvImage::DrawToHDC( HDC hDCDst, RECT* pDstRect ) { if( pDstRect && m_img && m_img->depth == IPL_DEPTH_8U && m_img->imageData ) { uchar buffer[sizeof(BITMAPINFOHEADER) + 1024]; BITMAPINFO* bmi = (BITMAPINFO*)buffer; int bmp_w = m_img->width, bmp_h = m_img->height; CvRect roi = cvGetImageROI( m_img ); CvRect dst = RectToCvRect( *pDstRect ); if( roi.width == dst.width && roi.height == dst.height ) { Show( hDCDst, dst.x, dst.y, dst.width, dst.height, roi.x, roi.y ); return; } if( roi.width > dst.width ) { SetStretchBltMode( hDCDst, // handle to device context HALFTONE ); } else { SetStretchBltMode( hDCDst, // handle to device context COLORONCOLOR ); } FillBitmapInfo( bmi, bmp_w, bmp_h, Bpp(), m_img->origin ); ::StretchDIBits( hDCDst, dst.x, dst.y, dst.width, dst.height, roi.x, roi.y, roi.width, roi.height, m_img->imageData, bmi, DIB_RGB_COLORS, SRCCOPY ); } } void CvvImage::Fill( int color ) { cvSet( m_img, cvScalar(color&255,(color>>8)&255,(color>>16)&255,(color>>24)&255) ); } 拍摄图片部分的程序如下：
void CmyCameraCalibrationDlg::OnBnClickedOpen(){ // TODO: 在此添加控件通知处理程序代码 // TODO: 在此添加控件通知处理程序代码 Capture = cvCreateCameraCapture(0); // if (Capture==0) { MessageBox(_T("无法连接摄像头！！！")); return; } frame = cvQueryFrame(Capture); //从摄像头或者文件中抓取并返回一帧 pDC = GetDlgItem(IDC_STATIC_PIC1)->GetDC();//GetDlgItem(IDC_PIC_STATIC)意思为获取显示控件的句柄（句柄就是指针），获取显示控件的DC GetDlgItem(IDC_STATIC_PIC1)->GetClientRect(&rect); hDC = pDC->GetSafeHdc();//获取显示控件的句柄 CvvImage m_CvvImage; m_CvvImage.CopyOf(frame, 1); //复制该帧图像 m_CvvImage.DrawToHDC(hDC, &rect); //显示到设备的矩形框内 ReleaseDC(pDC); SetTimer(1, 25, NULL); //定时器，定时时间和帧率一致 }void CmyCameraCalibrationDlg::OnTimer(UINT_PTR nIDEvent){ // TODO: 在此添加消息处理程序代码和/或调用默认值 pDC = GetDlgItem(IDC_STATIC_PIC1)->GetDC();//GetDlgItem(IDC_PIC_STATIC)意思为获取显示控件的句柄（句柄就是指针），获取显示控件的DC GetDlgItem(IDC_STATIC_PIC1)->GetClientRect(&rect); hDC = pDC->GetSafeHdc();//获取显示控件的句柄 frame = cvQueryFrame(Capture); //从摄像头或者文件中抓取并返回一帧 CvvImage m_CvvImage; m_CvvImage.CopyOf(frame, 1); //复制该帧图像 m_CvvImage.DrawToHDC(hDC, &rect); //显示到设备的矩形框内 CDialogEx::OnTimer(nIDEvent);}void CmyCameraCalibrationDlg::OnBnClickedClose(){ // TODO: 在此添加控件通知处理程序代码 if (!Capture) { MessageBox(_T("没有打开摄像头！！！")); return; } cvReleaseCapture(&Capture);}void CmyCameraCalibrationDlg::OnBnClickedClatch(){ // TODO: 在此添加控件通知处理程序代码 if (!Capture) { MessageBox(_T("没有打开摄像头！！！")); return; } //cvReleaseCapture(&Capture); pDC = GetDlgItem(IDC_STATIC_PIC2)->GetDC();//GetDlgItem(IDC_PIC_STATIC)意思为获取显示控件的句柄（句柄就是指针），获取显示控件的DC GetDlgItem(IDC_STATIC_PIC2)->GetClientRect(&rect); hDC = pDC->GetSafeHdc();//获取显示控件的句柄 //frame = cvLoadImage("D:\\Documents\\Visual Studio 2013\\Projects\\beijing.jpg"); //图片读取路径可以自己设定 frame = cvQueryFrame(Capture); //从摄像头或者文件中抓取并返回一帧 Mat image(frame,true); sprintf_s(name,"%s%d%s", "..\\pic\\",num++,".jpg"); imwrite(name,image); CvvImage m_CvvImage; m_CvvImage.CopyOf(frame, 1); //复制该帧图像 m_CvvImage.DrawToHDC(hDC, &rect); //显示到设备的矩形框内 ReleaseDC(pDC);}相机标定部分利用的是张正友标定法，根据界面上提供的棋盘格宽和高编辑框，可以去自定义自己需要的尺寸，标定程序如下：
void CmyCameraCalibrationDlg::OnBnClickedCalibration(){ // TODO: 在此添加控件通知处理程序代码 // TODO: 在此添加控件通知处理程序代码 UpdateData(true); ifstream fin("calibdata.txt"); ofstream fout("calibresult.txt"); ofstream fout1("chesscorners.txt"); //cout << "=====读取棋盘格图像=====" << endl; //cout << "======提取角点信息======" << endl; m_run += "=====读取棋盘格图像=====\r\n"; m_run += "======提取角点信息======\r\n"; //--------------定义变量------------------- Size image_size; int wid = GetDlgItemInt(IDC_EDIT2); int hei = GetDlgItemInt(IDC_EDIT3); Size board_size = Size(wid,hei); //标定板上每行、列的角点数 vector<Point2f> image_point_buf; //缓存每幅图像上检测到的角点 vector<vector<Point2f>> image_point_seq; //保存检测到的所有角点 string filename; //char name[100]; int image_count = 0; while(getline(fin,filename)) { image_count++; Mat img = imread(filename); if(!img.data){ //cout << "读取图片错误" << endl; MessageBox(_T("读取图片错误")); exit(1); } if(image_count == 1){ //读入第一幅图像时获取图像信息 image_size.width = img.cols; image_size.height = img.rows; //cout << "image_size.width = " << image_size.width << endl; //cout << "image_size.height = " << image_size.height << endl; CString s1,s2; s1.Format(_T("%d\r\n"),image_size.width); s2.Format(_T("%d\r\n"),image_size.height); m_run += "image_size.width = "; m_run += s1; m_run += "image_size.height = "; m_run += s2; } if(0 == findChessboardCorners(img,board_size,image_point_buf)) { //cout << "can not find chessboard corners!\n"; //没找到角点 MessageBox(_T("can not find chessboard corners!")); exit(1); } else { Mat view_gray; cvtColor(img,view_gray,CV_RGB2GRAY); //--------亚像素精确化------------ find4QuadCornerSubpix(view_gray,image_point_buf,Size(5,5)); //保存角点 image_point_seq.push_back(image_point_buf); //在图像上显示角点位置 drawChessboardCorners(view_gray,board_size,image_point_buf,false); //用于在图片中标记角点 pDC = GetDlgItem(IDC_STATIC_PIC3)->GetDC();//GetDlgItem(IDC_PIC_STATIC)意思为获取显示控件的句柄（句柄就是指针），获取显示控件的DC GetDlgItem(IDC_STATIC_PIC3)->GetClientRect(&rect); hDC = pDC->GetSafeHdc();//获取显示控件的句柄 IplImage imgTmp = view_gray; IplImage *input = cvCloneImage(&imgTmp); CvvImage m_CvvImage; m_CvvImage.CopyOf(input, 1); //复制该帧图像 m_CvvImage.DrawToHDC(hDC, &rect); //显示到设备的矩形框内 ReleaseDC(pDC); } } int total = image_point_seq.size(); //cout << "total = " << total << endl; CString s3; s3.Format(_T("%d\r\n"),"total = ",total); m_run += "total = "; m_run += s3; int CornerNum = board_size.width*board_size.height; for(int i = 0;i < total;i++) { fout1 << "--->第" << i+1 << "图片数据 --->" << endl; for(int j = 0;j < CornerNum;j++){ fout1 << "--->第" << j+1 << "个角点的横坐标：" << image_point_seq[i][j].x << endl; fout1 << "--->第" << j+1 << "个角点的纵坐标：" << image_point_seq[i][j].y << endl; fout1 << endl; } fout1 << endl; } //cout << "角点提取完成" << endl; //GetDlgItem(IDC_EDIT1)->SetWindowText(_T("角点提取完成")); m_run += "角点提取完成\r\n"; //---------------------------------------以下是摄像机标定------------------------------------ //cout << "开始标定......." << endl; m_run += "开始标定.......\r\n"; //---------------棋盘三维信息---------------- Size square_size = Size(10,10); //实际测量得到的标定板上每个棋盘格的大小 vector<vector<Point3f>> object_points; //保存标定板上角点的三维坐标 //---------------内外参数-------------------- Mat cameraMatrix = Mat(3,3,CV_32FC1,Scalar::all(0)); //相机内参矩阵 vector<int> point_counts; //每幅图像中角点的数量 Mat distCoeffs = Mat(1,5,CV_32FC1,Scalar::all(0)); //相机的5个畸变系数：k1,k2,p1,p2,k3 vector<Mat> tvecsMat; //每幅图像的旋转向量 vector<Mat> rvecsMat; //每幅图像的平移变量 //---------------初始化标定板上的角点的三维坐标---------------------- int i,j,t; for(t=0;t<image_count;t++) { vector<Point3f> tempPointSet; for(i=0;i<board_size.height;i++) { for(j=0;j<board_size.width;j++){ Point3f realPoint; //假定标定板放在世界坐标系中的z=0的平面上 realPoint.x = i*square_size.width; realPoint.y = j*square_size.height; realPoint.z = 0; tempPointSet.push_back(realPoint); } } object_points.push_back(tempPointSet); } //初始化每幅图像中的角点数量，假定每幅图像都可以看到完整的标定板 for(i=0;i<image_count;i++) point_counts.push_back(board_size.width*board_size.height); //----------------------------------------开始标定------------------------------------------------- calibrateCamera(object_points,image_point_seq,image_size,cameraMatrix,distCoeffs,rvecsMat,tvecsMat,0); //cout << "标定完成" << endl; //Dlg1 += "标定完成\r\n"; //对标定结果进行评价 //cout << "开始评价标定结果......" << endl; m_run += "开始评价标定结果......\r\n"; double total_err = 0.0; //所有图像的平均误差总和 double err = 0.0; //每幅图像的平均误差 vector<Point2f> image_points2; //保存重新计算得到的投影点 //cout << "每幅图像的标定误差：" << endl; //Dlg1 += "每幅图像的标定误差：\r\n"; fout << "每幅图像的标定误差：" << endl; for(i=0;i<image_count;i++) { vector<Point3f> tempPointSet = object_points[i]; //通过得到的摄像机内外参数对空间的三维点进行重新投影计算，得到新的投影点 projectPoints(tempPointSet,rvecsMat[i],tvecsMat[i],cameraMatrix,distCoeffs,image_points2); //计算新旧投影点之间的误差 vector<Point2f> tempImagePoint = image_point_seq[i]; Mat tempImagePointMat = Mat(1,tempImagePoint.size(),CV_32FC2); Mat image_points2Mat = Mat(1,image_points2.size(),CV_32FC2); for(int j = 0;j < tempImagePoint.size();j++) { image_points2Mat.at<Vec2f>(0,j) = Vec2f(image_points2[j].x, image_points2[j].y); tempImagePointMat.at<Vec2f>(0,j) = Vec2f(tempImagePoint[j].x, tempImagePoint[j].y); } err = norm(image_points2Mat, tempImagePointMat, NORM_L2); total_err += err/= point_counts[i]; //std::cout<<"第"<<i+1<<"幅图像的平均误差："<<err<<"像素"<<endl; fout<<"第"<<i+1<<"幅图像的平均误差："<<err<<"像素"<<endl; } //std::cout<<"总体平均误差："<<total_err/image_count<<"像素"<<endl; CString s5; s5.Format(_T("%f"),total_err/image_count); m_run += "总体平均误差："; m_run += s5; m_run += "像素\r\n"; fout<<"总体平均误差："<<total_err/image_count<<"像素"<<endl<<endl; //std::cout<<"评价完成！"<<endl; m_run += "评价完成！\r\n"; //保存标定结果 //std::cout<<"开始保存定标结果………………"<<endl; m_run += "开始保存定标结果………………\r\n"; 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<<tvecsMat[i]<<endl; /* 将旋转向量转换为相对应的旋转矩阵 */ Rodrigues(tvecsMat[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<<rvecsMat[i]<<endl<<endl; } //std::cout<<"完成保存"<<endl; m_run += "完成保存\r\n"; fout<<endl; /************************************************************************ 显示定标结果 *************************************************************************/ Mat mapx = Mat(image_size,CV_32FC1); Mat mapy = Mat(image_size,CV_32FC1); Mat R = Mat::eye(3,3,CV_32F); //std::cout<<"保存矫正图像"<<endl; m_run += "保存矫正图像\r\n"; string imageFileName; std::stringstream StrStm; for (int i = 0 ; i != image_count ; i++) { //std::cout<<"Frame #"<<i+1<<"..."<<endl; initUndistortRectifyMap(cameraMatrix,distCoeffs,R,cameraMatrix,image_size,CV_32FC1,mapx,mapy); StrStm.clear(); imageFileName.clear(); string filePath="..\\pic\\chess"; StrStm<<i+1; StrStm>>imageFileName; filePath+=imageFileName; filePath+=".bmp"; Mat imageSource = imread(filePath); if(!imageSource.data) MessageBox(_T("未读取图像")); Mat newimage = imageSource.clone(); //另一种不需要转换矩阵的方式 //undistortPoints(imageSource,newimage,cameraMatrix,distCoeffs); remap(imageSource,newimage,mapx, mapy, INTER_LINEAR); StrStm.clear(); filePath.clear(); StrStm<<"..\\pic_d\\"; StrStm<<i+1; StrStm>>imageFileName; imageFileName += "_d.jpg"; imwrite(imageFileName,newimage); } //std::cout<<"保存结束"<<endl; m_run += "矫正图像保存完成\r\n"; UpdateData(false);}最后提供下查看矫正过后的图片的程序：
int pic_num = 1;void CmyCameraCalibrationDlg::OnBnClickedNext(){ // TODO: 在此添加控件通知处理程序代码 SetDlgItemText(IDC_NEXT,_T("下一张")); Mat pic_d; if(pic_num > 14) pic_num = 1; else { char str_name[100]; sprintf_s(str_name,"%s%d%s","..\\pic_d\\",pic_num++,"_d.jpg"); pic_d = imread(str_name); if(!pic_d.data) MessageBox(_T("未读取图像")); pDC = GetDlgItem(IDC_STATIC_PIC4)->GetDC();//GetDlgItem(IDC_PIC_STATIC)意思为获取显示控件的句柄（句柄就是指针），获取显示控件的DC GetDlgItem(IDC_STATIC_PIC4)->GetClientRect(&rect); hDC = pDC->GetSafeHdc();//获取显示控件的句柄 IplImage imgTmp = pic_d; IplImage *input = cvCloneImage(&imgTmp); CvvImage m_CvvImage; m_CvvImage.CopyOf(input, 1); //复制该帧图像 m_CvvImage.DrawToHDC(hDC, &rect); //显示到设备的矩形框内 ReleaseDC(pDC); }}下面附上工程代码链接：http://download.csdn.net/download/qq_20127603/10137150
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