opencv的单目摄像机标定

#include <string>#include <iostream>#include <cv.h>#include <highgui.h>#pragma comment(lib, "ml.lib")#pragma comment(lib, "cv.lib")#pragma comment(lib, "cvaux.lib")#pragma comment(lib, "cvcam.lib")#pragma comment(lib, "cxcore.lib")#pragma comment(lib, "cxts.lib")#pragma comment(lib, "highgui.lib")#pragma comment(lib, "cvhaartraining.lib")using namespace std;int main(){int cube_length=7;CvCapture* capture;capture=cvCreateCameraCapture(0);if(capture==0){printf("无法捕获摄像头设备！\n\n");return 0;}else{printf("捕获摄像头设备成功！！\n\n");}IplImage* frame = NULL;cvNamedWindow("摄像机帧截取窗口",1);printf("按“C”键截取当前帧并保存为标定图片...\n按“Q”键退出截取帧过程...\n\n");int number_image=1;char *str1;str1=".jpg";char filename[20]="";while(true){frame=cvQueryFrame(capture);if(!frame)break;cvShowImage("摄像机帧截取窗口",frame);if(cvWaitKey(10)=='c'){sprintf_s (filename,"%d.jpg",number_image);cvSaveImage(filename,frame);cout<<"成功获取当前帧，并以文件名"<<filename<<"保存...\n\n";printf("按“C”键截取当前帧并保存为标定图片...\n按“Q”键退出截取帧过程...\n\n");number_image++;}else if(cvWaitKey(10)=='q'){printf("截取图像帧过程完成...\n\n");cout<<"共成功截取"<<--number_image<<"帧图像！！\n\n";break;}}cvReleaseImage(&frame);cvDestroyWindow("摄像机帧截取窗口");IplImage * show;cvNamedWindow("RePlay",1);int a=1;int number_image_copy = number_image;CvSize board_size=cvSize(7,7);int board_width=board_size.width;int board_height=board_size.height;int total_per_image=board_width*board_height;CvPoint2D32f * image_points_buf = new CvPoint2D32f[total_per_image];CvMat * image_points=cvCreateMat(number_image*total_per_image,2,CV_32FC1);CvMat * object_points=cvCreateMat(number_image*total_per_image,3,CV_32FC1);CvMat * point_counts=cvCreateMat(number_image,1,CV_32SC1);CvMat * intrinsic_matrix=cvCreateMat(3,3,CV_32FC1);CvMat * distortion_coeffs=cvCreateMat(5,1,CV_32FC1);int count;int found;int step;int successes=0;while(a<=number_image_copy){sprintf_s (filename,"%d.jpg",a);show=cvLoadImage(filename,-1);found=cvFindChessboardCorners(show,board_size,image_points_buf,&count,CV_CALIB_CB_ADAPTIVE_THRESH|CV_CALIB_CB_FILTER_QUADS);if(found==0){cout<<"第"<<a<<"帧图片无法找到棋盘格所有角点!\n\n";cvNamedWindow("RePlay",1);cvShowImage("RePlay",show);cvWaitKey(0);}else{cout<<"第"<<a<<"帧图像成功获得"<<count<<"个角点...\n";cvNamedWindow("RePlay",1);IplImage * gray_image= cvCreateImage(cvGetSize(show),8,1);cvCvtColor(show,gray_image,CV_BGR2GRAY);cout<<"获取源图像灰度图过程完成...\n";cvFindCornerSubPix(gray_image,image_points_buf,count,cvSize(11,11),cvSize(-1,-1),cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER,30,0.1));cout<<"灰度图亚像素化过程完成...\n";cvDrawChessboardCorners(show,board_size,image_points_buf,count,found);cout<<"在源图像上绘制角点过程完成...\n\n";cvShowImage("RePlay",show);cvWaitKey(0);}if(total_per_image==count){step=successes*total_per_image;for(int i=step,j=0;j<total_per_image;++i,++j){CV_MAT_ELEM(*image_points,float,i,0)=image_points_buf[j].x;CV_MAT_ELEM(*image_points,float,i,1)=image_points_buf[j].y;CV_MAT_ELEM(*object_points,float,i,0)=(float)(j/cube_length);CV_MAT_ELEM(*object_points,float,i,1)=(float)(j%cube_length);CV_MAT_ELEM(*object_points,float,i,2)=0.0f;}CV_MAT_ELEM(*point_counts,int,successes,0)=total_per_image;successes++;}a++;}cvReleaseImage(&show);cvDestroyWindow("RePlay");cout<<"*********************************************\n";cout<<number_image<<"帧图片中，标定成功的图片为"<<successes<<"帧...\n";cout<<number_image<<"帧图片中，标定失败的图片为"<<number_image-successes<<"帧...\n\n";cout<<"*********************************************\n\n";cout<<"按任意键开始计算摄像机内参数...\n\n";CvCapture* capture1;capture1=cvCreateCameraCapture(0);IplImage * show_colie;show_colie=cvQueryFrame(capture1);CvMat * object_points2=cvCreateMat(successes*total_per_image,3,CV_32FC1);CvMat * image_points2=cvCreateMat(successes*total_per_image,2,CV_32FC1);CvMat * point_counts2=cvCreateMat(successes,1,CV_32SC1);for(int i=0;i<successes*total_per_image;++i){CV_MAT_ELEM(*image_points2,float,i,0)=CV_MAT_ELEM(*image_points,float,i,0);CV_MAT_ELEM(*image_points2,float,i,1)=CV_MAT_ELEM(*image_points,float,i,1);CV_MAT_ELEM(*object_points2,float,i,0)=CV_MAT_ELEM(*object_points,float,i,0);CV_MAT_ELEM(*object_points2,float,i,1)=CV_MAT_ELEM(*object_points,float,i,1);CV_MAT_ELEM(*object_points2,float,i,2)=CV_MAT_ELEM(*object_points,float,i,2);}for(int i=0;i<successes;++i){CV_MAT_ELEM(*point_counts2,int,i,0)=CV_MAT_ELEM(*point_counts,int,i,0);}cvReleaseMat(&object_points);cvReleaseMat(&image_points);cvReleaseMat(&point_counts);CV_MAT_ELEM(*intrinsic_matrix,float,0,0)=1.0f;CV_MAT_ELEM(*intrinsic_matrix,float,1,1)=1.0f;cvCalibrateCamera2(object_points2,image_points2,point_counts2,cvGetSize(show_colie),intrinsic_matrix,distortion_coeffs,NULL,NULL,0);cout<<"摄像机内参数矩阵为：\n";cout<<CV_MAT_ELEM(*intrinsic_matrix,float,0,0)<<"    "<<CV_MAT_ELEM(*intrinsic_matrix,float,0,1)<<"    "<<CV_MAT_ELEM(*intrinsic_matrix,float,0,2)<<"\n\n";cout<<CV_MAT_ELEM(*intrinsic_matrix,float,1,0)<<"    "<<CV_MAT_ELEM(*intrinsic_matrix,float,1,1)<<"    "<<CV_MAT_ELEM(*intrinsic_matrix,float,1,2)<<"\n\n";cout<<CV_MAT_ELEM(*intrinsic_matrix,float,2,0)<<"    "<<CV_MAT_ELEM(*intrinsic_matrix,float,2,1)<<"          "<<CV_MAT_ELEM(*intrinsic_matrix,float,2,2)<<"\n\n";cout<<"畸变系数矩阵为：\n";cout<<CV_MAT_ELEM(*distortion_coeffs,float,0,0)<<"    "<<CV_MAT_ELEM(*distortion_coeffs,float,1,0)<<"    "<<CV_MAT_ELEM(*distortion_coeffs,float,2,0)<<"    "<<CV_MAT_ELEM(*distortion_coeffs,float,3,0)<<"    "<<CV_MAT_ELEM(*distortion_coeffs,float,4,0)<<"\n\n";cvSave("Intrinsics.xml",intrinsic_matrix);cvSave("Distortion.xml",distortion_coeffs);cout<<"摄像机矩阵、畸变系数向量已经分别存储在名为Intrinsics.xml、Distortion.xml文档中\n\n";CvMat * intrinsic=(CvMat *)cvLoad("Intrinsics.xml");CvMat * distortion=(CvMat *)cvLoad("Distortion.xml");IplImage * mapx=cvCreateImage(cvGetSize(show_colie),IPL_DEPTH_32F,1);IplImage * mapy=cvCreateImage(cvGetSize(show_colie),IPL_DEPTH_32F,1);cvInitUndistortMap(intrinsic,distortion,mapx,mapy);cvNamedWindow("原始图像",1);cvNamedWindow("非畸变图像",1);cout<<"按‘E’键退出显示...\n\n";while(show_colie){IplImage * clone=cvCloneImage(show_colie);cvShowImage("原始图像",show_colie);cvRemap(clone,show_colie,mapx,mapy);cvReleaseImage(&clone);cvShowImage("非畸变图像",show_colie);if(cvWaitKey(10)=='e'){break;}show_colie=cvQueryFrame(capture1);}return 0;}

http://blog.csdn.net/augusdi/article/details/11630397

还没测试代码，先mark在这