OpenCV标定相机的测试程序.



供一份可以调试的程序.不知道对不对,也是从网上拼凑,拷贝过来的. 标定的图像好像要求比较苛刻,总是找不到点,将就着用把. main函数直接调用 calibrate_main()就可以了

标定总是找不到点,图像要求很高,可能整个算法只能做测试,不能实际应用了.
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
// OpenCV
#include <cxcore.h>
#include <cv.h>
#include <highgui.h>
#include <cvaux.h>


void InitCorners3D(CvMat *Corners3D, CvSize ChessBoardSize, int NImages, float SquareSize)
{
  int CurrentImage = 0;
  int CurrentRow = 0;
  int CurrentColumn = 0;
  int NPoints = ChessBoardSize.height*ChessBoardSize.width;
  float * temppoints = new float[NImages*NPoints*3];

  // for now, assuming we're row-scanning
  for (CurrentImage = 0 ; CurrentImage < NImages ; CurrentImage++)
  {
    for (CurrentRow = 0; CurrentRow < ChessBoardSize.height; CurrentRow++)
    {
      for (CurrentColumn = 0; CurrentColumn < ChessBoardSize.width; CurrentColumn++)
      {
    temppoints[(CurrentImage*NPoints*3)+(CurrentRow*ChessBoardSize.width + CurrentColumn)*3]=(float)CurrentRow*SquareSize;
    temppoints[(CurrentImage*NPoints*3)+(CurrentRow*ChessBoardSize.width + CurrentColumn)*3+1]=(float)CurrentColumn*SquareSize;
    temppoints[(CurrentImage*NPoints*3)+(CurrentRow*ChessBoardSize.width + CurrentColumn)*3+2]=0.f;
      }
    }
  }
  (*Corners3D) = cvMat(NImages*NPoints,3,CV_32FC1, temppoints);
}



void calibrate_main()
{

        int image_width = 864;
    int image_height = 648;//待标定图片的大小
const int ChessBoardSize_w = 9;
const int ChessBoardSize_h = 9;//图片中可标定的标角数
const CvSize  ChessBoardSize = cvSize(ChessBoardSize_w,ChessBoardSize_h);
const int NPoints = ChessBoardSize_w*ChessBoardSize_h;
const int NImages=15;//待标定的图片数
int corner_count[NImages] = {0};
float    SquareWidth = 20; //棋盘格子的边长，可任意设定，不影响内参数，只影响内参数

CvMat *intrinsics;
CvMat *distortion_coeff;
CvMat *rotation_vectors;
CvMat *translation_vectors;
CvMat *object_points;
CvMat *point_counts;
CvMat *image_points;




IplImage     *current_frame_rgb;
IplImage     *current_frame_gray;
IplImage     *chessBoard_Img;
CvPoint2D32f corners[NPoints*NImages];

chessBoard_Img =cvCreateImage(cvSize(image_width, image_height), IPL_DEPTH_8U, 3);
current_frame_gray = cvCreateImage(cvSize(image_width, image_height), IPL_DEPTH_8U, 1);
current_frame_rgb = cvCreateImage(cvSize(image_width, image_height), IPL_DEPTH_8U, 3);

int captured_frames=0;
for(captured_frames=0;captured_frames<NImages;captured_frames++)
{
  char* filename ="chess_std.bmp";   //说明：我把待标定的图片的名子依次命名为：01.jpg, 02.jpg, 03.jpg, 04.jpg,……
  switch(captured_frames)
  {
    case 0:   filename="mimage\\c01.bmp";  break;
    case 1:   filename="mimage\\c02.bmp";  break;
    case 2:   filename="mimage\\c03.bmp";  break;
    case 3:   filename="mimage\\c04.bmp";  break;
    case 4:   filename="mimage\\c05.bmp";  break;
    case 5:   filename="mimage\\c06.bmp";  break;
    case 6:   filename="mimage\\c07.bmp";  break;
    case 7:   filename="mimage\\c08.bmp";  break;
    case 8:   filename="mimage\\c09.bmp";  break;
    case 9:   filename="mimage\\c10.bmp";  break;
    case 10:  filename="mimage\\c11.bmp";  break;
    case 11:  filename="mimage\\c12.bmp";  break;
    case 12:  filename="mimage\\c13.bmp";  break;
    case 13:  filename="mimage\\c14.bmp";  break;
    case 14:  filename="mimage\\c15.bmp";  break;
    case 15:  filename="mimage\\c16.bmp";  break;
    case 16:  filename="mimage\\c17.bmp";  break;   
  
  }


  chessBoard_Img=cvLoadImage( filename, CV_LOAD_IMAGE_COLOR );
  cvCvtColor(chessBoard_Img, current_frame_gray, CV_BGR2GRAY);
  cvCopy(chessBoard_Img,current_frame_rgb);

  int find_corners_result;
  find_corners_result = cvFindChessboardCorners(current_frame_gray,    ChessBoardSize,   &corners[captured_frames*NPoints],
                                          &corner_count[captured_frames],
                                          CV_CALIB_CB_ADAPTIVE_THRESH );



  cvFindCornerSubPix( current_frame_gray,
       &corners[captured_frames*NPoints],
       NPoints, cvSize(2,2),cvSize(-1,-1),
       cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03) );
  cvDrawChessboardCorners(current_frame_rgb, ChessBoardSize,
        &corners[captured_frames*NPoints],
        NPoints,
        find_corners_result);

// cvNamedWindow( "Window 0", 0);
  cvNamedWindow( "result", 0);
  //cvShowImage("Window 0",chessBoard_Img);
  cvShowImage("result",current_frame_rgb);
  cvWaitKey(50000);
}

  intrinsics         = cvCreateMat(3,3,CV_32FC1);
  distortion_coeff     = cvCreateMat(1,4,CV_32FC1);
  rotation_vectors     = cvCreateMat(NImages,3,CV_32FC1);
  translation_vectors     = cvCreateMat(NImages,3,CV_32FC1);
  point_counts         = cvCreateMat(NImages,1,CV_32SC1);
  object_points     = cvCreateMat(NImages*NPoints,3,CV_32FC1);
  image_points         = cvCreateMat(NImages*NPoints,2,CV_32FC1);

  InitCorners3D(object_points, ChessBoardSize, NImages, SquareWidth);
  cvSetData( image_points, corners, sizeof(CvPoint2D32f));
  cvSetData( point_counts, &corner_count, sizeof(int));

  cvCalibrateCamera2( object_points,
    image_points,
    point_counts,
    cvSize(image_width,image_height),
    intrinsics,
    distortion_coeff,
    rotation_vectors,
    translation_vectors,
    0);

  float intr[3][3] = {0.0};
        float dist[4] = {0.0};
        float tranv[3] = {0.0};
        float rotv[3] = {0.0};

        for ( int i = 0; i < 3; i++)
        {
            for ( int j = 0; j < 3; j++)
            {
                intr

[j] = ((float*)(intrinsics->data.ptr + intrinsics->step*i))[j];
            }
            dist

= ((float*)(distortion_coeff->data.ptr))

;
            tranv

= ((float*)(translation_vectors->data.ptr))

;
            rotv

= ((float*)(rotation_vectors->data.ptr))

;
        }
        dist[3] = ((float*)(distortion_coeff->data.ptr))[3];

        printf("----------------------------------------\r\n ");
        printf("INTRINSIC MATRIX:  \r\n ");
        printf("[ %6.4f %6.4f %6.4f ]  \r\n ", intr[0][0], intr[0][1], intr[0][2]);
        printf("[ %6.4f %6.4f %6.4f ]  \r\n ", intr[1][0], intr[1][1], intr[1][2]);
        printf("[ %6.4f %6.4f %6.4f ] \r\n ", intr[2][0], intr[2][1], intr[2][2]);
        printf("----------------------------------------- \r\n ");
        printf("DISTORTION VECTOR:  \r\n ");
        printf("[ %6.4f %6.4f %6.4f %6.4f ]  \r\n ", dist[0], dist[1], dist[2], dist[3]);
        printf("----------------------------------------- \r\n ");
        printf("ROTATION VECTOR:  \r\n ");
        printf("[ %6.4f %6.4f %6.4f ]  \r\n ", rotv[0], rotv[1], rotv[2]);
        printf("TRANSLATION VECTOR:  \r\n ");
        printf("[ %6.4f %6.4f %6.4f ]  \r\n ", tranv[0], tranv[1], tranv[2]);
        printf("----------------------------------------- \r\n ");
  
  cvReleaseMat(&intrinsics);      
  cvReleaseMat(&distortion_coeff);
  cvReleaseMat(&rotation_vectors);
  cvReleaseMat(&translation_vectors);   
  cvReleaseMat(&point_counts);
  cvReleaseMat(&object_points);
  cvReleaseMat(&image_points);
  cvDestroyAllWindows();
}