基于QT+OpenCV编写的相机内参标定程序，可使用棋盘格和圆点标定板

#pragma execution_character_set("utf-8") #include "QGuiCalib3d.h" #include "ui_QGuiCalib3d.h" #include "QGuiCalib3d.h" #include <QMessageBox> #include <vector> #include <QDateTime> #include <QDir> #include <QGraphicsScene> #include<QObject> #include<QFileDialog> #include<QDebug> #include<opencv2/calib3d.hpp> #include <fstream> #include <iostream> using namespace cv; using namespace std; QGuiCalib3d::QGuiCalib3d(QWidget *parent) : QWidget(parent), ui(new Ui::QGuiCalib3d) { ui->setupUi(this); m_vcImagePointsSeq.clear(); m_boardSize.width = 9; m_boardSize.height = 6; m_squareSize.width = 10; m_squareSize.height = 10; // 摄像机内参数矩阵 m_cameraMatrix = Mat(3, 3, CV_32FC1, Scalar::all(0)); // 摄像机的5个畸变系数：k1,k2,p1,p2,k3 m_distCoeffs = Mat(1, 5, CV_32FC1, Scalar::all(0)); QString szText; szText.sprintf("%d", m_boardSize.width); ui->lineEditBoardCol->setText(szText); szText.sprintf("%d", m_boardSize.height); ui->lineEditBoardRow->setText(szText); szText.sprintf("%d", m_squareSize.width); ui->lineEditSquareWidth->setText(szText); szText.sprintf("%d", m_squareSize.height); ui->lineEditSquareHeight->setText(szText); ui->lineEditMinThreshold->setText("20"); ui->lineEditMaxThreshold->setText("150"); ui->checkBoxFilterByArea->setCheckState(Qt::Unchecked); ui->lineEditMinArea->setText("10"); ui->lineEditMinArea->hide(); ui->lineEditMaxArea->setText("100"); ui->lineEditMaxArea->hide(); // connect(ui->checkBoxFilterByArea, SIGNAL(stateChanged(int)), // this, SLOT(checkBoxFilterByArea_stateChanged(int))); ui->checkBoxFilterByColor->setCheckState(Qt::Unchecked); ui->lineEditColor->setText("100"); ui->lineEditColor->hide(); // connect(ui->checkBoxFilterByColor, SIGNAL(stateChanged(int)), // this, SLOT(checkBoxFilterByColor_stateChanged(int))); ui->checkBoxFilterByCircularity->setCheckState(Qt::Unchecked); ui->lineEditMinCircularity->setText("0.4"); ui->lineEditMinCircularity->hide(); ui->lineEditMaxCircularity->setText("0.8"); ui->lineEditMaxCircularity->hide(); // connect(ui->checkBoxFilterByCircularity, SIGNAL(stateChanged(int)), this, // SLOT(checkBoxFilterByCircularity_stateChanged(int))); ui->checkBoxFilterByInertia->setCheckState(Qt::Unchecked); ui->lineEditMinInertia->setText("1"); ui->lineEditMinInertia->hide(); ui->lineEditMaxInertia->setText("4"); ui->lineEditMaxInertia->hide(); // connect(ui->checkBoxFilterByInertia, SIGNAL(stateChanged(int)), this, // SLOT(checkBoxFilterByInertia_stateChanged(int))); ui->checkBoxFilterByConvexity->setCheckState(Qt::Checked); ui->lineEditMinConvexity->setText("0.9"); ui->lineEditMaxConvexity->setText("1.1"); // connect(ui->checkBoxFilterByConvexity, SIGNAL(stateChanged(int)), this, // SLOT(checkBoxFilterByConvexity_stateChanged(int))); m_nDetectTimes = 0; szText.sprintf("%d", m_nDetectTimes); ui->lineEditDetectNum->setText(szText); // connect(ui->btnPickCheckerboardCorner, SIGNAL(clicked()), this, SLOT(on_btnPickCheckerboardCorner_clicked())); // connect(ui->btnPickCircleCorner, SIGNAL(clicked()), this, SLOT(btnPickCircleCorner_clicked())); // connect(ui->btnCalcCalibData, SIGNAL(clicked()), this, SLOT(btnCalcCalibData_clicked())); // connect(ui->btnRestoreImage, SIGNAL(clicked()), this, SLOT(btnRestoreImage_clicked())); } QGuiCalib3d::~QGuiCalib3d() { delete ui; } void QGuiCalib3d::recvShowPicSignal(QImage image) { QPixmap ConvertPixmap = QPixmap::fromImage(image);//The QPixmap class is an off-screen image representation that can be used as a paint device QGraphicsScene* qgraphicsScene = new QGraphicsScene;//要用QGraphicsView就必须要有QGraphicsScene搭配着用 m_pImage = new QImageWidgetItem(&ConvertPixmap);//实例化类ImageWidget的对象m_Image，该类继承自QGraphicsItem，是自己写的类 int nwith = ui->graphicsViewCalib->width();//获取界面控件Graphics View的宽度 int nheight = ui->graphicsViewCalib->height();//获取界面控件Graphics View的高度 m_pImage->setQGraphicsViewWH(nwith, nheight);//将界面控件Graphics View的width和height传进类m_Image中 qgraphicsScene->addItem(m_pImage);//将QGraphicsItem类对象放进QGraphicsScene中 ui->graphicsViewCalib->setSceneRect(QRectF(-(nwith / 2), -(nheight / 2), nwith, nheight));//使视窗的大小固定在原始大小，不会随图片的放大而放大（默认状态下图片放大的时候视窗两边会自动出现滚动条，并且视窗内的视野会变大），防止图片放大后重新缩小的时候视窗太大而不方便观察图片 ui->graphicsViewCalib->setScene(qgraphicsScene);//Sets the current scene to scene. If scene is already being viewed, this function does nothing. ui->graphicsViewCalib->setFocus();//将界面的焦点设置到当前Graphics View控件 } void QGuiCalib3d::getMat(Mat Img) { m_srcImage = Img.clone(); } //提取角点 void QGuiCalib3d::on_btnPickCheckerboardCorner_clicked() { int image_count = 0; /* 图像数量 */ Size image_size; /* 图像的尺寸 */ vector<Point2f> image_points_buf; /* 缓存每幅图像上检测到的角点 */ vector<vector<Point2f>> image_points_seq; /* 保存检测到的所有角点 */ /*==========================================================*/ cout<<"files.count(): "<<files.count()<<endl; for(int m=0; m<files.count();m++) { cout<<files[m].toStdString()<<endl; } /*==========================================================*/ for (int m =0;m<files.count();m++) { image_count++; QString fileName = files[m]; cout<<"m0: "<<m<<endl; cout<<"image_count: "<<image_count<<endl; cout<<"fileName: "<<fileName.toStdString()<<endl; cv::Mat imageInput = imread(fileName.toStdString()); // getMat(imageInput); m_srcImage = imageInput.clone(); /************************调试**************************/ if(m==0) cout<<"fileName[0]: "<<fileName.toStdString()<<endl; cout<<"m_srcImage: "<<m_srcImage.size()<<endl; uchar* p = m_srcImage.ptr<uchar>(1); cout<<"m_srcImage.pix: "<<p[m]<<endl; //================================================// // 读入第一张图片时获取图片大小 if(image_count == 1) { image_size.width = m_srcImage.cols; image_size.height = m_srcImage.rows; } /* 提取角点 需要使用findChessboardCorners函数提取角点 */ if (m_srcImage.data) { m_boardSize.width = ui->lineEditBoardCol->text().toInt(); m_boardSize.height = ui->lineEditBoardRow->text().toInt(); cout<<"进入if()Data循环体"<<endl; try { //缓存每幅图像上检测到的角点 vector<Point2f> imageCorner; //OpenCV4.3只需要使用findChessboardCornersSB提取角点即可，精度也提高了 bool bFind = findChessboardCornersSB( m_srcImage, //源棋盘视图。 它必须是8位灰度或彩色图像 m_boardSize, //每个棋盘行和列的内角数 imageCorner,//检测到的角点数据 CALIB_CB_NORMALIZE_IMAGE | CALIB_CB_EXHAUSTIVE | CALIB_CB_ACCURACY);//各种标志位 if (bFind) { cout<<"bFind: "<<bFind<<endl; m_nDetectTimes++; QString szText; szText.sprintf("%d", m_nDetectTimes); ui->lineEditDetectNum->setText(szText);