使用qt 和opencv 进行相机标定

#include "mainwindow.h" #include "mainwindow.h" #include "ui_mainwindow.h" MainWindow::MainWindow(QWidget *parent) : QMainWindow(parent) , ui(new Ui::MainWindow) { ui->setupUi(this); Mat src_img = imread(openFilePath().toStdString().c_str()); // 保存检测到的所有角点 vector<vector<Point2f>> image_points_seq; // 标定板上每行、列的角点数 Size board_size = Size(6, 9); image_points_seq.push_back(getAngle(src_img, board_size)); //保存亚像素角点 // 获取内参 Mat cameraMatrix, distCoeffs; getCameraParameter(src_img, cameraMatrix, distCoeffs, image_points_seq, board_size); // 畸变矫正 correctCamera(src_img, cameraMatrix, distCoeffs); } MainWindow::~MainWindow() { delete ui; } // 函数说明:检测棋盘格的角点，将角点保存下来。 // 输入棋盘格图片，输入图片的行列（-1） // 输出保存角点的vector //**************************************** vector<Point2f> MainWindow::getAngle(Mat &imageInput, Size board_size, bool draw) { // 缓存每幅图像上检测到的角点 vector<Point2f> image_points_buf; /* 提取角点 */ if (0 == findChessboardCorners(imageInput, board_size, image_points_buf)) { cout << "can not find chessboard corners!\n"; //找不到角点 exit(1); } else { Mat view_gray; cvtColor(imageInput, view_gray, COLOR_RGB2GRAY); /* 亚像素精确化 */ //find4QuadCornerSubpix(view_gray, image_points_buf, Size(11, 11)); //对粗提取的角点进行精确化 cornerSubPix(view_gray, image_points_buf, Size(11, 11), Size(-1, -1), TermCriteria(TermCriteria::EPS + TermCriteria::COUNT, 30, 0.01)); if(draw) { /* 在图像上显示角点位置 */ drawChessboardCorners(view_gray, board_size, image_points_buf, true); //用于在图片中标记角点 imshow("Camera Calibration", view_gray); //显示图片 waitKey(500);//暂停0.5S } return image_points_buf; } } // 函数说明: 获取相机参数 // 输入：角点 // 输出：内参数矩阵 5个畸变系数 void MainWindow::getCameraParameter(Mat &imageInput, Mat &cameraMatrix, Mat &distCoeffs, vector<vector<Point2f>> image_points_seq, Size board_size) { // 摄像机内参数矩阵 cameraMatrix = Mat(3, 3, CV_32FC1, Scalar::all(0)); // 摄像机的5个畸变系数：k1,k2,p1,p2,k3 distCoeffs = Mat(1, 5, CV_32FC1, Scalar::all(0)); Size square_size = Size(14.2222, 12); // 保存标定板上角点的三维坐标 vector<vector<Point3f>> object_points; // 每幅图像的旋转向量 vector<Mat> tvecsMat; // 每幅图像的平移向量 vector<Mat> rvecsMat; vector<Point3f> realPoint; for (int i = 0; i < board_size.height; i++) { for (int j = 0; j < board_size.width; j++) { Point3f tempPoint; /* 假设标定板放在世界坐标系中z=0的平面上 */ tempPoint.x = i * square_size.width; tempPoint.y = j * square_size.height; tempPoint.z = 0; realPoint.push_back(tempPoint); } } object_points.push_back(realPoint); printf("#objectPoints： %ld\n", sizeof(object_points[0])); cout << object_points[0] << endl; printf("#image_points： %ld\n", sizeof(image_points_seq[0])); printf("#image size\n"); // calibrateCamera() 求解摄像机的内在参数和外在参数 calibrateCamera(object_points, image_points_seq, imageInput.size(), cameraMatrix, distCoeffs, rvecsMat, tvecsMat, CALIB_FIX_K3); cout << "tvecsMat:\n" << tvecsMat[0] << endl; cout << "rvecsMat:\n" << rvecsMat[0] << endl; cout << "#cameraMatrix:\n" << cameraMatrix << endl; cout << "#distCoeffs:\n" << distCoeffs << endl; } // 函数说明:畸变矫正 // 输入：内参和畸变参数 // 输出： void MainWindow::correctCamera(Mat &imageInput, Mat cameraMatrix, Mat distCoeffs, bool draw) { Mat cb_final; Mat mapx = Mat(imageInput.size(), CV_32FC1); Mat mapy = Mat(imageInput.size(), CV_32FC1); Mat R = Mat::eye(3, 3, CV_32F); // 计算畸变参数 initUndistortRectifyMap(cameraMatrix, distCoeffs, R, Mat(), imageInput.size(), CV_32FC1, mapx, mapy); remap(imageInput, cb_final, mapx, mapy, INTER_LINEAR); undistort(imageInput, cb_final, cameraMatrix, distCoeffs); if(draw) { imshow("Camera finish", cb_final); //显示图片 } } // 函数说明:打开读取路径 QString MainWindow::openFilePath(QString path) { return QFileDialog::getOpenFileName(this, QString("open File"), QString(path), QString("File(*.*)")); }