opencv4.0碁盤格標定c++

リファレンスhttps://blog.csdn.net/u011574296/article/details/73823569変更

#include 

#include 
#include 
#include 
#include 

using namespace cv;
using namespace std;

void m_calibration(vector &FilesName, Size board_size, Size square_size, Mat &cameraMatrix, Mat &distCoeffs, vector &rvecsMat, vector &tvecsMat)
{
    ofstream fout("caliberation_result.txt");                       //          

    cout << "      ………………" << endl;
    int image_count = 0;                                            //     
    Size image_size;                                                //      

    vector image_points;                                   //              
    vector> image_points_seq;                       //           

    for (int i = 0; i < FilesName.size(); i++)
    {
        image_count++;

        //         
        cout << "image_count = " << image_count << endl;
        Mat imageInput = imread(FilesName[i]);
        if (image_count == 1)  //                
        {
            image_size.width = imageInput.cols;
            image_size.height = imageInput.rows;
            cout << "image_size.width = " << image_size.width << endl;
            cout << "image_size.height = " << image_size.height << endl;
        }

        /*      */
        bool bRes = findChessboardCorners(imageInput, board_size, image_points, 0);
        if (bRes)
        {
            Mat view_gray;
            cout << "imageInput.channels()=" << imageInput.channels() << endl;
            cvtColor(imageInput, view_gray, cv::COLOR_RGB2GRAY);

            /*        */
            cv::cornerSubPix(view_gray, image_points, cv::Size(11, 11), cv::Size(-1, -1), cv::TermCriteria(TermCriteria::EPS + TermCriteria::COUNT, 30, 0.01));

            image_points_seq.push_back(image_points);  //       

            /*            */
            drawChessboardCorners(view_gray, board_size, image_points, true);

            //imshow("Camera Calibration", view_gray);//    
            //waitKey(100);//  0.1S
        }
        else
        {
            cout << " " << image_count << "         ，    ，    ！" << endl; //     
            imshow("    ", imageInput);
            waitKey(0);
        }
    }
    cout << "      ！！！" << endl;


    /*      */
    vector> object_points_seq;                     //              

    for (int t = 0; t < image_count; t++)
    {
        vector object_points;
        for (int i = 0; i < board_size.height; i++)
        {
            for (int j = 0; j < board_size.width; j++)
            {
                Point3f realPoint;
                /*              z=0     */
                realPoint.x = i * square_size.width;
                realPoint.y = j * square_size.height;
                realPoint.z = 0;
                object_points.push_back(realPoint);
            }
        }
        object_points_seq.push_back(object_points);
    }

    /*        */
    double rms = calibrateCamera(object_points_seq, image_points_seq, image_size, cameraMatrix, distCoeffs, rvecsMat, tvecsMat, cv::CALIB_FIX_K3 + cv::CALIB_ZERO_TANGENT_DIST);
    cout << "RMS：" << rms << "  " << endl << endl;
    cout << "    ！！！" << endl;

    cout << "        ………………";
    double total_err = 0.0;            //             
    double err = 0.0;                  //          
    double totalErr = 0.0;
    double totalPoints = 0.0;
    vector image_points_pro;     //             

    for (int i = 0; i < image_count; i++)
    {
        projectPoints(object_points_seq[i], rvecsMat[i], tvecsMat[i], cameraMatrix, distCoeffs, image_points_pro);   //            ，                  

        err = norm(Mat(image_points_seq[i]), Mat(image_points_pro), NORM_L2);

        totalErr += err * err;
        totalPoints += object_points_seq[i].size();

        err /= object_points_seq[i].size();
        //fout << " " << i + 1 << "        ：" << err << "  " << endl;
        total_err += err;
    }
    fout << "     2：" << sqrt(totalErr / totalPoints) << "  " << endl << endl;
    fout << "     3：" << total_err / image_count << "  " << endl << endl;
    cout << "x = " << cameraMatrix.at(0, 2) << endl;
    cout << "y = " << cameraMatrix.at(1, 2) << endl;

    //      
    // cout << "        ………………" << endl;
    // Mat rotation_matrix = Mat(3, 3, CV_32FC1, Scalar::all(0)); /*             */
    // fout << "       ：" << endl;
    fout << cameraMatrix << endl << endl;
    // fout << "    ：
";
    // fout << distCoeffs << endl << endl << endl;
    // for (int i = 0; i < image_count; i++)
    // {
    //     fout << " " << i + 1 << "        ：" << endl;
    //     fout << rvecsMat[i] << endl;

    //     /*                  */
    //     Rodrigues(rvecsMat[i], rotation_matrix);
    //     fout << " " << i + 1 << "        ：" << endl;
    //     fout << rotation_matrix << endl;
    //     fout << " " << i + 1 << "        ：" << endl;
    //     fout << tvecsMat[i] << endl << endl;
    // }
    cout << "        ！！！" << endl;
    fout << endl;
}

int main()
{
    string File_Directory1 = "./*.jpg";   //     1

    std::vector<:string> filenames;

    // getFilesName(File_Directory1, FileType, FilesName1);   //            
    cv::glob(File_Directory1, filenames);


    Size board_size = Size(11, 8);                         //       、     
    Size square_size = Size(30, 30);                       //                      ，  mm

    Mat cameraMatrix = Mat(3, 3, CV_32FC1, Scalar::all(0));        //         
    Mat distCoeffs = Mat(1, 5, CV_32FC1, Scalar::all(0));          //     5     ：k1,k2,p1,p2,k3
    vector rvecsMat;                                          //            ，             mat
    vector tvecsMat;                                          //            ，             mat

    m_calibration(filenames, board_size, square_size, cameraMatrix, distCoeffs, rvecsMat, tvecsMat);

    //m_undistort(FilesName1, image_size, cameraMatrix, distCoeffs);

    return 0;
}