映像工作回顧之二：攝像機標定

基於opencv的標定程式，結果儲存到文字檔。

VC6+OpenCV beta 3.1，對話方塊架構。

當時記錄的開發日誌：

感謝上帝，半個下午加一個晚上，完成本標定程式。
建立對話方塊架構，從CalibFilter改作並完善過來。
核心標定函數在ProcessFrame()中。
22:14 2005-4-7

貼兩個函數代碼：

void  CMyCalibrationDlg::ProcessFrame( IplImage* rgb_img, double frame_time ){    bool find_corners = m_initial_params.show_3d_window ||                        m_params.calib_state == CalibState_CalibrationProcess;    bool chess_found = false;     CvSize etalon_size = GetEtalonSize();    int   etalon_points = etalon_size.width * etalon_size.height;    CvSize size;    cvGetImageRawData(rgb_img, 0, 0, &size);CheckReallocBuffers( rgb_img );    CvPoint2D32f* pt_ptr = m_imagePoints + m_params.frames_collected * etalon_points;    if( find_corners )    {          /* Begin of find etalon points */        int count = etalon_points;// + 10;        cvCvtColor( rgb_img, m_gray_img, CV_BGR2GRAY );        /*********************************************************/            //////////////   FIND CHECKERBOARD CORNERS   //////////////            ///////////////////////////////////////////////////////////            chess_found = cvFindChessBoardCornerGuesses( m_gray_img, m_thresh_img, 0,                                                     etalon_size, pt_ptr, &count ) != 0;        if( count != 0 )        {            cvFindCornerSubPix(                 m_gray_img, pt_ptr, count, cvSize(5,5), cvSize(-1,-1),                cvTermCriteria( CV_TERMCRIT_ITER|CV_TERMCRIT_EPS, 10, 0.01f ));        }          DrawEtalon( rgb_img, pt_ptr, count, etalon_size, chess_found );    }    if( m_params.calib_state == CalibState_Calibrated )    {        /* Calibration finished */        if( m_initial_params.show_3d_window && chess_found )        {/* We must show 3D etalon and compute extrinsic parameters */            float  rotVect[3];            //float  Jacobian[27];            /* Collect object points */            FillEtalonObjPoints( m_objectPoints, etalon_size,                                 m_params.etalon_params[2] );MirrorPoints( pt_ptr, 1, etalon_size, size );//採集到棋盤所有角點就算一次此刻對應的外參數            cvFindExtrinsicCameraParams( etalon_points,                                         size,                                         pt_ptr,                                         m_objectPoints,                                         m_camera.focalLength,                                         (CvPoint2D32f&)m_camera.principalPoint,                                         m_camera.distortion,                                         rotVect,//在下面轉到m_camera.rotMatr裡                                         m_camera.transVect );                {                CvMat rmat = cvMat( 3, 3, CV_32FC1, m_camera.rotMatr );                CvMat rvec = cvMat( 3, 1, CV_32FC1, rotVect );                //CvMat jacob = cvMat( 3, 9, CV_32FC1, Jacobian );                /* Calc rotation matrix by via Rodrigues Transform */                cvRodrigues( &rmat, &rvec, 0, CV_RODRIGUES_V2M );            }            Update3DWindow();        }        if( m_initial_params.enable_undistortion )        {            /* Apply undistortion */            if( memcmp( m_camera.matrix, m_undistort_params.matrix, sizeof(m_camera.matrix)) != 0 ||                memcmp( m_camera.distortion, m_undistort_params.distortion, sizeof(m_camera.distortion)) != 0 )            {                memcpy( &m_undistort_params, &m_camera, sizeof(m_camera));                                if( !m_undistort_data || m_undistort_data->width != rgb_img->width ||                    m_undistort_data->height != rgb_img->height )                {                    cvReleaseImage( &m_undistort_data );                }                m_undistort_data = cvCreateImage( cvSize( rgb_img->width, rgb_img->height ),                                                  IPL_DEPTH_32S, 3 );                cvUnDistortInit( rgb_img, m_undistort_data, m_undistort_params.matrix,                                 m_undistort_params.distortion,1 );//,1 for version 5            }            cvUnDistort( rgb_img, m_undist_img, m_undistort_data,1 );            cvCopyImage(m_undist_img, rgb_img);        }    } /* Check if Calibration not finished and the etalon is recognized */    if( m_params.calib_state == CalibState_CalibrationProcess && chess_found &&        frame_time >= m_params.last_frame_time + m_params.frame_interval )    {        m_params.last_frame_time = frame_time;        m_params.frames_collected++;        cvXorS( rgb_img, cvScalarAll( 255 ), rgb_img );        if( m_params.frames_collected == m_params.frames_to_collect )        {            /* all frames are collected. Now will calibrate */            CalculateCameraParams( size );//只調用一次            m_params.calib_state = CalibState_Calibrated;            //SetDirty(TRUE);//qiansen        }/* End calibration */    } /* Else point accumulation */}//全部採集後被調用，只一次，外參數也只是此刻的外參數。void  CMyCalibrationDlg::CalculateCameraParams( CvSize size ){    int frame;    CvSize etalon_size = GetEtalonSize();    int   etalon_points = etalon_size.width * etalon_size.height;        FillEtalonObjPoints( m_objectPoints, etalon_size,                         m_params.etalon_params[2] );        for( frame = 1; frame < m_params.frames_collected; frame++ )    {        memcpy( m_objectPoints + etalon_points*frame, m_objectPoints,                etalon_points * sizeof(m_objectPoints[0]));    }    /* Set etalon points counters */    for( frame = 0; frame < m_params.frames_collected; frame++ )    {        m_numsPoints[frame] = etalon_points;    }    MirrorPoints( m_imagePoints, m_params.frames_collected, etalon_size, size );    /* Calirate camera */    cvCalibrateCamera( m_params.frames_collected, m_numsPoints,                       size, m_imagePoints, m_objectPoints,                       m_camera.distortion, m_camera.matrix,                       (float*)m_transVects, m_rotMatrs, 0 );    /* Copy some camera parameters */    m_camera.focalLength[0] = m_camera.matrix[0];    m_camera.focalLength[1] = m_camera.matrix[4];    m_camera.principalPoint[0] = m_camera.matrix[2];    m_camera.principalPoint[1] = m_camera.matrix[5];//qiansenmemcpy( m_camera.transVect, m_transVects, sizeof( m_transVects ));memcpy( m_camera.rotMatr, m_rotMatrs, sizeof( m_rotMatrs ));}