opencv標定程式

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資源下載見：http://download.csdn.net/detail/zhouyelihua/7726907

   在Vs2012中只要直接按f5就可以直接對資源中採集的映像進行標定。

而我們將最後的結果以.xml的形式儲存下來。這個在工程檔案下可以直接找到的

其中外參數，中旋轉矩陣存在rotation.xml

                           位移向量存在translation.xml

      內參數：內部矩陣存在Intrinsics.xml

                      畸變係數存在Distortion.xml

具體程式如下：（改自於<learning opencv>）

#include <cv.h>#include <highgui.h>#include <stdio.h>#include <stdlib.h>int n_boards = 0; //Will be set by input listconst int board_dt = 10;int board_w;int board_h;void help(){printf("Calibration from disk. Call convention:\n\n""  ch11_ex11_1_fromdisk board_w board_h image_list\n\n""Where: board_{w,h} are the # of internal corners in the checkerboard\n""       width (board_w) and height (board_h)\n""       image_list is space separated list of path/filename of checkerboard\n""       images\n\n""Hit 'p' to pause/unpause, ESC to quit.  After calibration, press any other key to step through the images\n\n");}int main() {CvCapture* capture;board_w =12;board_h = 12;int board_n  = board_w * board_h;CvSize board_sz = cvSize( board_w, board_h );FILE *fptr = fopen("..\\ConsoleApplication26\\sb.txt","r");char names[2048];//COUNT THE NUMBER OF IMAGES:while(fscanf(fptr,"%s ",names)==1){n_boards++;}rewind(fptr);cvNamedWindow( "Calibration" );//ALLOCATE STORAGECvMat* image_points      = cvCreateMat(n_boards*board_n,2,CV_32FC1);CvMat* object_points     = cvCreateMat(n_boards*board_n,3,CV_32FC1);CvMat* point_counts      = cvCreateMat(n_boards,1,CV_32SC1);CvMat* rotation  = cvCreateMat(3,1,CV_32FC1);CvMat* translation_vector  = cvCreateMat(3,1,CV_32FC1);CvMat* rotation_mat_final  = cvCreateMat(3,3,CV_32FC1);CvMat* intrinsic_matrix  = cvCreateMat(3,3,CV_32FC1);CvMat* distortion_coeffs = cvCreateMat(4,1,CV_32FC1);IplImage* image = 0;// = cvQueryFrame( capture );IplImage* gray_image = 0; //for subpixelCvPoint2D32f* corners = new CvPoint2D32f[ board_n ];int corner_count;int successes = 0;int step;for( int frame=0; frame<n_boards; frame++ ) {fscanf(fptr,"%s ",names);if(image){cvReleaseImage(&image);image = 0;}image = cvLoadImage( names);if(gray_image == 0  && image) //We'll need this for subpixel accurate stuffgray_image = cvCreateImage(cvGetSize(image),8,1);if(!image)printf("null image\n");int found = cvFindChessboardCorners(image,board_sz,corners,&corner_count, CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS);//Get Subpixel accuracy on those cornerscvCvtColor(image, gray_image, CV_BGR2GRAY);cvFindCornerSubPix(gray_image, corners, corner_count, cvSize(11,11),cvSize(-1,-1), cvTermCriteria( CV_TERMCRIT_EPS+CV_TERMCRIT_ITER, 30, 0.1 ));//Draw itcvDrawChessboardCorners(image, board_sz, corners, corner_count, found);cvShowImage( "Calibration", image );// If we got a good board, add it to our data//if( corner_count == board_n ) {step = successes*board_n;//printf("Found = %d for %s\n",found,names);for( int i=step, j=0; j<board_n; ++i,++j ) {///         CV_MAT_ELEM(*image_points, CvPoint2D32f,0,i) = cvPoint2D32f(corners[j].x,corners[j].y);///         CV_MAT_ELEM(*object_points,CvPoint3D32f,0,i) = cvPoint3D32f(j/board_w, j%board_w, 0.0f);CV_MAT_ELEM(*image_points, float,i,0) = corners[j].x;CV_MAT_ELEM(*image_points, float,i,1) = corners[j].y;CV_MAT_ELEM(*object_points,float,i,0) = j/board_w;CV_MAT_ELEM(*object_points,float,i,1) = j%board_w;CV_MAT_ELEM(*object_points,float,i,2) = 0.0f;}//        CV_MAT_ELEM(*point_counts, int,0,successes) = board_n;CV_MAT_ELEM(*point_counts, int,successes,0) = board_n;successes++;}//    if( successes == n_boards ) break;int c = cvWaitKey(15);if(c == 'p') {c = 0;while(c != 'p' && c != 27){c = cvWaitKey(250);}}if(c == 27)return 0;}printf("successes = %d, n_boards=%d\n",successes,n_boards);//ALLOCATE MATRICES ACCORDING TO HOW MANY IMAGES WE FOUND CHESSBOARDS ON///  CvMat* image_points2      = cvCreateMat(1,successes*board_n,CV_32FC2);///  CvMat* object_points2     = cvCreateMat(1,successes*board_n,CV_32FC3);///  CvMat* point_counts2      = cvCreateMat(1,successes,CV_32SC1);CvMat* object_points2     = cvCreateMat(successes*board_n,3,CV_32FC1);CvMat* image_points2      = cvCreateMat(successes*board_n,2,CV_32FC1);CvMat* point_counts2      = cvCreateMat(successes,1,CV_32SC1);//TRANSFER THE POINTS INTO THE CORRECT SIZE MATRICESfor(int i = 0; i<successes*board_n; ++i){///      CV_MAT_ELEM(*image_points2, CvPoint2D32f,0,i)  = CV_MAT_ELEM(*image_points, CvPoint2D32f,0,i);///      CV_MAT_ELEM(*object_points2,CvPoint3D32f,0,i)  = CV_MAT_ELEM(*object_points,CvPoint3D32f,0,i);CV_MAT_ELEM(*image_points2, float,i,0) =CV_MAT_ELEM(*image_points, float,i,0);CV_MAT_ELEM(*image_points2, float,i,1) = CV_MAT_ELEM(*image_points, float,i,1);CV_MAT_ELEM(*object_points2,float,i,0) = CV_MAT_ELEM(*object_points,float,i,0) ;CV_MAT_ELEM(*object_points2,float,i,1) = CV_MAT_ELEM(*object_points,float,i,1) ;CV_MAT_ELEM(*object_points2,float,i,2) = CV_MAT_ELEM(*object_points,float,i,2) ;} for(int i=0; i<successes; ++i){///CV_MAT_ELEM(*point_counts2,int,0, i) = CV_MAT_ELEM(*point_counts, int,0,i);CV_MAT_ELEM(*point_counts2,int,i, 0) = CV_MAT_ELEM(*point_counts, int,i,0);}cvReleaseMat(&object_points);cvReleaseMat(&image_points);cvReleaseMat(&point_counts);// cvWaitKey();//Now we have to reallocate the matrices// return 0;// At this point we have all of the chessboard corners we need.//// Initialize the intrinsic matrix such that the two focal// lengths have a ratio of 1.0//CV_MAT_ELEM( *intrinsic_matrix, float, 0, 0 ) = 1.0f;CV_MAT_ELEM( *intrinsic_matrix, float, 1, 1 ) = 1.0f;printf("cvCalibrateCamera2\n");cvCalibrateCamera2(object_points2,image_points2,point_counts2,cvGetSize( image ),intrinsic_matrix,distortion_coeffs,NULL,NULL,0//CV_CALIB_FIX_ASPECT_RATIO);cvFindExtrinsicCameraParams2(object_points2, image_points2,intrinsic_matrix,distortion_coeffs,rotation,translation_vector);// Save our workcvRodrigues2(rotation,rotation_mat_final);cvSave("rotation.xml",rotation_mat_final);cvSave("translation.xml",translation_vector);cvSave("Intrinsics.xml",intrinsic_matrix);cvSave("Distortion.xml",distortion_coeffs);// Load testCvMat *intrinsic = (CvMat*)cvLoad("Intrinsics.xml");CvMat *distortion = (CvMat*)cvLoad("Distortion.xml");// Build the undistort map which we will use for all // subsequent frames.//IplImage* mapx = cvCreateImage( cvGetSize(image), IPL_DEPTH_32F, 1 );IplImage* mapy = cvCreateImage( cvGetSize(image), IPL_DEPTH_32F, 1 );printf("cvInitUndistortMap\n");cvInitUndistortMap(intrinsic,distortion,mapx,mapy);// Just run the camera to the screen, now only showing the undistorted// image.//rewind(fptr);cvNamedWindow( "Undistort" );printf("\n\nPress any key to step through the images, ESC to quit\n\n");while(fscanf(fptr,"%s ",names)==1){if(image){cvReleaseImage(&image);image = 0;}  image = cvLoadImage( names);IplImage *t = cvCloneImage(image);cvShowImage( "Calibration", image );cvRemap( t, image, mapx, mapy );cvReleaseImage(&t);//  cvUndistort2(cvShowImage("Undistort", image);if((cvWaitKey()&0x7F) == 27) break;  }return 0;}