单目摄像头标定

//#include "stdafx.h"
#include "cv.h"
#include "highgui.h"
#include
#include

using namespace std;

int main()
{
int cube_length=7;

CvCapture* capture;

capture=cvCreateCameraCapture(0);

if(capture==0){
printf("无法捕获摄像头设备！\n\n");
return 0;
}else{
printf("捕获摄像头设备成功！！\n\n");
}

IplImage* frame;

cvNamedWindow("摄像机帧截取窗口",1);

printf("按“C”键截取当前帧并保存为标定图片...\n按“Q”键退出截取帧过程...\n\n");

int number_image=1;
char *str1;
str1=".jpg";
char filename[20]="";

while(true)
{
frame=cvQueryFrame(capture);
if(!frame)
break;
cvShowImage("摄像机帧截取窗口",frame);

if(cvWaitKey(10)=='c'){
sprintf_s (filename,"%d.jpg",number_image);
cvSaveImage(filename,frame);
cout<<"成功获取当前帧，并以文件名"<printf("按“C”键截取当前帧并保存为标定图片...\n按“Q”键退出截取帧过程...\n\n");
number_image++;
}else if(cvWaitKey(10)=='q'){
printf("截取图像帧过程完成...\n\n");
cout<<"共成功截取"<<--number_image<<"帧图像！！\n\n";
break;
}
}

cvReleaseImage(&frame);
cvDestroyWindow("摄像机帧截取窗口");

IplImage * show;
cvNamedWindow("RePlay",1);

int a=1;
int number_image_copy=number_image;

CvSize board_size=cvSize(7,7);
int board_width=board_size.width;
int board_height=board_size.height;
int total_per_image=board_width*board_height;
CvPoint2D32f * image_points_buf = new CvPoint2D32f[total_per_image];
CvMat * image_points=cvCreateMat(number_image*total_per_image,2,CV_32FC1);
CvMat * object_points=cvCreateMat(number_image*total_per_image,3,CV_32FC1);
CvMat * point_counts=cvCreateMat(number_image,1,CV_32SC1);
CvMat * intrinsic_matrix=cvCreateMat(3,3,CV_32FC1);
CvMat * distortion_coeffs=cvCreateMat(5,1,CV_32FC1);

int count;
int found;
int step;
int successes=0;

while(a<=number_image_copy){
sprintf_s (filename,"%d.jpg",a);
show=cvLoadImage(filename,-1);

found=cvFindChessboardCorners(show,board_size,image_points_buf,&count,
CV_CALIB_CB_ADAPTIVE_THRESH|CV_CALIB_CB_FILTER_QUADS);
if(found==0){
cout<<"第"<cvNamedWindow("RePlay",1);
cvShowImage("RePlay",show);
cvWaitKey(0);

}

else{
cout<<"第"<
cvNamedWindow("RePlay",1);

IplImage * gray_image= cvCreateImage(cvGetSize(show),8,1);
cvCvtColor(show,gray_image,CV_BGR2GRAY);
cout<<"获取源图像灰度图过程完成...\n";
cvFindCornerSubPix(gray_image,image_points_buf,count,cvSize(11,11),cvSize(-1,-1),
cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER,30,0.1));
cout<<"灰度图亚像素化过程完成...\n";
cvDrawChessboardCorners(show,board_size,image_points_buf,count,found);
cout<<"在源图像上绘制角点过程完成...\n\n";
cvShowImage("RePlay",show);



cvWaitKey(0);
}

if(total_per_image==count){
step=successes*total_per_image;
for(int i=step,j=0;jCV_MAT_ELEM(*image_points,float,i,0)=image_points_buf[j].x;
CV_MAT_ELEM(*image_points,float,i,1)=image_points_buf[j].y;
CV_MAT_ELEM(*object_points,float,i,0)=(float)(j/cube_length);
CV_MAT_ELEM(*object_points,float,i,1)=(float)(j%cube_length);
CV_MAT_ELEM(*object_points,float,i,2)=0.0f;
}
CV_MAT_ELEM(*point_counts,int,successes,0)=total_per_image;
successes++;
}
a++;
}

cvReleaseImage(&show);
cvDestroyWindow("RePlay");


cout<<"*********************************************\n";
cout<cout<cout<<"*********************************************\n\n";

cout<<"按任意键开始计算摄像机内参数...\n\n";


CvCapture* capture1;
capture1=cvCreateCameraCapture(0);
IplImage * show_colie;
show_colie=cvQueryFrame(capture1);


CvMat * object_points2=cvCreateMat(successes*total_per_image,3,CV_32FC1);
CvMat * image_points2=cvCreateMat(successes*total_per_image,2,CV_32FC1);
CvMat * point_counts2=cvCreateMat(successes,1,CV_32SC1);


for(int i=0;iCV_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;iCV_MAT_ELEM(*poi

nt_counts2,int,i,0)=CV_MAT_ELEM(*point_counts,int,i,0);
}


cvReleaseMat(&object_points);
cvReleaseMat(&image_points);
cvReleaseMat(&point_counts);


CV_MAT_ELEM(*intrinsic_matrix,float,0,0)=1.0f;
CV_MAT_ELEM(*intrinsic_matrix,float,1,1)=1.0f;


cvCalibrateCamera2(object_points2,image_points2,point_counts2,cvGetSize(show_colie),
intrinsic_matrix,distortion_coeffs,NULL,NULL,0);

cout<<"摄像机内参数矩阵为：\n";
cout<<<" "<<<"\n\n";
cout<<<" "<<<"\n\n";
cout<<<" "<<<"\n\n";

cout<<"畸变系数矩阵为：\n";
cout<<<" "<<<" "<<<" "<<<"\n\n";

cvSave("Intrinsics.xml",intrinsic_matrix);
cvSave("Distortion.xml",distortion_coeffs);

cout<<"摄像机矩阵、畸变系数向量已经分别存储在名为Intrinsics.xml、Distortion.xml文档中\n\n";

CvMat * intrinsic=(CvMat *)cvLoad("Intrinsics.xml");
CvMat * distortion=(CvMat *)cvLoad("Distortion.xml");

IplImage * mapx=cvCreateImage(cvGetSize(show_colie),IPL_DEPTH_32F,1);
IplImage * mapy=cvCreateImage(cvGetSize(show_colie),IPL_DEPTH_32F,1);

cvInitUndistortMap(intrinsic,distortion,mapx,mapy);

cvNamedWindow("原始图像",1);
cvNamedWindow("非畸变图像",1);

cout<<"按‘E’键退出显示...\n\n";

while(show_colie){
IplImage * clone=cvCloneImage(show_colie);
cvShowImage("原始图像",show_colie);
cvRemap(clone,show_colie,mapx,mapy);
cvReleaseImage(&clone);
cvShowImage("非畸变图像",show_colie);

i

f(cvWaitKey(10)=='e'){
break;
}

show_colie=cvQueryFrame(capture1);
}

return 0;

}