opencv2摄像机标定的完整代码

#include<opencv2/opencv.hpp> #include<iostream> #include<vector> using namespace cv; using namespace std; int main() { vector<string> imageName; Mat midImage, srcImage; char name[100]; for (int i = 1; i <= 20; i++) { sprintf(name, "chess/%d%s", i, ".jpg"); imageName.push_back(name); //将每一幅图像显示出来 srcImage = imread(imageName[i - 1]); imshow("【显示第一幅图像】", srcImage); waitKey(100); } /*Mat srcImage = imread(imageName[0]); imshow("【显示第一幅图像】", srcImage);*/ //进行摄像机的标定 //摄像机标定函数的第一、第二个参数都是vector<vector<>>的类型，分别对应3D场景点和2D场景点 //首先是得到3D场景中的点(角点对应的3D坐标中的点) vector<Point3f> g_vCorners3D; Size boardSize(6, 4); for (int i = 0; i < boardSize.height; i++) { for (int j = 0; j < boardSize.width; j++) { g_vCorners3D.push_back(Point3f((float)i, (float)j, 0.0f)); } } //为标定函数进行参数的预设 vector<vector<Point2f>> g_vvCorners2D; vector<vector<Point3f>> g_vvCorners3D; //用棋盘角点检测函数检测图像中 vector<Point2f> g_vCorners2D; for (size_t i = 0; i < imageName.size(); i++) { g_vCorners2D.clear(); //载入每一个图像 midImage = imread(imageName[i], 0); Mat grayImage; midImage.copyTo(grayImage); //在图像中找到角点 bool g_bIs = findChessboardCorners(midImage, boardSize, g_vCorners2D); drawChessboardCorners(midImage, boardSize, g_vCorners2D, g_bIs); imshow("【角点检测】", midImage); waitKey(100); cout << g_vCorners2D[0] << endl; //对得到的角点获取亚像素精度 cornerSubPix(midImage, g_vCorners2D, Size(5, 5), Size(-1, -1) , TermCriteria(TermCriteria::MAX_ITER + TermCriteria::EPS, 30, 0.1)); if (g_vCorners2D.size() == boardSize.area()) { g_vvCorners2D.push_back(g_vCorners2D); g_vvCorners3D.push_back(g_vCorners3D); } } //参数定义完成之后，就可以对摄像机进行标定了 //开始标定 //返回值为：重投影误差 Mat camearMatrix; //输出的相机矩阵 Mat distCoeffs; //输出的畸变矩阵 vector<Mat> rvecs, tvecs; //旋转和平移 double d = calibrateCamera(g_vvCorners3D, g_vvCorners2D, midImage.size(), camearMatrix, distCoeffs, rvecs, tvecs, 0); cout << endl << "【重投影误差为：】" << d << endl; cout << "【相机矩阵】" << camearMatrix << endl; cout << "【畸变矩阵】" << distCoeffs << endl; waitKey(0); return 0; }