使用Qt+Opencv实现相机标定并显示相机内外参

#include "mainwindow.h" #include "ui_mainwindow.h" myMainWindow::myMainWindow(QWidget *parent) : QMainWindow(parent) { ui.setupUi(this); isCameraRunning = false; isCalibrate = false; boardSize.width = 9; // 棋盘格内角点个数 boardSize.height = 7; numSeq = 0; // 存储照片的数量 numRequiredSnapshot = 15; // 标定需要的最少照片数 } myMainWindow::~myMainWindow() { } /******************打开相机********************/ void myMainWindow::on_startCameraButton_clicked() { // the webcam is not yet started if (!isCameraRunning) { // open camera stream capture.open(0); if (!capture.isOpened()) return; // set the acquired frame size to the size of its container capture.set(cv::CAP_PROP_FRAME_WIDTH, ui.before_img->size().width()); capture.set(cv::CAP_PROP_FRAME_HEIGHT, ui.before_img->size().height()); isCameraRunning = true; // start timer for acquiring the video cameraTimer.start(33); // 33 ms = 30 fps // at the timeout() event, execute the cameraTimerTimeout() method connect(&cameraTimer, SIGNAL(timeout()), this, SLOT(cameraTimerTimeout())); // update the user interface... ui.startCameraButton->setText("Stop Camera"); ui.after_img->setText("Images needed for calibration: " + QString::number(numRequiredSnapshot)); if (numSeq < numRequiredSnapshot) ui.startCalibrationButton->setEnabled(true); } else { if (!capture.isOpened()) return; // stop timer cameraTimer.stop(); // release camera stream capture.release(); isCameraRunning = false; // restore the user interface to the original status... ui.startCameraButton->setText("Start Camera"); ui.before_img->clear(); ui.after_img->clear(); ui.startCalibrationButton->setEnabled(false); ui.success_label->setText(""); } } void myMainWindow::cameraTimerTimeout() { if (isCameraRunning && capture.isOpened()) { // store the frame to show in a Qt window QImage frameToShow, frameUndistorted; // get the current frame from the video stream capture >> image; // show the chessboard pattern findAndDrawPoints(); // prepare the image for the Qt format... // ... change color channel ordering (from BGR in our Mat to RGB in QImage) cvtColor(image, image, CV_BGR2RGB); // Qt image // image.step is needed to properly show some images (due to padding byte added in the Mat creation) frameToShow = QImage((const unsigned char*)(image.data), image.cols, image.rows, image.step, QImage::Format_RGB888); // display on label ui.before_img->setPixmap(QPixmap::fromImage(frameToShow)); // show undistorted (after calibration) frames if (isCalibrate) { // remap of undistorted frame and conversion in the Qt format Mat undistorted = cameraCalib.remap(image); frameUndistorted = QImage((uchar*)undistorted.data, undistorted.cols, undistorted.rows, undistorted.step, QImage::Format_RGB888); ui.after_img->setPixmap(QPixmap::fromImage(frameUndistorted)); } } } void myMainWindow::findAndDrawPoints() { std::vector<Point2f> imageCorners; bool found = findChessboardCorners(image, boardSize, imageCorners); // store the image to be used for the calibration process if (found) image.copyTo(imageSaved); // show the found corners on screen, if any drawChessboardCorners(image, boardSize, imageCorners, found); } /******************存储图片********************/ void myMainWindow::on_saveImagesButton_clicked() { if (isCameraRunning && imageSaved.data) { imageList.push_back(imageSaved); numSeq++; } if (numRequiredSnapshot - numSeq >= 0) { ui.success_label->setText("Still need to save images: " + QString::number(numRequiredSnapshot - numSeq)); } } /******************相机标定********************/ void myMainWindow::on_startCalibrationButton_clicked() { if (numSeq >= numRequiredSnapshot) { ui.startCalibrationButton->setEnabled(false); // open chessboard images and extract corner points successes = cameraCalib.addChessboardPoints(imageList, boardSize); // calibrate the camera frames Size calibSize = Size(ui.after_img->size().width(), ui.after_img->size().height()); cameraCalib.calibrate(calibSize); isCalibrate = true; ui.success_label->setText("Successful images used: " + QString::number(successes)); //显示内外参数 QString intrinsMatrix = Mat2QString(cameraCalib.cameraMatrix); ui.intrinsParamLabel->setText("Intrinsic Matrix:\n" + intrinsMatrix); //QString distorMatrix = Mat2QString(cameraCalib.distCoeffs); //ui.intrinsParamLabel->setText("\n\nDistortion Matrix:\n" + distorMatrix); QString rotationMatrix1 = Mat2QString(cameraCalib.rvecs[0]); QString rotationMatrix2 = Mat2QString(cameraCalib.rvecs[1]); QString rotationMatrix3 = Mat2QString(cameraCalib.rvecs[2]); QString transMatrix = Mat2QString(cameraCalib.tvecs.front()); ui.extrinsParamLabel->setText("Rotation of Camera(the first image):\nr1:\n"+ rotationMatrix1 + "\nr2:\n" + rotationMatrix2 + "\nr3:\n"+ rotationMatrix3 + "\n\nTranslation of Camera(the first iamge):\n" + transMatrix); } } QString myMainWindow::Mat2QString(const Mat& src) { if (src.empty()) return QString(); stringstream stream; stream << src; return QString::fromStdString(stream.str()); }