聊一聊OpenCV相机标定

std::vector<cv::Point2f>imageConers;
//提取标定图像角点，保存角点坐标（二维）
 cv::findChessboardCorners(image,
 boardSize, //角点数目如（6,4）六行，四列
 imageConers);

cv::calibrateCamera(objectPoints,//三维坐标
 imagePoints, //二维坐标
 imageSize,//图像大小
 camerMatirx,//相机内参数矩阵
 disCoeffs,//投影矩阵
 rvecs, //旋转
 tvecs,//平移
flag //标记opencv提供几种参数，可以参看在线的opencv document
);

//计算畸变参数
cv::initUndistortRectifyMap(camerMatirx, disCoeffs,
  cv::Mat(), cv::Mat(), image.size(), CV_32FC1, 
  map1, //x映射函数
  map2 //y映射函数
  );
//应用映射函数
cv::remap(image, //畸变图像
undistorted, //去畸变图像
map1, map2, cv::INTER_LINEAR);

#include<opencv2\core\core.hpp>
#include<opencv2\highgui\highgui.hpp>
#include<opencv2\imgproc\imgproc.hpp>
#include<opencv2\calib3d\calib3d.hpp>
#include <opencv2/features2d/features2d.hpp>
#include<string>
#include<vector>
class CameraCalibrator
{
private:
  //世界坐标
  std::vector < std::vector<cv::Point3f >> objectPoints;
  //图像坐标
  std::vector <std::vector<cv::Point2f>> imagePoints;
  //输出矩阵
  cv::Mat camerMatirx;
  cv::Mat disCoeffs;
  //标记
  int flag;
  //去畸变参数
  cv::Mat map1, map2;
  //是否去畸变
  bool mustInitUndistort;

  ///保存点数据
  void addPoints(const std::vector<cv::Point2f>&imageConers, const std::vector<cv::Point3f>&objectConers)
  {
    imagePoints.push_back(imageConers);
    objectPoints.push_back(objectConers);
  }
public:
  CameraCalibrator() :flag(0), mustInitUndistort(true){}
  //打开棋盘图片，提取角点
  int addChessboardPoints(const std::vector<std::string>&filelist,cv::Size &boardSize)
  {
    std::vector<cv::Point2f>imageConers;
    std::vector<cv::Point3f>objectConers;
    //输入角点的世界坐标
    for (int i = 0; i < boardSize.height; i++)
    {
      for (int j = 0; j < boardSize.width; j++)
      {
        objectConers.push_back(cv::Point3f(i, j, 0.0f));
      }
    }
    //计算角点在图像中的坐标
    cv::Mat image;
    int success = 0;
    for (int i = 0; i < filelist.size(); i++)
    {
      image = cv::imread(filelist[i],0);
      //找到角点坐标
      bool found = cv::findChessboardCorners(image, boardSize, imageConers);
      cv::cornerSubPix(image, 
        imageConers,
        cv::Size(5, 5),
        cv::Size(-1, -1),
        cv::TermCriteria(cv::TermCriteria::MAX_ITER + cv::TermCriteria::EPS,
        30, 0.1));
      if (imageConers.size() == boardSize.area())
      {
        addPoints(imageConers, objectConers);
        success++;
      }
      //画出角点
      cv::drawChessboardCorners(image, boardSize, imageConers, found);
      cv::imshow("Corners on Chessboard", image);
      cv::waitKey(100);
    }
    return success;
  }

  //相机标定
  double calibrate(cv::Size&imageSize)
  {
    mustInitUndistort = true;
    std::vector<cv::Mat>rvecs, tvecs;
    //相机标定
    return cv::calibrateCamera(objectPoints, imagePoints, imageSize,
      camerMatirx, disCoeffs, rvecs, tvecs, flag);
  }
  ///去畸变
  cv::Mat remap(const cv::Mat &image)
  {
    cv::Mat undistorted;
    if (mustInitUndistort)
    {
      //计算畸变参数
      cv::initUndistortRectifyMap(camerMatirx, disCoeffs,
        cv::Mat(), cv::Mat(), image.size(), CV_32FC1, map1, map2);
      mustInitUndistort = false;
    }
    //应用映射函数
    cv::remap(image, undistorted, map1, map2, cv::INTER_LINEAR);
    return undistorted;
  }
  //常成员函数，获得相机内参数矩阵、投影矩阵数据
  cv::Mat getCameraMatrix() const { return camerMatirx; }
  cv::Mat getDistCoeffs()  const { return disCoeffs; }
};

#include"标头.h"
#include<iomanip>
#include<iostream>
int main()
{
  CameraCalibrator Cc;
  cv::Mat image;
  std::vector<std::string> filelist;
  cv::namedWindow("Image");
  for (int i = 1; i <= 22; i++)
  {
    ///读取图片
    std::stringstream s;
    s << "D:/images/chessboards/chessboard" << std::setw(2) << std::setfill('0') << i << ".jpg";
    std::cout << s.str() << std::endl;

    filelist.push_back(s.str());
    image = cv::imread(s.str(),0);
    cv::imshow("Image", image);
    cv::waitKey(100);
  }
  //相机标定
  cv::Size boardSize(6, 4);
  Cc.addChessboardPoints(filelist, boardSize);
  Cc.calibrate(image.size());

  //去畸变
  image = cv::imread(filelist[1]);
  cv::Mat uImage=Cc.remap(image);
  cv::imshow("原图像", image);
  cv::imshow("去畸变", uImage);
  //显示相机内参数矩阵
  cv::Mat cameraMatrix = Cc.getCameraMatrix();
  std::cout << " Camera intrinsic: " << cameraMatrix.rows << "x" << cameraMatrix.cols << std::endl;
  std::cout << cameraMatrix.at<double>(0, 0) << " " << cameraMatrix.at<double>(0, 1) << " " << cameraMatrix.at<double>(0, 2) << std::endl;
  std::cout << cameraMatrix.at<double>(1, 0) << " " << cameraMatrix.at<double>(1, 1) << " " << cameraMatrix.at<double>(1, 2) << std::endl;
  std::cout << cameraMatrix.at<double>(2, 0) << " " << cameraMatrix.at<double>(2, 1) << " " << cameraMatrix.at<double>(2, 2) << std::endl;

  cv::waitKey(0);
}