#define _GNU_SOURCE #include “opencv2/core/core.hpp” #include “opencv2/imgproc/imgproc.hpp” #include “opencv2/calib3d/calib3d.hpp” #include “opencv2/highgui/highgui.hpp” #include “opencv2/contrib/contrib.hpp” #include #include #include #include #include #include #include <stdio.h> #include <stdlib.h> #include <ctype.h> using namespace cv; using namespace std;

void main() { int i_imWrite = 0; ifstream fin(“calibdata.txt”); /* 標定所用影象檔案的路徑 / ofstream fout(“caliberation_result.txt”); / 儲存標定結果的檔案 / //讀取每一幅影象，從中提取出角點，然後對角點進行亞畫素精確化 Mat img; //img = imread(“left01.jpg”); //cout << “hello”; //imshow(“XIAORUN”, img); cout << “開始提取角點………………” << endl; int image_count = 0; /

影象數量 / Size image_size; / 影象的尺寸 / Size board_size = Size(8, 7); / 標定板上每行、列的角點數 / vector image_points_buf; / 快取每幅影象上檢測到的角點 / vector<vector> image_points_seq; / 儲存檢測到的所有角點 */ string filename; string filename_head; int count = 0;//用於儲存角點個數。 while (getline(fin, filename)) { image_count++; // 用於觀察檢驗輸出 cout << "image_count = " << image_count << endl; Mat imageInput = imread(filename); cout << "filename = " << filename << endl;

//imageInput.empty(); //imshow(“xiaorun”, filename); //if (image_count == 1) //讀入第一張圖片時獲取影象寬高資訊 //{ image_size.width = imageInput.cols; image_size.height = imageInput.rows; cout << "image_size.width = " << image_size.width << endl; cout << "image_size.height = " << image_size.height << endl; //}

	/* 提取角點 */
	if (findChessboardCorners(imageInput, board_size, image_points_buf) == 0)
	{
		cout << "can not find chessboard corners!\n" << endl; //找不到角點
		printf("error");
		exit(1);
	}
	else
	{
		i_imWrite += 1;
		/* 輸出檢驗角點*/
		//count++;
		cout << "angular point = " << image_points_buf.size() << endl;
		cout << "angular point site = " << image_points_buf << endl << endl << endl;
		Mat view_gray;
		cvtColor(imageInput, view_gray, CV_RGB2GRAY);
		/* 亞畫素精確化 */
		find4QuadCornerSubpix(view_gray, image_points_buf, Size(11, 11)); //對粗提取的角點進行精確化
		image_points_seq.push_back(image_points_buf);  //儲存亞畫素角點
		/* 在影象上顯示角點位置 */
		drawChessboardCorners(view_gray, board_size, image_points_buf, true); //用於在圖片中標記角點
		imshow("Camera Calibration", view_gray);//顯示圖片
		//擷取圖片名字，把.jpf分離出來
		for (int i = 0; i < 100; i++)
		{
			if (filename[i] != '.')
			{
				filename_head += (filename[i]);
			}
			else
			{
				break;
			}

		}
		string filename_write = (filename_head + '_' + to_string(i_imWrite)).append(".jpg");
		imwrite(filename_write, view_gray);
		//printf("world");
		waitKey(500);//暫停0.5S 
		filename_write = ' ';
		filename_head = ' ';
	}
}
int total = image_points_seq.size();
cout << "image_points_seq_Total = " << total << endl;
int CornerNum = board_size.width*board_size.height;  //每張圖片上總的角點數
/*for (int ii = 0; ii<total; ii++)
{
	if (0 == ii%CornerNum)// 24 是每幅圖片的角點個數。此判斷語句是為了輸出 圖片號，便於控制檯觀看 
	{
		int i = -1;
		i = ii / CornerNum;
		int j = i + 1;
		cout << "--> 第 " << j << "圖片的資料 --> : " << endl;
	}
	if (0 == ii % 3)    // 此判斷語句，格式化輸出，便於控制檯檢視
	{
		cout << endl;
	}
	else
	{
		cout.width(10);
	}
	//輸出所有的角點
	cout << " -->" << image_points_seq[ii][0].x;
	cout << " -->" << image_points_seq[ii][0].y;
}*/
cout << "角點提取完成！\n" << endl;

//以下是攝像機標定
cout << "開始標定………………" << endl;
/*棋盤三維資訊*/
Size square_size = Size(10, 10);  /* 實際測量得到的標定板上每個棋盤格的大小 */
vector<vector<Point3f> > object_points; /* 儲存標定板上角點的三維座標 */
/*內外引數*/
//Mat cameraMatrix = Mat(3, 3, CV_32FC1, Scalar::all(0)); /* 攝像機內參數矩陣 */
Mat cameraMatrix = Mat(3, 3, CV_64F, Scalar::all(0)); /* 攝像機內參數矩陣 */
vector<int> point_counts;  // 每幅影象中角點的數量
Mat distCoeffs = Mat(1, 5, CV_64F, Scalar::all(0)); /* 攝像機的5個畸變係數：k1,k2,p1,p2,k3 */
vector<Mat> tvecsMat;  /* 每幅影象的旋轉向量 */
vector<Mat> rvecsMat; /* 每幅影象的平移向量 */
/* 初始化標定板上角點的三維座標 */
int i, j, t;

for (t = 0; t<image_count; t++)
{
	vector<Point3f> tempPointSet;
	for (i = 0; i<board_size.height; i++)
	{
		for (j = 0; j<board_size.width; j++)
		{
			Point3f realPoint;
			/* 假設標定板放在世界座標系中z=0的平面上 */
			realPoint.x = i*square_size.width;
			realPoint.y = j*square_size.height;
			realPoint.z = 0;
			tempPointSet.push_back(realPoint);
		}
	}
	object_points.push_back(tempPointSet);
}
/* 初始化每幅影象中的角點數量，假定每幅影象中都可以看到完整的標定板 */
for (i = 0; i<image_count; i++)
{
	point_counts.push_back(board_size.width*board_size.height);
}
/* 開始標定 */
calibrateCamera(object_points, image_points_seq, image_size, cameraMatrix, distCoeffs, rvecsMat, tvecsMat, 0);
cout << "標定完成！\n";
//對標定結果進行評價
cout << "開始評價標定結果………………\n";
double total_err = 0.0; /* 所有影象的平均誤差的總和 */
double err = 0.0; /* 每幅影象的平均誤差 */
vector<Point2f> image_points2; /* 儲存重新計算得到的投影點 */
cout << "\t每幅影象的標定誤差：\n";
fout << "每幅影象的標定誤差：\n";
for (i = 0; i<image_count; i++)
{
	vector<Point3f> tempPointSet = object_points[i];
	/* 通過得到的攝像機內外引數，對空間的三維點進行重新投影計算，得到新的投影點 */
	projectPoints(tempPointSet, rvecsMat[i], tvecsMat[i], cameraMatrix, distCoeffs, image_points2);
	/* 計算新的投影點和舊的投影點之間的誤差*/
	vector<Point2f> tempImagePoint = image_points_seq[i];
	Mat tempImagePointMat = Mat(1, tempImagePoint.size(), CV_32FC2);
	Mat image_points2Mat = Mat(1, image_points2.size(), CV_32FC2);
	for (int j = 0; j < tempImagePoint.size(); j++)
	{
		image_points2Mat.at<Vec2f>(0, j) = Vec2f(image_points2[j].x, image_points2[j].y);
		tempImagePointMat.at<Vec2f>(0, j) = Vec2f(tempImagePoint[j].x, tempImagePoint[j].y);
	}
	err = norm(image_points2Mat, tempImagePointMat, NORM_L2);
	total_err += err /= point_counts[i];
	std::cout << "第" << i + 1 << "幅影象的平均誤差：" << err << "畫素" << endl;
	fout << "第" << i + 1 << "幅影象的平均誤差：" << err << "畫素" << endl;
}
std::cout << "總體平均誤差：" << total_err / image_count << "畫素" << endl;
fout << "總體平均誤差：" << total_err / image_count << "畫素" << endl << endl;
std::cout << "評價完成！" << endl;
//儲存定標結果    
std::cout << "開始儲存定標結果………………" << endl;
Mat rotation_matrix = Mat(3, 3, CV_32FC1, Scalar::all(0)); /* 儲存每幅影象的旋轉矩陣 */
fout << "相機內參數矩陣：" << endl;
fout << cameraMatrix << endl << endl;
fout << "畸變係數：\n";
fout << distCoeffs << endl << endl << endl;
for (int i = 0; i<image_count; i++)
{
	fout << "第" << i + 1 << "幅影象的旋轉向量：" << endl;
	fout << tvecsMat[i] << endl;
	/* 將旋轉向量轉換為相對應的旋轉矩陣 */
	Rodrigues(tvecsMat[i], rotation_matrix);
	fout << "第" << i + 1 << "幅影象的旋轉矩陣：" << endl;
	fout << rotation_matrix << endl;
	fout << "第" << i + 1 << "幅影象的平移向量：" << endl;
	fout << rvecsMat[i] << endl << endl;
}
std::cout << "完成儲存" << endl << endl;
fout << endl;
system("pause");
return;

}