#include <cv.h>
#include <highgui.h>
#include <iostream>
#include <stdio.h>
#include <stdlib.h>
using namespace std;
int n_boards=0;//图像数目 canshu
const int board_dt=20;//等20帧每棋盘视图 xin
//int sn_board=0;//成功找到角点的图像数目
int board_w;//图像的角点行列数 canshu
int board_h; //canshu
int main(int argc ,char * argv[])
{
/*读入图像*/
CvCapture*capture; //xin
if(argc!=4)//xin
{
printf("ERROR:Wrong number of input parameters\n");//xin
return -1; //xin
}
board_w=atoi(argv[1]); //canshu
board_h=atoi(argv[2]); //canshu
n_boards=atoi(argv[3]); //canshu
int board_n=board_h*board_w;//每幅图像的角点数
CvSize board_size=cvSize(board_w,board_h);//每幅图像的角点数
capture=cvCreateCameraCapture(0);//xin
//assert(capture); //xin
if(!capture) { printf("\nCouldn‘t open the camera\n"); return -1;}
cvNamedWindow("MyCalib");
cvNamedWindow("Raw Video");
//allocate storage
CvMat*object_points = cvCreateMat(board_n*n_boards,3,CV_32FC1);
CvMat*image_points =cvCreateMat(board_n*n_boards,2,CV_32FC1);
CvMat*point_counts =cvCreateMat(n_boards,1,CV_32SC1);
CvMat * camera_matrix =cvCreateMat(3,3,CV_32FC1);//摄像机矩阵（内参数矩阵） 分配矩阵空间（行，列，类型）类型为矩阵元素类型
CvMat * distortion_coeffs=cvCreateMat(4,1,CV_32FC1);//畸变系数
CvPoint2D32f*corners=new CvPoint2D32f[board_n];//一幅图像的角点数组
int corner_count;
int successes=0; //xin// 本文 successes就是 sn_board
int step,frame=0; //xin
IplImage*image=cvQueryFrame(capture); //图像的大小 // xin
IplImage *gray_image=cvCreateImage(cvGetSize(image),8,1);//创建头并分配数据//tong SourceImgGray
//亚像素subpixel
//capture corner views loop until we‘ve got n_boards
//成功捕获（找到所有角点on the board）
while (successes<n_boards)
{ //skip every board_dt frames to allow user to move chessboard
if(frame++%board_dt==0)
{
int found=cvFindChessboardCorners(image,board_size,corners,&corner_count,CV_CALIB_CB_ADAPTIVE_THRESH|CV_CALIB_CB_FILTER_QUADS);
//精确到亚像素
cvCvtColor(image,gray_image,CV_BGR2GRAY); //xin
cvFindCornerSubPix(image,corners,corner_count,cvSize(15,15),cvSize(-1,-1),cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER,30,0.1));
cvDrawChessboardCorners(image,board_size,corners,corner_count,found); //绘制棋盘角点。found
//cvShowImage("MyCalib",image);
//如果得到一个好板，则把把它加入到我们的数据中
if(corner_count==board_n){ //xin
cvShowImage( "Calibration", image ); //show in color if we did collect the image
step=successes*board_n; //xin
for(int i=step,j=0;j<board_n;++i,++j){ //xinjia canshu i
CV_MAT_ELEM(*image_points,float,i,0) =corners[j].x;//CV_MAT_ELEM用来访问矩阵每个元素的宏，这个宏只对单通道矩阵有效，多通道会报错
CV_MAT_ELEM(*image_points,float,i,1) =corners[j].y;//(要访问的矩阵，矩阵元素的类型，所要访问元素的行数，列数)
//上两句是将检测到的点以坐标形式存储
CV_MAT_ELEM(*object_points,float,i,0) =float(j/board_w);
CV_MAT_ELEM(*object_points,float,i,1) =float(j%board_w);
//上两句是将检测到的点的数目，以行列形式存储
CV_MAT_ELEM(*object_points,float,i,2) =0.0f;
}
CV_MAT_ELEM(*point_counts,int,successes,0)=board_n;
successes++;
printf("Collected our %d of %d needed chessboard images\n",successes,n_boards);
}
else
cvShowImage( "Calibration", gray_image );//Show Gray if we didn‘t collect the image
}//end skip board_dt between chessboard capture
//暂停模块handle pause/unpause and ESC //xin
int c = cvWaitKey(15);
if(c == ‘p‘){
c = 0;
while(c != ‘p‘ && c != 27){
c = cvWaitKey(250);
}
}
if(c == 27)
return 0;
image = cvQueryFrame( capture ); //Get next image
cvShowImage("Raw Video", image);
} //END COLLECTION WHILE LOOP.
cvDestroyWindow("Calibration");
printf("\n\n*** CALLIBRATING THE CAMERA...");
//重新赋值，又重新分配了矩阵空间
CvMat * object_points0= cvCreateMat(board_n*successes,3,CV_32FC1);
CvMat * image_points0=cvCreateMat(board_n*successes,2,CV_32FC1);
CvMat * point_counts0=cvCreateMat(successes,1,CV_32SC1);
//transfer THE points INTO THE correct size matrices
for (int i=0;i<successes*board_n;i++)//board_n为每幅图像的角点数*sn_board为成功找到角点的图像数目
{
CV_MAT_ELEM(*image_points0,float,i,0)=CV_MAT_ELEM(*image_points,float,i,0);
CV_MAT_ELEM(*image_points0,float,i,1)=CV_MAT_ELEM(*image_points,float,i,1);
CV_MAT_ELEM(*object_points0,float,i,0)=CV_MAT_ELEM(*object_points,float,i,0);
CV_MAT_ELEM(*object_points0,float,i,1)=CV_MAT_ELEM(*object_points,float,i,1);
CV_MAT_ELEM(*object_points0,float,i,2)=0.0f;
}
for (int i=0;i<successes;i++)
{
CV_MAT_ELEM(*point_counts0,int,i,0)=CV_MAT_ELEM(*point_counts,int,i,0);
}
cvReleaseMat(&object_points);//世界坐标点
cvReleaseMat(&point_counts); //每张图像中的角点数
cvReleaseMat(&image_points); //图像坐标点
//使用cvReleaseMat函数之后，系统将释放刚才载入矩阵的内存空间（也即这个矩阵已经不在内存中了）
// At this point we have all of the chessboard corners we need.
// Initialize the intrinsic matrix such that the two focal
// lengths have a ratio of 1.0
//
CV_MAT_ELEM( *camera_matrix, float, 0, 0 ) = 1.0f; // xin
CV_MAT_ELEM( *camera_matrix, float, 1, 1 ) = 1.0f; //xin
//CALIBRATE THE CAMERA!
cvCalibrateCamera2( //xin
object_points0, image_points0, //xin
point_counts0, cvGetSize( image ),
camera_matrix, distortion_coeffs,
NULL, NULL,0 //CV_CALIB_FIX_ASPECT_RATIO
);
// SAVE THE INTRINSICS AND DISTORTIONS xin
printf("......保存内部参数与畸变参数\n");
cvSave("camera_matrix1111.xml",camera_matrix);
cvSave("distortion_coeffs.xml",distortion_coeffs);
// EXAMPLE OF LOADING THESE MATRICES BACK IN: xin
CvMat *intrinsic = (CvMat*)cvLoad("Intrinsics.xml");
CvMat *distortion = (CvMat*)cvLoad("Distortion.xml");
// Build the undistort map which we will use for all
// subsequent frames.建立不失真的图map
//
IplImage* mapx = cvCreateImage( cvGetSize(image), IPL_DEPTH_32F, 1 );
IplImage* mapy = cvCreateImage( cvGetSize(image), IPL_DEPTH_32F, 1 );
cvInitUndistortMap(intrinsic,distortion,mapx, mapy);
// Just run the camera to the screen, now showing the raw and
// the undistorted image.
//
cvNamedWindow( "Undistort" );
while(image) {
IplImage *t = cvCloneImage(image);
cvShowImage( "Raw Video", image ); // Show raw image
cvRemap( t, image, mapx, mapy ); // Undistort image
cvReleaseImage(&t);
cvShowImage("Undistort", image); // Show corrected image
//Handle pause/unpause and ESC
int c = cvWaitKey(15);
if(c == ‘p‘){
c = 0;
while(c != ‘p‘ && c != 27){
c = cvWaitKey(250);
}
}
if(c == 27)
break;
image = cvQueryFrame( capture );
}
return 0;
}
时间： 2024-10-13 09:36:13