#include "opencv2/calib3d/calib3d.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"

#include <vector>
#include <string>
#include <algorithm>
#include <iostream>
#include <iterator>
#include <stdio.h>
#include <stdlib.h>
#include <ctype.h>

using namespace cv;
using namespace std;

static void StereoCalib(const vector<string>& imagelist, Size boardSize, bool useCalibrated=true, bool showRectified=true)
{
    if( imagelist.size() % 2 != 0 )
    {
        cout << "Error: the image list contains odd (non-even) number of elements\n";
        return;
    }

    bool displayCorners = false;//true;
    const int maxScale = 2;
    const float squareSize = 1.f;  // Set this to your actual square size
    // ARRAY AND VECTOR STORAGE:
    //创建图像坐标和世界坐标系坐标矩阵
    vector<vector<Point2f> > imagePoints[2];
    vector<vector<Point3f> > objectPoints;
    Size imageSize;

    int i, j, k, nimages = (int)imagelist.size()/2;
    //确定左右视图矩阵的数量，比如10副图，左右矩阵分别为5个
    imagePoints[0].resize(nimages);
    imagePoints[1].resize(nimages);
    vector<string> goodImageList;

    for( i = j = 0; i < nimages; i++ )
    {
        for( k = 0; k < 2; k++ )
        {
            //逐个读取图片
            const string& filename = imagelist[i*2+k];
            Mat img = imread(filename, 0);
            if(img.empty())
                break;
            if( imageSize == Size() )
                imageSize = img.size();
            else if( img.size() != imageSize )
            {
                cout << "The image " << filename << " has the size different from the first image size. Skipping the pair\n";
                break;
            }
            bool found = false;
            //设置图像矩阵的引用，此时指向左右视图的矩阵首地址
            vector<Point2f>& corners = imagePoints[k][j];
            for( int scale = 1; scale <= maxScale; scale++ )
            {
                Mat timg;
                //图像是8bit的灰度或彩色图像
                if( scale == 1 )
                    timg = img;
                else
                    resize(img, timg, Size(), scale, scale);
                //boardSize为棋盘图的行、列数
                found = findChessboardCorners(timg, boardSize, corners,
                    CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_NORMALIZE_IMAGE);
                if( found )
                {
                    //如果为多通道图像
                    if( scale > 1 )
                    {
                        Mat cornersMat(corners);
                        cornersMat *= 1./scale;
                    }
                    break;
                }
            }
            if( displayCorners )
            {
                cout << filename << endl;
                Mat cimg, cimg1;
                cvtColor(img, cimg, COLOR_GRAY2BGR);
                drawChessboardCorners(cimg, boardSize, corners, found);
                double sf = 640./MAX(img.rows, img.cols);
                resize(cimg, cimg1, Size(), sf, sf);
                imshow("corners", cimg1);
                char c = (char)waitKey(500);
                if( c == 27 || c == ‘q‘ || c == ‘Q‘ ) //Allow ESC to quit
                    exit(-1);
            }
            else
                putchar(‘.‘);
            if( !found )
                break;
            cornerSubPix(img, corners, Size(11,11), Size(-1,-1),
                         TermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,
                                      30, 0.01));
        }
        if( k == 2 )
        {
            goodImageList.push_back(imagelist[i*2]);
            goodImageList.push_back(imagelist[i*2+1]);
            j++;
        }
    }
    cout << j << " pairs have been successfully detected.\n";
    nimages = j;
    if( nimages < 2 )
    {
        cout << "Error: too little pairs to run the calibration\n";
        return;
    }

    imagePoints[0].resize(nimages);
    imagePoints[1].resize(nimages);
    // 图像点的世界坐标系
    objectPoints.resize(nimages);

    for( i = 0; i < nimages; i++ )
    {
        for( j = 0; j < boardSize.height; j++ )
            for( k = 0; k < boardSize.width; k++ )
                //直接转为float类型，坐标为行、列
                objectPoints[i].push_back(Point3f(j*squareSize, k*squareSize, 0));
    }

    cout << "Running stereo calibration ...\n";
    //创建内参矩阵
    Mat cameraMatrix[2], distCoeffs[2];
    cameraMatrix[0] = Mat::eye(3, 3, CV_64F);
    cameraMatrix[1] = Mat::eye(3, 3, CV_64F);
    Mat R, T, E, F;
    //求解双目标定的参数
    double rms = stereoCalibrate(objectPoints, imagePoints[0], imagePoints[1],
                    cameraMatrix[0], distCoeffs[0],
                    cameraMatrix[1], distCoeffs[1],
                    imageSize, R, T, E, F,
                    TermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS, 100, 1e-5),
                    CV_CALIB_FIX_ASPECT_RATIO +
                    CV_CALIB_ZERO_TANGENT_DIST +
                    CV_CALIB_SAME_FOCAL_LENGTH +
                    CV_CALIB_RATIONAL_MODEL +
                    CV_CALIB_FIX_K3 + CV_CALIB_FIX_K4 + CV_CALIB_FIX_K5);
    cout << "done with RMS error=" << rms << endl;

// CALIBRATION QUALITY CHECK
// because the output fundamental matrix implicitly
// includes all the output information,
// we can check the quality of calibration using the
// epipolar geometry constraint: m2^t*F*m1=0
    //计算标定误差
    double err = 0;
    int npoints = 0;
    vector<Vec3f> lines[2];
    for( i = 0; i < nimages; i++ )
    {
        int npt = (int)imagePoints[0][i].size();
        Mat imgpt[2];
        for( k = 0; k < 2; k++ )
        {
            imgpt[k] = Mat(imagePoints[k][i]);
            //校正图像点坐标
            undistortPoints(imgpt[k], imgpt[k], cameraMatrix[k], distCoeffs[k], Mat(), cameraMatrix[k]);
            //求解对极线
            computeCorrespondEpilines(imgpt[k], k+1, F, lines[k]);
        }
        //计算求解点与实际点的误差
        for( j = 0; j < npt; j++ )
        {
            double errij = fabs(imagePoints[0][i][j].x*lines[1][j][0] +
                                imagePoints[0][i][j].y*lines[1][j][1] + lines[1][j][2]) +
                           fabs(imagePoints[1][i][j].x*lines[0][j][0] +
                                imagePoints[1][i][j].y*lines[0][j][1] + lines[0][j][2]);
            err += errij;
        }
        npoints += npt;
    }
    cout << "average reprojection err = " <<  err/npoints << endl;

    // save intrinsic parameters
    FileStorage fs("intrinsics.yml", CV_STORAGE_WRITE);
    if( fs.isOpened() )
    {
        fs << "M1" << cameraMatrix[0] << "D1" << distCoeffs[0] <<
            "M2" << cameraMatrix[1] << "D2" << distCoeffs[1];
        fs.release();
    }
    else
        cout << "Error: can not save the intrinsic parameters\n";

    Mat R1, R2, P1, P2, Q;
    Rect validRoi[2];
    //双目视觉校正，根据内参矩阵，两摄像机之间平移矩阵以及投射矩阵
    stereoRectify(cameraMatrix[0], distCoeffs[0],
                  cameraMatrix[1], distCoeffs[1],
                  imageSize, R, T, R1, R2, P1, P2, Q,
                  CALIB_ZERO_DISPARITY, 1, imageSize, &validRoi[0], &validRoi[1]);

    fs.open("extrinsics.yml", CV_STORAGE_WRITE);
    if( fs.isOpened() )
    {
        fs << "R" << R << "T" << T << "R1" << R1 << "R2" << R2 << "P1" << P1 << "P2" << P2 << "Q" << Q;
        fs.release();
    }
    else
        cout << "Error: can not save the intrinsic parameters\n";

    // OpenCV can handle left-right
    // or up-down camera arrangements
    bool isVerticalStereo = fabs(P2.at<double>(1, 3)) > fabs(P2.at<double>(0, 3));

// COMPUTE AND DISPLAY RECTIFICATION
    if( !showRectified )
        return;

    Mat rmap[2][2];
// IF BY CALIBRATED (CALIBRATE‘S METHOD)
    //用标定的话，就不许计算左右相机的透射矩阵
    if( useCalibrated )
    {
        // we already computed everything
    }
// OR ELSE HARTLEY‘S METHOD
    else
 // use intrinsic parameters of each camera, but
 // compute the rectification transformation directly
 // from the fundamental matrix
    {
        vector<Point2f> allimgpt[2];
        for( k = 0; k < 2; k++ )
        {
            for( i = 0; i < nimages; i++ )
                std::copy(imagePoints[k][i].begin(), imagePoints[k][i].end(), back_inserter(allimgpt[k]));
        }
        F = findFundamentalMat(Mat(allimgpt[0]), Mat(allimgpt[1]), FM_8POINT, 0, 0);
        Mat H1, H2;
        stereoRectifyUncalibrated(Mat(allimgpt[0]), Mat(allimgpt[1]), F, imageSize, H1, H2, 3);

        R1 = cameraMatrix[0].inv()*H1*cameraMatrix[0];
        R2 = cameraMatrix[1].inv()*H2*cameraMatrix[1];
        P1 = cameraMatrix[0];
        P2 = cameraMatrix[1];
    }

    //Precompute maps for cv::remap()
    //根据左右相机的投射矩阵，校正图像
    initUndistortRectifyMap(cameraMatrix[0], distCoeffs[0], R1, P1, imageSize, CV_16SC2, rmap[0][0], rmap[0][1]);
    initUndistortRectifyMap(cameraMatrix[1], distCoeffs[1], R2, P2, imageSize, CV_16SC2, rmap[1][0], rmap[1][1]);

    Mat canvas;
    double sf;
    int w, h;
    if( !isVerticalStereo )
    {
        sf = 600./MAX(imageSize.width, imageSize.height);
        w = cvRound(imageSize.width*sf);
        h = cvRound(imageSize.height*sf);
        canvas.create(h, w*2, CV_8UC3);
    }
    else
    {
        sf = 300./MAX(imageSize.width, imageSize.height);
        w = cvRound(imageSize.width*sf);
        h = cvRound(imageSize.height*sf);
        canvas.create(h*2, w, CV_8UC3);
    }

    for( i = 0; i < nimages; i++ )
    {
        for( k = 0; k < 2; k++ )
        {
            Mat img = imread(goodImageList[i*2+k], 0), rimg, cimg;
            remap(img, rimg, rmap[k][0], rmap[k][1], CV_INTER_LINEAR);
            cvtColor(rimg, cimg, COLOR_GRAY2BGR);
            Mat canvasPart = !isVerticalStereo ? canvas(Rect(w*k, 0, w, h)) : canvas(Rect(0, h*k, w, h));
            resize(cimg, canvasPart, canvasPart.size(), 0, 0, CV_INTER_AREA);
            if( useCalibrated )
            {
                Rect vroi(cvRound(validRoi[k].x*sf), cvRound(validRoi[k].y*sf),
                          cvRound(validRoi[k].width*sf), cvRound(validRoi[k].height*sf));
                rectangle(canvasPart, vroi, Scalar(0,0,255), 3, 8);
            }
        }

        if( !isVerticalStereo )
            for( j = 0; j < canvas.rows; j += 16 )
                line(canvas, Point(0, j), Point(canvas.cols, j), Scalar(0, 255, 0), 1, 8);
        else
            for( j = 0; j < canvas.cols; j += 16 )
                line(canvas, Point(j, 0), Point(j, canvas.rows), Scalar(0, 255, 0), 1, 8);
        imshow("rectified", canvas);
        char c = (char)waitKey();
        if( c == 27 || c == ‘q‘ || c == ‘Q‘ )
            break;
    }
}

static bool readStringList( const string& filename, vector<string>& l )
{
    l.resize(0);
    FileStorage fs(filename, FileStorage::READ);
    if( !fs.isOpened() )
        return false;
    FileNode n = fs.getFirstTopLevelNode();
    if( n.type() != FileNode::SEQ )
        return false;
    FileNodeIterator it = n.begin(), it_end = n.end();
    for( ; it != it_end; ++it )
        l.push_back((string)*it);
    return true;
}

int main(int argc, char** argv)
{
    Size boardSize;
    string imagelistfn;
    bool showRectified = true;

    for( int i = 1; i < argc; i++ )
    {
        if( string(argv[i]) == "-w" )
        {
            if( sscanf(argv[++i], "%d", &boardSize.width) != 1 || boardSize.width <= 0 )
            {
                cout << "invalid board width" << endl;
                return print_help();
            }
        }
        else if( string(argv[i]) == "-h" )
        {
            if( sscanf(argv[++i], "%d", &boardSize.height) != 1 || boardSize.height <= 0 )
            {
                cout << "invalid board height" << endl;
                return print_help();
            }
        }
        else if( string(argv[i]) == "-nr" )
            showRectified = false;
        else if( string(argv[i]) == "--help" )
            return print_help();
        else if( argv[i][0] == ‘-‘ )
        {
            cout << "invalid option " << argv[i] << endl;
            return 0;
        }
        else
            imagelistfn = argv[i];
    }

    if( imagelistfn == "" )
    {
        imagelistfn = "stereo_calib.xml";
        boardSize = Size(9, 6);
    }
    else if( boardSize.width <= 0 || boardSize.height <= 0 )
    {
        cout << "if you specified XML file with chessboards, you should also specify the board width and height (-w and -h options)" << endl;
        return 0;
    }

    vector<string> imagelist;
    bool ok = readStringList(imagelistfn, imagelist);
    if(!ok || imagelist.empty())
    {
        cout << "can not open " << imagelistfn << " or the string list is empty" << endl;
        return print_help();
    }

    StereoCalib(imagelist, boardSize, true, showRectified);
    return 0;
}

主要函数说明

cvFindChessboardCorners

cvDrawChessboardCorners

cornerSubPix

stereoCalibrate

cvCalibrateCamera

cvFindExtrinsicCameraParams2

ProjectPoints2