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OpenCV
samples目录下有一些源代码，包括标定，立体标定，立体匹配等等。最近弄了弄，放在这，希望能对新手有所帮助。
之前那篇帖子有人讨论到底用什么硬件，我暂时用的USB摄像头。
我的条件相当艰苦，现在刚开始学，标定用的棋盘格也是自己用纸打印了贴在木板上的，精度低点，但凑合着可以弄弄，相信最开始学这个的童鞋也都是用自己打印的棋盘格。
第一段代码是生成棋盘格的- #include"cv.h"
- #include"highgui.h"
- #define numx 9
- #define numy 9
- #define size 200
- #define filename "chessboard.jpg"
- void main()
- {
- IplImage* image=cvCreateImage(cvSize(numx*size,numy*size),8,1);
- ///生成黑白条
- for(int i=0;i<image->height;i++)
- {
- uchar* data=(uchar*)image->imageData+image->widthStep*i;
- for(int j=0;j<image->width;j++)
- {
- if((j/size)%2==1)
- *data=255;
- else
- *data=0;
- data++;
- }
- }
- //生成棋盘格
- for(int i=0;i<image->height;i++)
- {
- if((i/size)%2==1)
- {
- uchar* data=(uchar*)image->imageData+image->widthStep*i;
- for(int j=0;j<image->width;j++)
- {
- *data=255-*data;
- data++;
- }
- }
- }
- cvSaveImage(filename,image);
- }
第二段代码是单目摄像头的标定- #include "cv.h"
- #include "highgui.h"
- #include <stdio.h>
- #include <string.h>
- #include <time.h>
- // example command line (for copy-n-paste):
- // calibration -w 6 -h 8 -s 2 -n 10 -o camera.yml -op -oe [<list_of_views.txt>]
- /* The list of views may look as following (discard the starting and ending ------ separators):
- -------------------
- view000.png
- view001.png
- #view002.png
- view003.png
- view010.png
- one_extra_view.jpg
- -------------------
- that is, the file will contain 6 lines, view002.png will not be used for calibration,
- other ones will be (those, in which the chessboard pattern will be found)
- */
- enum { DETECTION = 0, CAPTURING = 1, CALIBRATED = 2 };
- double compute_reprojection_error( const CvMat* object_points,
- const CvMat* rot_vects, const CvMat* trans_vects,
- const CvMat* camera_matrix, const CvMat* dist_coeffs,
- const CvMat* image_points, const CvMat* point_counts,
- CvMat* per_view_errors )
- {
- CvMat* image_points2 = cvCreateMat( image_points->rows,
- image_points->cols, image_points->type );
- int i, image_count = rot_vects->rows, points_so_far = 0;
- double total_err = 0, err;
-
- for( i = 0; i < image_count; i++ )
- {
- CvMat object_points_i, image_points_i, image_points2_i;
- int point_count = point_counts->data.i[i];
- CvMat rot_vect, trans_vect;
- cvGetCols( object_points, &object_points_i,
- points_so_far, points_so_far + point_count );
- cvGetCols( image_points, &image_points_i,
- points_so_far, points_so_far + point_count );
- cvGetCols( image_points2, &image_points2_i,
- points_so_far, points_so_far + point_count );
- points_so_far += point_count;
- cvGetRow( rot_vects, &rot_vect, i );
- cvGetRow( trans_vects, &trans_vect, i );
- cvProjectPoints2( &object_points_i, &rot_vect, &trans_vect,
- camera_matrix, dist_coeffs, &image_points2_i,
- 0, 0, 0, 0, 0 );
- err = cvNorm( &image_points_i, &image_points2_i, CV_L1 );
- if( per_view_errors )
- per_view_errors->data.db[i] = err/point_count;
- total_err += err;
- }
-
- cvReleaseMat( &image_points2 );
- return total_err/points_so_far;
- }
- int run_calibration( CvSeq* image_points_seq, CvSize img_size, CvSize board_size,
- float square_size, float aspect_ratio, int flags,
- CvMat* camera_matrix, CvMat* dist_coeffs, CvMat** extr_params,
- CvMat** reproj_errs, double* avg_reproj_err )
- {
- int code;
- int image_count = image_points_seq->total;
- int point_count = board_size.width*board_size.height;
- CvMat* image_points = cvCreateMat( 1, image_count*point_count, CV_32FC2 );
- CvMat* object_points = cvCreateMat( 1, image_count*point_count, CV_32FC3 );
- CvMat* point_counts = cvCreateMat( 1, image_count, CV_32SC1 );
- CvMat rot_vects, trans_vects;
- int i, j, k;
- CvSeqReader reader;
- cvStartReadSeq( image_points_seq, &reader );
- // initialize arrays of points
- for( i = 0; i < image_count; i++ )
- {
- CvPoint2D32f* src_img_pt = (CvPoint2D32f*)reader.ptr;
- CvPoint2D32f* dst_img_pt = ((CvPoint2D32f*)image_points->data.fl) + i*point_count;
- CvPoint3D32f* obj_pt = ((CvPoint3D32f*)object_points->data.fl) + i*point_count;
- for( j = 0; j < board_size.height; j++ )
- for( k = 0; k < board_size.width; k++ )
- {
- *obj_pt++ = cvPoint3D32f(j*square_size, k*square_size, 0);
- *dst_img_pt++ = *src_img_pt++;
- }
- CV_NEXT_SEQ_ELEM( image_points_seq->elem_size, reader );
- }
- cvSet( point_counts, cvScalar(point_count) );
- *extr_params = cvCreateMat( image_count, 6, CV_32FC1 );
- cvGetCols( *extr_params, &rot_vects, 0, 3 );
- cvGetCols( *extr_params, &trans_vects, 3, 6 );
- cvZero( camera_matrix );
- cvZero( dist_coeffs );
- if( flags & CV_CALIB_FIX_ASPECT_RATIO )
- {
- camera_matrix->data.db[0] = aspect_ratio;
- camera_matrix->data.db[4] = 1.;
- }
- cvCalibrateCamera2( object_points, image_points, point_counts,
- img_size, camera_matrix, dist_coeffs,
- &rot_vects, &trans_vects, flags );
- code = cvCheckArr( camera_matrix, CV_CHECK_QUIET ) &&
- cvCheckArr( dist_coeffs, CV_CHECK_QUIET ) &&
- cvCheckArr( *extr_params, CV_CHECK_QUIET );
- *reproj_errs = cvCreateMat( 1, image_count, CV_64FC1 );
- *avg_reproj_err =
- compute_reprojection_error( object_points, &rot_vects, &trans_vects,
- camera_matrix, dist_coeffs, image_points, point_counts, *reproj_errs );
- cvReleaseMat( &object_points );
- cvReleaseMat( &image_points );
- cvReleaseMat( &point_counts );
- return code;
- }
- void save_camera_params( const char* out_filename, int image_count, CvSize img_size,
- CvSize board_size, float square_size,
- float aspect_ratio, int flags,
- const CvMat* camera_matrix, CvMat* dist_coeffs,
- const CvMat* extr_params, const CvSeq* image_points_seq,
- const CvMat* reproj_errs, double avg_reproj_err )
- {
- CvFileStorage* fs = cvOpenFileStorage( out_filename, 0, CV_STORAGE_WRITE );
-
- time_t t;
- time( &t );
- struct tm *t2 = localtime( &t );
- char buf[1024];
- strftime( buf, sizeof(buf)-1, "%c", t2 );
- cvWriteString( fs, "calibration_time", buf );
-
- cvWriteInt( fs, "image_count", image_count );
- cvWriteInt( fs, "image_width", img_size.width );
- cvWriteInt( fs, "image_height", img_size.height );
- cvWriteInt( fs, "board_width", board_size.width );
- cvWriteInt( fs, "board_height", board_size.height );
- cvWriteReal( fs, "square_size", square_size );
-
- if( flags & CV_CALIB_FIX_ASPECT_RATIO )
- cvWriteReal( fs, "aspect_ratio", aspect_ratio );
- if( flags != 0 )
- {
- sprintf( buf, "flags: %s%s%s%s",
- flags & CV_CALIB_USE_INTRINSIC_GUESS ? "+use_intrinsic_guess" : "",
- flags & CV_CALIB_FIX_ASPECT_RATIO ? "+fix_aspect_ratio" : "",
- flags & CV_CALIB_FIX_PRINCIPAL_POINT ? "+fix_principal_point" : "",
- flags & CV_CALIB_ZERO_TANGENT_DIST ? "+zero_tangent_dist" : "" );
- cvWriteComment( fs, buf, 0 );
- }
-
- cvWriteInt( fs, "flags", flags );
- cvWrite( fs, "camera_matrix", camera_matrix );
- cvWrite( fs, "distortion_coefficients", dist_coeffs );
- cvWriteReal( fs, "avg_reprojection_error", avg_reproj_err );
- if( reproj_errs )
- cvWrite( fs, "per_view_reprojection_errors", reproj_errs );
- if( extr_params )
- {
- cvWriteComment( fs, "a set of 6-tuples (rotation vector + translation vector) for each view", 0 );
- cvWrite( fs, "extrinsic_parameters", extr_params );
- }
- if( image_points_seq )
- {
- cvWriteComment( fs, "the array of board corners projections used for calibration", 0 );
- assert( image_points_seq->total == image_count );
- CvMat* image_points = cvCreateMat( 1, image_count*board_size.width*board_size.height, CV_32FC2 );
- cvCvtSeqToArray( image_points_seq, image_points->data.fl );
- cvWrite( fs, "image_points", image_points );
- cvReleaseMat( &image_points );
- }
- cvReleaseFileStorage( &fs );
- }
- int main( int argc, char** argv )
- {
- CvSize board_size = {0,0};
- float square_size = 1.f, aspect_ratio = 1.f;
- const char* out_filename = "out_camera_data.yml";
- const char* input_filename = 0;
- int i, image_count = 10;
- int write_extrinsics = 0, write_points = 0;
- int flags = 0;
- CvCapture* capture = 0;
- FILE* f = 0;
- char imagename[1024];
- CvMemStorage* storage;
- CvSeq* image_points_seq = 0;
- int elem_size, flip_vertical = 0;
- int delay = 1000;
- clock_t prev_timestamp = 0;
- CvPoint2D32f* image_points_buf = 0;
- CvFont font = cvFont( 1, 1 );
- double _camera[9], _dist_coeffs[4];
- CvMat camera = cvMat( 3, 3, CV_64F, _camera );
- CvMat dist_coeffs = cvMat( 1, 4, CV_64F, _dist_coeffs );
- CvMat *extr_params = 0, *reproj_errs = 0;
- double avg_reproj_err = 0;
- int mode = DETECTION;
- int undistort_image = 0;
- CvSize img_size = {0,0};
- const char* live_capture_help =
- "When the live video from camera is used as input, the following hot-keys may be used:\n"
- " <ESC>, 'q' - quit the program\n"
- " 'g' - start capturing images\n"
- " 'u' - switch undistortion on/off\n";
- if( argc < 2 )
- {
- printf( "This is a camera calibration sample.\n"
- "Usage: calibration\n"
- " -w <board_width> # the number of inner corners per one of board dimension\n"
- " -h <board_height> # the number of inner corners per another board dimension\n"
- " [-n <number_of_frames>] # the number of frames to use for calibration\n"
- " # (if not specified, it will be set to the number\n"
- " # of board views actually available)\n"
- " [-d <delay>] # a minimum delay in ms between subsequent attempts to capture a next view\n"
- " # (used only for video capturing)\n"
- " [-s <square_size>] # square size in some user-defined units (1 by default)\n"
- " [-o <out_camera_params>] # the output filename for intrinsic [and extrinsic] parameters\n"
- " [-op] # write detected feature points\n"
- " [-oe] # write extrinsic parameters\n"
- " [-zt] # assume zero tangential distortion\n"
- " [-a <aspect_ratio>] # fix aspect ratio (fx/fy)\n"
- " [-p] # fix the principal point at the center\n"
- " [-v] # flip the captured images around the horizontal axis\n"
- " [input_data] # input data, one of the following:\n"
- " # - text file with a list of the images of the board\n"
- " # - name of video file with a video of the board\n"
- " # if input_data not specified, a live view from the camera is used\n"
- "\n" );
- printf( "%s", live_capture_help );
- return 0;
- }
- for( i = 1; i < argc; i++ )
- {
- const char* s = argv[i];
- if( strcmp( s, "-w" ) == 0 )
- {
- if( sscanf( argv[++i], "%u", &board_size.width ) != 1 || board_size.width <= 0 )
- return fprintf( stderr, "Invalid board width\n" ), -1;
- }
- else if( strcmp( s, "-h" ) == 0 )
- {
- if( sscanf( argv[++i], "%u", &board_size.height ) != 1 || board_size.height <= 0 )
- return fprintf( stderr, "Invalid board height\n" ), -1;
- }
- else if( strcmp( s, "-s" ) == 0 )
- {
- if( sscanf( argv[++i], "%f", &square_size ) != 1 || square_size <= 0 )
- return fprintf( stderr, "Invalid board square width\n" ), -1;
- }
- else if( strcmp( s, "-n" ) == 0 )
- {
- if( sscanf( argv[++i], "%u", &image_count ) != 1 || image_count <= 3 )
- return printf("Invalid number of images\n" ), -1;
- }
- else if( strcmp( s, "-a" ) == 0 )
- {
- if( sscanf( argv[++i], "%f", &aspect_ratio ) != 1 || aspect_ratio <= 0 )
- return printf("Invalid aspect ratio\n" ), -1;
- }
- else if( strcmp( s, "-d" ) == 0 )
- {
- if( sscanf( argv[++i], "%u", &delay ) != 1 || delay <= 0 )
- return printf("Invalid delay\n" ), -1;
- }
- else if( strcmp( s, "-op" ) == 0 )
- {
- write_points = 1;
- }
- else if( strcmp( s, "-oe" ) == 0 )
- {
- write_extrinsics = 1;
- }
- else if( strcmp( s, "-zt" ) == 0 )
- {
- flags |= CV_CALIB_ZERO_TANGENT_DIST;
- }
- else if( strcmp( s, "-p" ) == 0 )
- {
- flags |= CV_CALIB_FIX_PRINCIPAL_POINT;
- }
- else if( strcmp( s, "-v" ) == 0 )
- {
- flip_vertical = 1;
- }
- else if( strcmp( s, "-o" ) == 0 )
- {
- out_filename = argv[++i];
- }
- else if( s[0] != '-' )
- input_filename = s;
- else
- return fprintf( stderr, "Unknown option %s", s ), -1;
- }
- if( input_filename )
- {
- capture = cvCreateFileCapture( input_filename );
- if( !capture )
- {
- f = fopen( input_filename, "rt" );
- if( !f )
- return fprintf( stderr, "The input file could not be opened\n" ), -1;
- image_count = -1;
- }
- mode = CAPTURING;
- }
- else
- capture = cvCreateCameraCapture(0);
- if( !capture && !f )
- return fprintf( stderr, "Could not initialize video capture\n" ), -2;
- if( capture )
- printf( "%s", live_capture_help );
- elem_size = board_size.width*board_size.height*sizeof(image_points_buf[0]);
- storage = cvCreateMemStorage( MAX( elem_size*4, 1 << 16 ));
- image_points_buf = (CvPoint2D32f*)cvAlloc( elem_size );
- image_points_seq = cvCreateSeq( 0, sizeof(CvSeq), elem_size, storage );
- cvNamedWindow( "Image View", 1 );
- for(;;)
- {
- IplImage *view = 0, *view_gray = 0;
- int count = 0, found, blink = 0;
- CvPoint text_origin;
- CvSize text_size = {0,0};
- int base_line = 0;
- char s[100];
- int key;
-
- if( f && fgets( imagename, sizeof(imagename)-2, f ))
- {
- int l = strlen(imagename);
- if( l > 0 && imagename[l-1] == '\n' )
- imagename[--l] = '\0';
- if( l > 0 )
- {
- if( imagename[0] == '#' )
- continue;
- view = cvLoadImage( imagename, 1 );
- }
- }
- else if( capture )
- {
- IplImage* view0 = cvQueryFrame( capture );
- if( view0 )
- {
- view = cvCreateImage( cvGetSize(view0), IPL_DEPTH_8U, view0->nChannels );
- if( view0->origin == IPL_ORIGIN_BL )
- cvFlip( view0, view, 0 );
- else
- cvCopy( view0, view );
- }
- }
- if( !view )
- {
- if( image_points_seq->total > 0 )
- {
- image_count = image_points_seq->total;
- goto calibrate;
- }
- break;
- }
- if( flip_vertical )
- cvFlip( view, view, 0 );
- img_size = cvGetSize(view);
- found = cvFindChessboardCorners( view, board_size,
- image_points_buf, &count, CV_CALIB_CB_ADAPTIVE_THRESH );
- #if 1
- // improve the found corners' coordinate accuracy
- view_gray = cvCreateImage( cvGetSize(view), 8, 1 );
- cvCvtColor( view, view_gray, CV_BGR2GRAY );
- cvFindCornerSubPix( view_gray, image_points_buf, count, cvSize(11,11),
- cvSize(-1,-1), cvTermCriteria( CV_TERMCRIT_EPS+CV_TERMCRIT_ITER, 30, 0.1 ));
- cvReleaseImage( &view_gray );
- #endif
- if( mode == CAPTURING && found && (f || clock() - prev_timestamp > delay*1e-3*CLOCKS_PER_SEC) )
- {
- cvSeqPush( image_points_seq, image_points_buf );
- prev_timestamp = clock();
- blink = !f;
- #if 1
- if( capture )
- {
- sprintf( imagename, "view%03d.png", image_points_seq->total - 1 );
- cvSaveImage( imagename, view );
- }
- #endif
- }
- cvDrawChessboardCorners( view, board_size, image_points_buf, count, found );
- cvGetTextSize( "100/100", &font, &text_size, &base_line );
- text_origin.x = view->width - text_size.width - 10;
- text_origin.y = view->height - base_line - 10;
- if( mode == CAPTURING )
- {
- if( image_count > 0 )
- sprintf( s, "%d/%d", image_points_seq ? image_points_seq->total : 0, image_count );
- else
- sprintf( s, "%d/?", image_points_seq ? image_points_seq->total : 0 );
- }
- else if( mode == CALIBRATED )
- sprintf( s, "Calibrated" );
- else
- sprintf( s, "Press 'g' to start" );
- cvPutText( view, s, text_origin, &font, mode != CALIBRATED ?
- CV_RGB(255,0,0) : CV_RGB(0,255,0));
- if( blink )
- cvNot( view, view );
- if( mode == CALIBRATED && undistort_image )
- {
- IplImage* t = cvCloneImage( view );
- cvUndistort2( t, view, &camera, &dist_coeffs );
- cvReleaseImage( &t );
- }
- cvShowImage( "Image View", view );
- key = cvWaitKey(capture ? 50 : 500);
- if( key == 27 )
- break;
-
- if( key == 'u' && mode == CALIBRATED )
- undistort_image = !undistort_image;
- if( capture && key == 'g' )
- {
- mode = CAPTURING;
- cvClearMemStorage( storage );
- image_points_seq = cvCreateSeq( 0, sizeof(CvSeq), elem_size, storage );
- }
- if( mode == CAPTURING && (unsigned)image_points_seq->total >= (unsigned)image_count )
- {
- calibrate:
- cvReleaseMat( &extr_params );
- cvReleaseMat( &reproj_errs );
- int code = run_calibration( image_points_seq, img_size, board_size,
- square_size, aspect_ratio, flags, &camera, &dist_coeffs, &extr_params,
- &reproj_errs, &avg_reproj_err );
- // save camera parameters in any case, to catch Inf's/NaN's
- save_camera_params( out_filename, image_count, img_size,
- board_size, square_size, aspect_ratio, flags,
- &camera, &dist_coeffs, write_extrinsics ? extr_params : 0,
- write_points ? image_points_seq : 0, reproj_errs, avg_reproj_err );
- if( code )
- mode = CALIBRATED;
- else
- mode = DETECTION;
- }
- if( !view )
- break;
- cvReleaseImage( &view );
- }
- if( capture )
- cvReleaseCapture( &capture );
- if( storage )
- cvReleaseMemStorage( &storage );
- return 0;
- }
调试时在Property->Configuration Properties->Debugging->Command Arguments 添加-w 8 -h 8 -s 2 -n 10 -o camera.yml -op -oe -p
第三段代码是立体标定的，我稍微改了一下，让它直接从两个摄像头中读取图像来处理- //! 邮箱：yang3kui@gmail.com
- #include "cv.h"
- #include "highgui.h"
- #include<iostream>
- using namespace std;
- /* This is sample from the OpenCV book. The copyright notice is below */
- /* *************** License:**************************
- Oct. 3, 2008
- Right to use this code in any way you want without warrenty, support or any guarentee of it working.
- BOOK: It would be nice if you cited it:
- Learning OpenCV: Computer Vision with the OpenCV Library
- by Gary Bradski and Adrian Kaehler
- Published by O'Reilly Media, October 3, 2008
- AVAILABLE AT:
- http://www.amazon.com/Learning-OpenCV-Computer-Vision-Library/dp/0596516134
- Or: http://oreilly.com/catalog/9780596516130/
- ISBN-10: 0596516134 or: ISBN-13: 978-0596516130
- OTHER OPENCV SITES:
- * The source code is on sourceforge at:
- http://sourceforge.net/projects/opencvlibrary/
- * The OpenCV wiki page (As of Oct 1, 2008 this is down for changing over servers, but should come back):
- http://opencvlibrary.sourceforge.net/
- * An active user group is at:
- http://tech.groups.yahoo.com/group/OpenCV/
- * The minutes of weekly OpenCV development meetings are at:
- http://pr.willowgarage.com/wiki/OpenCV
- ************************************************** */
- #undef _GLIBCXX_DEBUG
- #include "cv.h"
- #include "cxmisc.h"
- #include "highgui.h"
- #include <vector>
- #include <string>
- #include <algorithm>
- #include <stdio.h>
- #include <ctype.h>
- using namespace std;
- //
- // Given a list of chessboard images, the number of corners (nx, ny)
- // on the chessboards, and a flag: useCalibrated for calibrated (0) or
- // uncalibrated (1: use cvStereoCalibrate(), 2: compute fundamental
- // matrix separately) stereo. Calibrate the cameras and display the
- // rectified results along with the computed disparity images.
- //
- static void
- StereoCalib(const char* imageList, int useUncalibrated)
- {
- CvRect roi1, roi2;
- int nx = 0, ny = 0;
- int displayCorners = 1;
- int showUndistorted = 1;
- bool isVerticalStereo = false;//OpenCV can handle left-right
- //or up-down camera arrangements
- const int maxScale = 1;
- const float squareSize = 1.f; //Set this to your actual square size
- FILE* f = fopen(imageList, "rt");
- int i, j, lr, nframes = 0, n, N = 0;
- vector<string> imageNames[2];
- vector<CvPoint3D32f> objectPoints;
- vector<CvPoint2D32f> points[2];
- vector<CvPoint2D32f> temp_points[2];
- vector<int> npoints;
- // vector<uchar> active[2];
- int is_found[2] = {0, 0};
- vector<CvPoint2D32f> temp;
- CvSize imageSize = {0,0};
- // ARRAY AND VECTOR STORAGE:
- double M1[3][3], M2[3][3], D1[5], D2[5];
- double R[3][3], T[3], E[3][3], F[3][3];
- double Q[4][4];
- CvMat _M1 = cvMat(3, 3, CV_64F, M1 );
- CvMat _M2 = cvMat(3, 3, CV_64F, M2 );
- CvMat _D1 = cvMat(1, 5, CV_64F, D1 );
- CvMat _D2 = cvMat(1, 5, CV_64F, D2 );
- CvMat matR = cvMat(3, 3, CV_64F, R );
- CvMat matT = cvMat(3, 1, CV_64F, T );
- CvMat matE = cvMat(3, 3, CV_64F, E );
- CvMat matF = cvMat(3, 3, CV_64F, F );
- CvMat matQ = cvMat(4, 4, CV_64FC1, Q);
- char buf[1024];
- if( displayCorners )
- cvNamedWindow( "corners", 1 );
- // READ IN THE LIST OF CHESSBOARDS:
- if( !f )
- {
- fprintf(stderr, "can not open file %s\n", imageList );
- return;
- }
- if( !fgets(buf, sizeof(buf)-3, f) || sscanf(buf, "%d%d", &nx, &ny) != 2 )
- return;
- n = nx*ny;
- temp.resize(n);
- temp_points[0].resize(n);
- temp_points[1].resize(n);
- for(i=0;;i++)
- {
- int count = 0, result=0;
- lr = i % 2;
- vector<CvPoint2D32f>& pts = temp_points[lr];//points[lr];
- if( !fgets( buf, sizeof(buf)-3, f ))
- break;
- size_t len = strlen(buf);
- while( len > 0 && isspace(buf[len-1]))
- buf[--len] = '\0';
- if( buf[0] == '#')
- continue;
- IplImage* img = cvLoadImage( buf, 0 );
- if( !img )
- break;
- imageSize = cvGetSize(img);
- imageNames[lr].push_back(buf);
- //FIND CHESSBOARDS AND CORNERS THEREIN:
- for( int s = 1; s <= maxScale; s++ )
- {
- IplImage* timg = img;
- if( s > 1 )
- {
- timg = cvCreateImage(cvSize(img->width*s,img->height*s),
- img->depth, img->nChannels );
- cvResize( img, timg, CV_INTER_CUBIC );
- }
- result = cvFindChessboardCorners( timg, cvSize(nx, ny),
- &temp[0], &count,
- CV_CALIB_CB_ADAPTIVE_THRESH |
- CV_CALIB_CB_NORMALIZE_IMAGE);
- if( timg != img )
- cvReleaseImage( &timg );
- if( result || s == maxScale )
- for( j = 0; j < count; j++ )
- {
- temp[j].x /= s;
- temp[j].y /= s;
- }
- if( result )
- break;
- }
- if( displayCorners )
- {
- printf("%s\n", buf);
- IplImage* cimg = cvCreateImage( imageSize, 8, 3 );
- cvCvtColor( img, cimg, CV_GRAY2BGR );
- cvDrawChessboardCorners( cimg, cvSize(nx, ny), &temp[0],
- count, result );
- IplImage* cimg1 = cvCreateImage(cvSize(640, 480), IPL_DEPTH_8U, 3);
- cvResize(cimg, cimg1);
- cvShowImage( "corners", cimg1 );
- cvReleaseImage( &cimg );
- cvReleaseImage( &cimg1 );
- int c = cvWaitKey(1000);
- if( c == 27 || c == 'q' || c == 'Q' ) //Allow ESC to quit
- exit(-1);
- }
- else
- putchar('.');
- //N = pts.size();
- //pts.resize(N + n, cvPoint2D32f(0,0));
- //active[lr].push_back((uchar)result);
- is_found[lr] = result > 0 ? 1 : 0;
- //assert( result != 0 );
- if( result )
- {
- //Calibration will suffer without subpixel interpolation
- cvFindCornerSubPix( img, &temp[0], count,
- cvSize(11, 11), cvSize(-1,-1),
- cvTermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,
- 30, 0.01) );
- copy( temp.begin(), temp.end(), pts.begin() );
- }
- cvReleaseImage( &img );
- if(lr)
- {
- if(is_found[0] == 1 && is_found[1] == 1)
- {
- assert(temp_points[0].size() == temp_points[1].size());
- int current_size = points[0].size();
- points[0].resize(current_size + temp_points[0].size(), cvPoint2D32f(0.0, 0.0));
- points[1].resize(current_size + temp_points[1].size(), cvPoint2D32f(0.0, 0.0));
- copy(temp_points[0].begin(), temp_points[0].end(), points[0].begin() + current_size);
- copy(temp_points[1].begin(), temp_points[1].end(), points[1].begin() + current_size);
- nframes++;
- printf("Pair successfully detected...\n");
- }
- is_found[0] = 0;
- is_found[1] = 0;
- }
- }
- fclose(f);
- printf("\n");
- // HARVEST CHESSBOARD 3D OBJECT POINT LIST:
- objectPoints.resize(nframes*n);
- for( i = 0; i < ny; i++ )
- for( j = 0; j < nx; j++ )
- objectPoints[i*nx + j] =
- cvPoint3D32f(i*squareSize, j*squareSize, 0);
- for( i = 1; i < nframes; i++ )
- copy( objectPoints.begin(), objectPoints.begin() + n,
- objectPoints.begin() + i*n );
- npoints.resize(nframes,n);
- N = nframes*n;
- CvMat _objectPoints = cvMat(1, N, CV_32FC3, &objectPoints[0] );
- CvMat _imagePoints1 = cvMat(1, N, CV_32FC2, &points[0][0] );
- CvMat _imagePoints2 = cvMat(1, N, CV_32FC2, &points[1][0] );
- CvMat _npoints = cvMat(1, npoints.size(), CV_32S, &npoints[0] );
- cvSetIdentity(&_M1);
- cvSetIdentity(&_M2);
- cvZero(&_D1);
- cvZero(&_D2);
- // CALIBRATE THE STEREO CAMERAS
- printf("Running stereo calibration ...");
- fflush(stdout);
- cvStereoCalibrate( &_objectPoints, &_imagePoints1,
- &_imagePoints2, &_npoints,
- &_M1, &_D1, &_M2, &_D2,
- imageSize, &matR, &matT, &matE, &matF,
- cvTermCriteria(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_FIX_K3);
- printf(" done\n");
- // 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
- vector<CvPoint3D32f> lines[2];
- points[0].resize(N);
- points[1].resize(N);
- _imagePoints1 = cvMat(1, N, CV_32FC2, &points[0][0] );
- _imagePoints2 = cvMat(1, N, CV_32FC2, &points[1][0] );
- lines[0].resize(N);
- lines[1].resize(N);
- CvMat _L1 = cvMat(1, N, CV_32FC3, &lines[0][0]);
- CvMat _L2 = cvMat(1, N, CV_32FC3, &lines[1][0]);
- //Always work in undistorted space
- cvUndistortPoints( &_imagePoints1, &_imagePoints1,
- &_M1, &_D1, 0, &_M1 );
- cvUndistortPoints( &_imagePoints2, &_imagePoints2,
- &_M2, &_D2, 0, &_M2 );
- cvComputeCorrespondEpilines( &_imagePoints1, 1, &matF, &_L1 );
- cvComputeCorrespondEpilines( &_imagePoints2, 2, &matF, &_L2 );
- double avgErr = 0;
- for( i = 0; i < N; i++ )
- {
- double err = fabs(points[0][i].x*lines[1][i].x +
- points[0][i].y*lines[1][i].y + lines[1][i].z)
- + fabs(points[1][i].x*lines[0][i].x +
- points[1][i].y*lines[0][i].y + lines[0][i].z);
- avgErr += err;
- }
- printf( "avg err = %g\n", avgErr/(nframes*n) );
- // save intrinsic parameters
- CvFileStorage* fstorage = cvOpenFileStorage("intrinsics.yml", NULL, CV_STORAGE_WRITE);
- cvWrite(fstorage, "M1", &_M1);
- cvWrite(fstorage, "D1", &_D1);
- cvWrite(fstorage, "M2", &_M2);
- cvWrite(fstorage, "D2", &_D2);
- cvReleaseFileStorage(&fstorage);
- //COMPUTE AND DISPLAY RECTIFICATION
- if( showUndistorted )
- {
- CvMat* mx1 = cvCreateMat( imageSize.height,
- imageSize.width, CV_32F );
- CvMat* my1 = cvCreateMat( imageSize.height,
- imageSize.width, CV_32F );
- CvMat* mx2 = cvCreateMat( imageSize.height,
- imageSize.width, CV_32F );
- CvMat* my2 = cvCreateMat( imageSize.height,
- imageSize.width, CV_32F );
- CvMat* img1r = cvCreateMat( imageSize.height,
- imageSize.width, CV_8U );
- CvMat* img2r = cvCreateMat( imageSize.height,
- imageSize.width, CV_8U );
- CvMat* disp = cvCreateMat( imageSize.height,
- imageSize.width, CV_16S );
- double R1[3][3], R2[3][3], P1[3][4], P2[3][4];
- CvMat _R1 = cvMat(3, 3, CV_64F, R1);
- CvMat _R2 = cvMat(3, 3, CV_64F, R2);
- // IF BY CALIBRATED (BOUGUET'S METHOD)
- if( useUncalibrated == 0 )
- {
- CvMat _P1 = cvMat(3, 4, CV_64F, P1);
- CvMat _P2 = cvMat(3, 4, CV_64F, P2);
- cvStereoRectify( &_M1, &_M2, &_D1, &_D2, imageSize,
- &matR, &matT,
- &_R1, &_R2, &_P1, &_P2, &matQ,
- CV_CALIB_ZERO_DISPARITY,
- 1, imageSize, &roi1, &roi2);
- CvFileStorage* file = cvOpenFileStorage("extrinsics.yml", NULL, CV_STORAGE_WRITE);
- cvWrite(file, "R", &matR);
- cvWrite(file, "T", &matT);
- cvWrite(file, "R1", &_R1);
- cvWrite(file, "R2", &_R2);
- cvWrite(file, "P1", &_P1);
- cvWrite(file, "P2", &_P2);
- cvWrite(file, "Q", &matQ);
- cvReleaseFileStorage(&file);
- isVerticalStereo = fabs(P2[1][3]) > fabs(P2[0][3]);
- if(!isVerticalStereo)
- roi2.x += imageSize.width;
- else
- roi2.y += imageSize.height;
- //Precompute maps for cvRemap()
- cvInitUndistortRectifyMap(&_M1,&_D1,&_R1,&_P1,mx1,my1);
- cvInitUndistortRectifyMap(&_M2,&_D2,&_R2,&_P2,mx2,my2);
- }
- //OR ELSE HARTLEY'S METHOD
- else if( useUncalibrated == 1 || useUncalibrated == 2 )
- // use intrinsic parameters of each camera, but
- // compute the rectification transformation directly
- // from the fundamental matrix
- {
- double H1[3][3], H2[3][3], iM[3][3];
- CvMat _H1 = cvMat(3, 3, CV_64F, H1);
- CvMat _H2 = cvMat(3, 3, CV_64F, H2);
- CvMat _iM = cvMat(3, 3, CV_64F, iM);
- //Just to show you could have independently used F
- if( useUncalibrated == 2 )
- cvFindFundamentalMat( &_imagePoints1,
- &_imagePoints2, &matF);
- cvStereoRectifyUncalibrated( &_imagePoints1,
- &_imagePoints2, &matF,
- imageSize,
- &_H1, &_H2, 3);
- cvInvert(&_M1, &_iM);
- cvMatMul(&_H1, &_M1, &_R1);
- cvMatMul(&_iM, &_R1, &_R1);
- cvInvert(&_M2, &_iM);
- cvMatMul(&_H2, &_M2, &_R2);
- cvMatMul(&_iM, &_R2, &_R2);
- //Precompute map for cvRemap()
- cvInitUndistortRectifyMap(&_M1,&_D1,&_R1,&_M1,mx1,my1);
- cvInitUndistortRectifyMap(&_M2,&_D1,&_R2,&_M2,mx2,my2);
- }
- else
- assert(0);
- cvReleaseMat( &mx1 );
- cvReleaseMat( &my1 );
- cvReleaseMat( &mx2 );
- cvReleaseMat( &my2 );
- cvReleaseMat( &img1r );
- cvReleaseMat( &img2r );
- cvReleaseMat( &disp );
- }
- }
- void error(int level,char * msg)
- {
- switch(level)
- {
- case 1:
- ///严重错误
- cout<<msg<<endl;
- cout<<"这是一个严重错误，程序将终止运行\n"
- <<"按任意键退出"
- <<endl;
- cin.get();
- break;
- case 2:
- //警告
- cout<<"警告："<<msg<<endl;
- break;
- case 3:
- ///信息
- cout<<msg<<endl;
- break;
- default:
- cout<<msg<<endl;
- cout<<"这是一个级别未知的警告信息"<<endl;
- break;
- }
- }
- void main()
- {
- cout<<"这是摄像机双目标定程序"<<endl;
- IplImage * leftimg,* rightimg,*image;
- CvCapture *leftcap=NULL;
- CvCapture *rightcap=NULL;
- leftcap=cvCreateCameraCapture(1);
- rightcap=cvCreateCameraCapture(0);
- image=cvQueryFrame(leftcap);\
- ///左右两个照片空间的申请
- leftimg=cvCloneImage(image);
- rightimg=cvCloneImage(image);
- if(leftcap==NULL||rightcap==NULL)
- {
- error(1,"有一个摄像头无法打开");
- return;
- }
- cvNamedWindow("left",1);
- cvNamedWindow("right",1);
- int index=0;///当前是第几张
- int total=10;///总的照片的数量
- char* basename1="jpgleft";
- char* basename2="jpgright";
- char filename[100];
- FILE* file=fopen("filename.txt","wt");
- char* buf="8 8\n";
- fwrite(buf,1,strlen(buf),file);
-
- while(1)
- {
- image=cvQueryFrame(leftcap);
- cvCopy(image,leftimg);
- image=cvQueryFrame(rightcap);
- cvCopy(image,rightimg);
- cvShowImage("left",leftimg);
- cvShowImage("right",rightimg);
- char ch=cvWaitKey(27);
- if(ch=='e')
- {
- //正常退出
- break;
- }
- else if(ch==' ')
- {
- //拍取照片,并处理之
- cout<<"正在采集第"<<index+1<<"对图片,一共需要采集"<<total<<"对图片。"<<endl;
- char *temp="\n";
- sprintf_s(filename,100,"%s%d.jpg",basename1,index);
-
-
- cvSaveImage(filename,leftimg);
- fwrite(filename,1,strlen(filename),file);
- fwrite(temp,1,strlen(temp),file);
- sprintf_s(filename,100,"%s%d.jpg",basename2,index);
-
- cvSaveImage(filename,rightimg);
- fwrite(filename,1,strlen(filename),file);
- fwrite(temp,1,strlen(temp),file);
- index++;
- }
- if(index==total)
- break;
- }
- fclose(file);
- cout<<"开始双目标定"<<endl;
- StereoCalib("filename.txt",0);
- cout<<"标定已经完成，内参数保存在intrinsic.yml文件中，外参数保存在extrinsic.yml文件中!\n按任意键结束程序。"<<endl;
- return;
- }
第四段代码是立体匹配- /*
- * stereo_match.cpp
- * calibration
- *
- * Created by Victor Eruhimov on 1/18/10.
- * Copyright 2010 Argus Corp. All rights reserved.
- *
- */
- #include <cv.h>
- #include <highgui.h>
- #include <stdio.h>
- using namespace cv;
- void saveXYZ(const char* filename, const Mat& mat)
- {
- const double max_z = 1.0e4;
- FILE* fp = fopen(filename, "wt");
- fprintf(fp, "\"X\" \"Y\" \"Z\"\n");
- for(int y = 0; y < mat.rows; y++)
- {
- for(int x = 0; x < mat.cols; x++)
- {
- Vec3f point = mat.at<Vec3f>(y, x);
- if(fabs(point[2] - max_z) < FLT_EPSILON || fabs(point[2]) > max_z) continue;
- fprintf(fp, "%f\t%f\t%f\n", point[0]*1000, point[1]*1000, point[2]*1000);
- }
- }
- fclose(fp);
- }
- void print_help()
- {
- printf("Usage: stereo_match <left_image> <right_image> [--algorithm=bm|sgbm|hh] [--blocksize=<block_size>]\n"
- "[--max-disparity=<max_disparity>] [-i <intrinsic_filename>] [-e <extrinsic_filename>]\n"
- "[--no-display] [-o <disparity_image>] [-p <point_cloud_file>]\n");
- }
- int main(int argc, char** argv)
- {
- const char* algorithm_opt = "--algorithm=";
- const char* maxdisp_opt = "--max-disparity=";
- const char* blocksize_opt = "--blocksize=";
- const char* nodisplay_opt = "--no-display=";
- //print_help();
- if(argc < 3)
- {
- print_help();
- return 0;
- }
- const char* img1_filename = 0;
- const char* img2_filename = 0;
- const char* intrinsic_filename = 0;
- const char* extrinsic_filename = 0;
- const char* disparity_filename = 0;
- const char* point_cloud_filename = 0;
- enum { STEREO_BM=0, STEREO_SGBM=1, STEREO_HH=2 };
- int alg = STEREO_SGBM;
- int SADWindowSize = 0, numberOfDisparities = 0;
- bool no_display = false;
- StereoBM bm;
- StereoSGBM sgbm;
- for( int i = 1; i < argc; i++ )
- {
- if( argv[i][0] != '-' )
- {
- if( !img1_filename )
- img1_filename = argv[i];
- else
- img2_filename = argv[i];
- }
- else if( strncmp(argv[i], algorithm_opt, strlen(algorithm_opt)) == 0 )
- {
- char* _alg = argv[i] + strlen(algorithm_opt);
- alg = strcmp(_alg, "bm") == 0 ? STEREO_BM :
- strcmp(_alg, "sgbm") == 0 ? STEREO_SGBM :
- strcmp(_alg, "hh") == 0 ? STEREO_HH : -1;
- if( alg < 0 )
- {
- printf("Command-line parameter error: Unknown stereo algorithm\n\n");
- print_help();
- return -1;
- }
- }
- else if( strncmp(argv[i], maxdisp_opt, strlen(maxdisp_opt)) == 0 )
- {
- if( sscanf( argv[i] + strlen(maxdisp_opt), "%d", &numberOfDisparities ) != 1 ||
- numberOfDisparities < 1 || numberOfDisparities % 16 != 0 )
- {
- printf("Command-line parameter error: The max disparity (--maxdisparity=<...>) must be a positive integer divisible by 16\n");
- print_help();
- return -1;
- }
- }
- else if( strncmp(argv[i], blocksize_opt, strlen(blocksize_opt)) == 0 )
- {
- if( sscanf( argv[i] + strlen(blocksize_opt), "%d", &SADWindowSize ) != 1 ||
- SADWindowSize < 1 || SADWindowSize % 2 != 1 )
- {
- printf("Command-line parameter error: The block size (--blocksize=<...>) must be a positive odd number\n");
- return -1;
- }
- }
- else if( strcmp(argv[i], nodisplay_opt) == 0 )
- no_display = true;
- else if( strcmp(argv[i], "-i" ) == 0 )
- intrinsic_filename = argv[++i];
- else if( strcmp(argv[i], "-e" ) == 0 )
- extrinsic_filename = argv[++i];
- else if( strcmp(argv[i], "-o" ) == 0 )
- disparity_filename = argv[++i];
- else if( strcmp(argv[i], "-p" ) == 0 )
- point_cloud_filename = argv[++i];
- else
- {
- printf("Command-line parameter error: unknown option %s\n", argv[i]);
- return -1;
- }
- }
- if( !img1_filename || !img2_filename )
- {
- printf("Command-line parameter error: both left and right images must be specified\n");
- return -1;
- }
- if( (intrinsic_filename != 0) ^ (extrinsic_filename != 0) )
- {
- printf("Command-line parameter error: either both intrinsic and extrinsic parameters must be specified, or none of them (when the stereo pair is already rectified)\n");
- return -1;
- }
- if( extrinsic_filename == 0 && point_cloud_filename )
- {
- printf("Command-line parameter error: extrinsic and intrinsic parameters must be specified to compute the point cloud\n");
- return -1;
- }
- int color_mode = alg == STEREO_BM ? 0 : -1;
- Mat img1 = imread(img1_filename, color_mode);
- Mat img2 = imread(img2_filename, color_mode);
- Size img_size = img1.size();
- Rect roi1, roi2;
- Mat Q;
- // + intrinsic_filename, 0x001f4e9e "intrinsics.yml" const char *
- if( intrinsic_filename )
- {
- // reading intrinsic parameters
- FileStorage fs(intrinsic_filename,CV_STORAGE_READ);
- if(!fs.isOpened())
- {
- printf("Failed to open file %s\n", intrinsic_filename);
- return -1;
- }
- Mat M1, D1, M2, D2;
- fs["M1"] >> M1;
- fs["D1"] >> D1;
- fs["M2"] >> M2;
- fs["D2"] >> D2;
- fs.open(extrinsic_filename, CV_STORAGE_READ);
- if(!fs.isOpened())
- {
- printf("Failed to open file %s\n", extrinsic_filename);
- return -1;
- }
- Mat R, T, R1, P1, R2, P2;
- fs["R"] >> R;
- fs["T"] >> T;
- stereoRectify( M1, D1, M2, D2, img_size, R, T, R1, R2, P1, P2, Q, -1, img_size, &roi1, &roi2 );
- Mat map11, map12, map21, map22;
- initUndistortRectifyMap(M1, D1, R1, P1, img_size, CV_16SC2, map11, map12);
- initUndistortRectifyMap(M2, D2, R2, P2, img_size, CV_16SC2, map21, map22);
- Mat img1r, img2r;
- remap(img1, img1r, map11, map12, INTER_LINEAR);
- remap(img2, img2r, map21, map22, INTER_LINEAR);
- img1 = img1r;
- img2 = img2r;
- }
- numberOfDisparities = numberOfDisparities > 0 ? numberOfDisparities : img_size.width/8;
- bm.state->roi1 = roi1;
- bm.state->roi2 = roi2;
- bm.state->preFilterCap = 31;
- bm.state->SADWindowSize = SADWindowSize > 0 ? SADWindowSize : 9;
- bm.state->minDisparity = 0;
- bm.state->numberOfDisparities = numberOfDisparities;
- bm.state->textureThreshold = 10;
- bm.state->uniquenessRatio = 15;
- bm.state->speckleWindowSize = 100;
- bm.state->speckleRange = 32;
- bm.state->disp12MaxDiff = 1;
- sgbm.preFilterCap = 63;
- sgbm.SADWindowSize = SADWindowSize > 0 ? SADWindowSize : 3;
- int cn = img1.channels();
- sgbm.P1 = 8*cn*sgbm.SADWindowSize*sgbm.SADWindowSize;
- sgbm.P2 = 32*cn*sgbm.SADWindowSize*sgbm.SADWindowSize;
- sgbm.minDisparity = 0;
- sgbm.numberOfDisparities = numberOfDisparities;
- sgbm.uniquenessRatio = 10;
- sgbm.speckleWindowSize = bm.state->speckleWindowSize;
- sgbm.speckleRange = bm.state->speckleRange;
- sgbm.disp12MaxDiff = 1;
- sgbm.fullDP = alg == STEREO_HH;
- Mat disp, disp8;
- //Mat img1p, img2p, dispp;
- //copyMakeBorder(img1, img1p, 0, 0, numberOfDisparities, 0, IPL_BORDER_REPLICATE);
- //copyMakeBorder(img2, img2p, 0, 0, numberOfDisparities, 0, IPL_BORDER_REPLICATE);
- ;
- int64 t = getTickCount();
- if( alg == STEREO_BM)
- bm(img1, img2, disp);
- else
- sgbm(img1, img2, disp);
- t = getTickCount() - t;
- printf("Time elapsed: %fms\n", t*1000/getTickFrequency());
- //disp = dispp.colRange(numberOfDisparities, img1p.cols);
- disp.convertTo(disp8, CV_8U, 255/(numberOfDisparities*16.));
- if( !no_display )
- {
- namedWindow("left", 1);
- imshow("left", img1);
- namedWindow("right", 1);
- imshow("right", img2);
- namedWindow("disparity", 0);
- imshow("disparity", disp8);
- printf("press any key to continue...");
- fflush(stdout);
- waitKey();
- printf("\n");
- }
- if(disparity_filename)
- imwrite(disparity_filename, disp8);
- if(point_cloud_filename)
- {
- printf("storing the point cloud...");
- fflush(stdout);
- Mat xyz;
- reprojectImageTo3D(disp, xyz, Q, true);
- saveXYZ(point_cloud_filename, xyz);
- printf("\n");
- }
- return 0;
- }
- ////注意此处要连接 ---d.lib，不然filestorage打不开文件。不知道哪儿的问题
我是这样设置的jpgleft0.jpg jpgright0.jpg --algorithm=bm --blocksize=7 --max-disparity=96 -i intrinsics.yml -e extrinsics.yml -o depth.jpg -p point.xyz
立体标定和立体匹配事实上是学习opencv这本书上的一段代码。在例子中被强行拆为了两个部分。
这一段时间除了折腾这些代码，还好好的学习了一下立体视觉的相关理论知识，如果有时间，再整理一篇发出来。个人感觉要用立体视觉来做测量，就软件而言最影响精度的部分，其实是匹配。
建了一个QQ群，欢迎计算机视觉这一个行业的从业者加入。无论你是在学校还是已经工作，无论你是新手还是大牛，无论你是做技术还是已经转型，我都真诚欢迎你的加入，我们都交流，才能共同进步。
群号：130541036（此群已满 请加194369242）
另外，我想买一组好一点的摄像头，平行的那种，大家有没有什么推荐的啊？ |
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发表于 2011-8-13 14:26:39
楼主
