OpenCV编程->双目标定（一）

最新推荐文章于 2025-05-09 13:22:08 发布

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最新推荐文章于 2025-05-09 13:22:08 发布 · 990 阅读

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本文介绍了使用OpenCV进行双目标定的步骤和方法，涵盖了从图像采集到标定板设计，再到标定算法的实现和结果评估。通过实例详细解析了如何在计算机视觉项目中应用双目标定提高精度。

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static void
StereoCalib(const vector<string>& imagelist, Size boardSize, bool useCalibrated = true, bool showRectified = true)
{
	//SingleCameraCalibR(); //右相机内参及焦距测试函数
	//SingleCameraCalibL(); //左相机内参及焦距测试函数
	if (imagelist.size() % 2 != 0)
	{
		cout << "Error: the image list contains odd (non-even) number of elements\n";
		return;
	}

	//bool displayCorners = false;//true;
	bool displayCorners = true;//true;
	const int maxScale = 2;
	//const float squareSize = 1.f;  // Set this to your actual square size
	const float squareSize = 20.f;  // Set this to your actual square size
	// ARRAY AND VECTOR STORAGE:

	vector<vector<Point2f> > imagePoints[2];
	vector<vector<Point3f> > objectPoints;
	Size imageSize;

	int i, j, k, nimages = (int)imagelist.size() / 2;

	imagePoints[0].resize(nimages);
	imagePoints[1].resize(nimages);
	vector<string> goodImageList;

	for (i = j = 0; i < nimages; i++)
	{
		for (k = 0; k < 2; k++)
		{
			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;
			vector<Point2f>& corners = imagePoints[k][j];
			for (int scale = 1; scale <= maxScale; scale++)
			{
				Mat timg;
				if (scale == 1)
					timg = img;
				else
					resize(img, timg, Size(), scale, scale);
				found = findChessboardCorners(timg, boardSize, corners,
					CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_NORMALIZE_IMAGE);
				//角点绘制   测试通过
			//	cv::drawChessboardCorners(img, cv::Size(3, 7), corners, found);
			////	cv::imshow("chessboard corners", img);
			//	waitKey(100);
				if (found)
				{
					if (scale > 1)
					{
						Mat cornersMat(corners);
						cornersMat *= 1. / scale;
					}
					break;
				}
			}
			//角点检测 测试成功
			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