知微传感Dkam系列3D相机SDK例程篇：获取内外参

本文链接：https://blog.youkuaiyun.com/u012660296/article/details/128686708

获取3D相机内外参

写在前面

本人从事机器视觉细分的3D相机行业。编写此系列文章主要目的有：
- 1、便利他人应用3D相机，本系列文章包含公司所出售相机的SDK的使用例程及详细注释；
- 2、促进行业发展及交流。
欢迎与我深入交流：微信号：liu_zhisensor

获取相机内外参及API说明

相机内外参说明

知微传感Dkam系列3D相机允许用户获取镜头的畸变参数、内参和外参
畸变参数、内参、外参的定义另请自主查询

例程及注释

本例程基于WIN10+VisualStudio2019+DkamSDK_1.6.71,采用C++语言
DkamSDK的配置方法请参考SDK说明书
本例程在D132S型相机上验证

// GetParameter.cpp : 此文件包含 "main" 函数。程序执行将在此处开始并结束。
#include <iostream>
#include <cstring>
//DkamSDK
#include"dkam_discovery.h"
#include"dkam_gige_camera.h"
#include"dkam_gige_stream.h"

int main()
{
    std::cout << "Hello ZHIsensor!"<<std::endl;
    std::cout << "Hello liu_sensor!" << std::endl;

	std::vector<DiscoveryInfo> discovery_info;
	Discovery discovery;
	GigeCamera camera;

	GigeStream* pointgigestream = NULL;
	GigeStream* graygigestream = NULL;
	GigeStream* rgbgigestream = NULL;
	std::vector<DiscoveryInfo>().swap(discovery_info);
	//********************************************查询相机****************************************************
	//查询局域网内的3D相机
	int camer_num = discovery.DiscoverCamera(&discovery_info);
	std::cout << "局域网内共有" << camer_num << "台相机" << std::endl;

	//显示局域网内相机的IP
	for (int i = 0; i < camer_num; i++)
	{
		std::cout << "局域网内相机的IP为:" << discovery.ConvertIpIntToString(discovery_info[i].camera_ip) << std::endl;
	}

	//********************************************连接相机****************************************************
	//选定相机
	int k = -1;
	for (int i = 0; i < camer_num; i++)
	{
		if (strcmp((discovery.ConvertIpIntToString(discovery_info[i].camera_ip)), "192.168.30.35") == 0)
		{
			k = i;
			std::cout << "将连接第" << k + 1 << "台相机" << std::endl;
		}
		else
		{
			std::cout << "局域网内无该IP的相机" << std::endl;
		}
	}

	//********************************************获取内参****************************************************
	//连接相机
	int connect = camera.CameraConnect(&discovery_info[k]);
	if (connect == 0)
	{
		std::cout << "成功连接相机" << std::endl;
		std::cout <<  std::endl;
	}
	else
	{
		std::cout << "连接相机失败，请检查！！！" << std::endl;
	}

	if (connect == 0)
	{
		//相机内参
		float* kc = new float[5];
		float* kk = new float[9];

		//获取红外镜头内参
		std::cout << "获取红外镜头内参中……" << std::endl;
		int getInternelGray = camera.GetCamInternelParameter(0, kc, kk);
		if (getInternelGray == 0)
		{
			std::cout << "红外镜头内参获取成功！" << std::endl;
		}
		else
		{
			std::cout << "红外镜头内参获取失败，请检查！！！" << std::endl;
		}
		
		std::cout << "红外镜头畸变参数为：" << std::endl;
		std::cout << "K1=" << kc[0] << std::endl;
		std::cout << "K2=" << kc[1] << std::endl;
		std::cout << "P1=" << kc[2] << std::endl;
		std::cout << "P2=" << kc[3] << std::endl;
		std::cout << "K3=" << kc[4] << std::endl;

		std::cout << "红外镜头内参为（按行输出）：" << std::endl;
		for (int z = 0; z < 9; z++) {
			std::cout << "kk:" << kk[z] << std::endl;
		}
		std::cout << std::endl;

		//获取RGB镜头内参
		std::cout << "获取RGB镜头内参中……" << std::endl;
		int getInternelRGB = camera.GetCamInternelParameter(1, kc, kk);
		if (getInternelRGB == 0)
		{
			std::cout << "RGB镜头内参获取成功！" << std::endl;
		}
		else
		{
			std::cout << "RGB镜头内参获取失败，请检查！！！" << std::endl;
		}

		std::cout << "RGB镜头畸变参数为：" << std::endl;
		std::cout << "K1=" << kc[0] << std::endl;
		std::cout << "K2=" << kc[1] << std::endl;
		std::cout << "P1=" << kc[2] << std::endl;
		std::cout << "P2=" << kc[3] << std::endl;
		std::cout << "K3=" << kc[4] << std::endl;

		std::cout << "RGB镜头内参为（按行输出）：" << std::endl;
		for (int z = 0; z < 9; z++) {
			std::cout << "kk:" << kk[z] << std::endl;
		}
		std::cout << std::endl;

		//********************************************获取外参****************************************************

		//外参
		float* r = new float[9];
		float* t = new float[3];

		std::cout << "获取RGB镜头相对红外镜头的外参：" << std::endl;
		int getExternel = camera.GetCamExternelParameter(1, r, t);
		if (getExternel == 0)
		{
			std::cout << "RGB镜头相对红外镜头的外参获取成功！" << std::endl;
		}
		else
		{
			std::cout << "RGB镜头相对红外镜头的外参获取失败，请检查！！！" << std::endl;
		}


		std::cout << "RGB镜头相对红外镜头的外参为（按行输出）：" << std::endl;
		for (int j = 0; j < 9; j++) {
			std::cout << "R:" << r[j] << std::endl;
		}
		for (int z = 0; z < 3; z++) {
			std::cout << "T:" << t[z] << std::endl;
		}
		
		delete[]kc;
		delete[]kk;
		delete[]r;
		delete[]t;

		int disconnect = camera.CameraDisconnect();

		std::cout << "工作结束！！！！！！" << std::endl;
	}

	return(0);
}