OpenCV实现相机标定示例详解

/**
* 生成棋盘格图片
**/
int generateCalibrationPicture()
{
	//Mat frame = imread("3A4.bmp"); // cols*rows = 630*891  
	Mat frame(1600, 2580, CV_8UC3, Scalar(0, 0, 0));
	int nc = frame.channels();
	int nWidthOfROI = 320;
	for (int j = 10; j<frame.rows - 10; j++)
	{
		uchar* data = frame.ptr<uchar>(j);
		for (int i = 10; i<(frame.cols - 10)*nc; i += nc)
		{
			if ((i / nc / nWidthOfROI + j / nWidthOfROI) % 2)
			{
				// bgr  
				data[i / nc*nc + 0] = 255;
				data[i / nc*nc + 1] = 255;
				data[i / nc*nc + 2] = 255;
			}
		}
	}
	imshow("test", frame);
	//imwrite("3.bmp", frame);
	waitKey(0);
	return 0;
}

int displayCameraRealTime()
{
	//1.从摄像头读入视频
	VideoCapture capture(0);
	if (!capture.isOpened()) {
		std::cout << "无法开启摄像头！" << std::endl;
		return -1;
	}
	//2.循环显示每一帧
	while (1)
	{
		Mat cam;
		capture >> cam;//获取当前帧图像
		namedWindow("实时相机画面", WINDOW_AUTOSIZE);
		imshow("实时相机画面", cam);//显示当前帧图像
							  //imwrite(to_string(i) + ".png", cam);
		waitKey(20);//延时20ms
	}
}

/**
* 实时检测角点，按键保存角点参数，达到数量执行标定并保存标定结果
* @param numBoards			需要几张标定图片，即获取几组角点参数
* @param boardSize			格子尺寸Size 7*4
* @param squareSize			格子尺寸 mm
* @param flipHorizontal		是否翻转
*/
int calibrateCameraRealTime(int numBoards, cv::Size boardSize, float squareSize = 1, int delay = 50, bool flipHorizontal = false);

int saveChessboardImages(cv::Size boardSize, string savePath)
{
	//1.从摄像头读入视频
	VideoCapture capture(0);
	if (!capture.isOpened()) {
		std::cout << "无法开启摄像头！" << std::endl;
		return -1;
	}
	if (savePath != "./")
	{
		myMkdir(savePath);
	}
	//2.循环显示每一帧
	while (1) {
		Mat image0, image;
		capture >> image0;
		// 将图像复制到image
		image0.copyTo(image);
		// 查找标定板(不对称圆网格板)
		vector<Point2f> corners;
		//bool found = findCirclesGrid(image, boardSize, corners, CALIB_CB_ASYMMETRIC_GRID);
		bool found = findChessboardCorners(image, boardSize, corners, CALIB_CB_FAST_CHECK);
		// 画上去
		drawChessboardCorners(image, boardSize, corners, found);
		int action = waitKey(30) & 255;
		// 判断动作
		if (action == ACTION_SPACE) { // 用户按下了空格
			if (found) {
				// 保存图片
				string imgFileName = savePath + getCurrentTime() + ".png";
				imwrite(imgFileName, image0);
				cout << imgFileName << " saved" << endl;
			}
			else {
				printf("%s\n", "未检测到角点");
			}
		}
		else if (action == ACTION_ESC) { // 用户按下了ESC
			break;
		}
		cv::imshow("Calibration", image);
	}
	cv::destroyAllWindows();
	return 1;
}

/**
* 离线相机标定
* @param imagePath    标定图片存放路径
* @param boardSize    格子尺寸Size 7*4
* @param squareSize   格子尺寸 mm
*/
int calibrateCameraOffLine(string imagePath, const Size boardSize, float squareSize = 1);

/**
* 去畸变 1、本地图片 2、实时相机图像
* @param path		标定参数存放路径
* @param imagePath	需要矫正的图片 存放路径
*/
int undistortRectifyImage(string paraPath, string imagePath = " ");