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jerryzeng 2026-07-30 17:06:41 +08:00
parent ea6d44c6d1
commit 6244873e6d
9 changed files with 575 additions and 63 deletions
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8
CamAlgo/CamAlgo.vcxproj
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@ -30,26 +30,26 @@
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>true</UseDebugLibraries>
<PlatformToolset>v142</PlatformToolset>
<PlatformToolset>v143</PlatformToolset>
<CharacterSet>Unicode</CharacterSet>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>false</UseDebugLibraries>
<PlatformToolset>v142</PlatformToolset>
<PlatformToolset>v143</PlatformToolset>
<WholeProgramOptimization>true</WholeProgramOptimization>
<CharacterSet>Unicode</CharacterSet>
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<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>true</UseDebugLibraries>
<PlatformToolset>v142</PlatformToolset>
<PlatformToolset>v143</PlatformToolset>
<CharacterSet>Unicode</CharacterSet>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>false</UseDebugLibraries>
<PlatformToolset>v142</PlatformToolset>
<PlatformToolset>v143</PlatformToolset>
<WholeProgramOptimization>true</WholeProgramOptimization>
<CharacterSet>Unicode</CharacterSet>
</PropertyGroup>

8
HessianTable/HessianTable.vcxproj
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@ -29,26 +29,26 @@
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>true</UseDebugLibraries>
<PlatformToolset>v142</PlatformToolset>
<PlatformToolset>v143</PlatformToolset>
<CharacterSet>Unicode</CharacterSet>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>false</UseDebugLibraries>
<PlatformToolset>v142</PlatformToolset>
<PlatformToolset>v143</PlatformToolset>
<WholeProgramOptimization>true</WholeProgramOptimization>
<CharacterSet>Unicode</CharacterSet>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>true</UseDebugLibraries>
<PlatformToolset>v142</PlatformToolset>
<PlatformToolset>v143</PlatformToolset>
<CharacterSet>Unicode</CharacterSet>
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<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>false</UseDebugLibraries>
<PlatformToolset>v142</PlatformToolset>
<PlatformToolset>v143</PlatformToolset>
<WholeProgramOptimization>true</WholeProgramOptimization>
<CharacterSet>Unicode</CharacterSet>
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8
Subpixel/Subpixel.vcxproj
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@ -29,26 +29,26 @@
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>true</UseDebugLibraries>
<PlatformToolset>v142</PlatformToolset>
<PlatformToolset>v143</PlatformToolset>
<CharacterSet>Unicode</CharacterSet>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>false</UseDebugLibraries>
<PlatformToolset>v142</PlatformToolset>
<PlatformToolset>v143</PlatformToolset>
<WholeProgramOptimization>true</WholeProgramOptimization>
<CharacterSet>Unicode</CharacterSet>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>true</UseDebugLibraries>
<PlatformToolset>v142</PlatformToolset>
<PlatformToolset>v143</PlatformToolset>
<CharacterSet>Unicode</CharacterSet>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>false</UseDebugLibraries>
<PlatformToolset>v142</PlatformToolset>
<PlatformToolset>v143</PlatformToolset>
<WholeProgramOptimization>true</WholeProgramOptimization>
<CharacterSet>Unicode</CharacterSet>
</PropertyGroup>

8
camAlgoSW/camAlgoSW.vcxproj
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@ -45,26 +45,26 @@
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
<ConfigurationType>DynamicLibrary</ConfigurationType>
<UseDebugLibraries>true</UseDebugLibraries>
<PlatformToolset>v142</PlatformToolset>
<PlatformToolset>v143</PlatformToolset>
<CharacterSet>Unicode</CharacterSet>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
<ConfigurationType>DynamicLibrary</ConfigurationType>
<UseDebugLibraries>false</UseDebugLibraries>
<PlatformToolset>v142</PlatformToolset>
<PlatformToolset>v143</PlatformToolset>
<WholeProgramOptimization>true</WholeProgramOptimization>
<CharacterSet>Unicode</CharacterSet>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
<ConfigurationType>DynamicLibrary</ConfigurationType>
<UseDebugLibraries>true</UseDebugLibraries>
<PlatformToolset>v142</PlatformToolset>
<PlatformToolset>v143</PlatformToolset>
<CharacterSet>Unicode</CharacterSet>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
<ConfigurationType>DynamicLibrary</ConfigurationType>
<UseDebugLibraries>false</UseDebugLibraries>
<PlatformToolset>v142</PlatformToolset>
<PlatformToolset>v143</PlatformToolset>
<WholeProgramOptimization>true</WholeProgramOptimization>
<CharacterSet>Unicode</CharacterSet>
</PropertyGroup>

8
camAlgoSW_test/camAlgoSW_test.vcxproj
View File

@ -29,26 +29,26 @@
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>true</UseDebugLibraries>
<PlatformToolset>v142</PlatformToolset>
<PlatformToolset>v143</PlatformToolset>
<CharacterSet>Unicode</CharacterSet>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>false</UseDebugLibraries>
<PlatformToolset>v142</PlatformToolset>
<PlatformToolset>v143</PlatformToolset>
<WholeProgramOptimization>true</WholeProgramOptimization>
<CharacterSet>Unicode</CharacterSet>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>true</UseDebugLibraries>
<PlatformToolset>v142</PlatformToolset>
<PlatformToolset>v143</PlatformToolset>
<CharacterSet>Unicode</CharacterSet>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>false</UseDebugLibraries>
<PlatformToolset>v142</PlatformToolset>
<PlatformToolset>v143</PlatformToolset>
<WholeProgramOptimization>true</WholeProgramOptimization>
<CharacterSet>Unicode</CharacterSet>
</PropertyGroup>

539
camCalib/camCalib.cpp
View File

@ -128,6 +128,7 @@ typedef struct
#define CALIB_CHESS_BOARD 1
#define CALIB_CIRCLE_GRID 2
#define CALIB_CHARUCO 3
#define CALIB_BALL_POLE 4
void initForwardRectMap(const cv::Mat& K, const cv::Mat& D, const cv::Mat& R,
const cv::Mat& newK, const cv::Size& size, cv::Mat& mapX, cv::Mat& mapY) {
@ -156,31 +157,33 @@ void initForwardRectMap(const cv::Mat& K, const cv::Mat& D, const cv::Mat& R,
return;
}
#define CALIB_TEST_GROUP 4
int main()
#define MONO_CALIB_TEST_GROUP 5
int MonoCamLaserCalib()
{
std::cout << "Hello World!\n";
const char* calibDataPath[CALIB_TEST_GROUP] = {
const char* calibDataPath[MONO_CALIB_TEST_GROUP] = {
"F:\\ShangGu\\ProductDev\\三角光相机\\相机开发\\CamAlgo_git\\camCalib\\camCalibData\\撕裂原理相机标定图像\\", //0
"F:\\ShangGu\\ProductDev\\三角光相机\\相机开发\\CamAlgo_git\\camCalib\\camCalibData\\chessboard\\", //1
"F:\\ShangGu\\ProductDev\\三角光相机\\相机开发\\CamAlgo_git\\camCalib\\camCalibData\\circlePoint\\", //2
"F:\\ShangGu\\ProductDev\\三角光相机\\相机开发\\CamAlgo_git\\camCalib\\camCalibData\\charuCo\\", //3
"F:/ShangGu/单目相机标定数据/TestData/", //4
};
const SWdNLRange fileIdx[CALIB_TEST_GROUP] = {
{3,39},{1,33},{1,33},{1,10}
const SWdNLRange fileIdx[MONO_CALIB_TEST_GROUP] = {
{3,39},{6,33},{1,33},{1,10},{1,26}
};
const int boardType[CALIB_TEST_GROUP] =
const int boardType[MONO_CALIB_TEST_GROUP] =
{
CALIB_CHESS_BOARD,
CALIB_CHESS_BOARD,
CALIB_CIRCLE_GRID,
CALIB_CHARUCO
CALIB_CHARUCO,
CALIB_CHARUCO,
};
for(int grp = 0; grp < CALIB_TEST_GROUP; grp ++)
for(int grp = 4; grp <= 4; grp ++)
{
grp = 3;
//grp = 1;
int calibType = boardType[grp];
cv::Size cbPattern;
float cbSquareSize;
@ -197,9 +200,9 @@ int main()
}
else if (CALIB_CHARUCO == calibType)
{
cbPattern = cv::Size(47, 21); // 10);
cbSquareSize = 0.05f;
markSize = 0.037f;
cbPattern = cv::Size(9, 9); //cv::Size(47, 21); // 10);
cbSquareSize = 50.0f;
markSize = 37.0f;
}
else
continue;
@ -213,19 +216,21 @@ int main()
int index;
#if _DO_CAMERA_CALIB
for (index = startIndex; index <= endIndex; index++) {
char filename[256];
sprintf_s(filename, "%scalib_%03d.bmp", calibDataPath[grp], index);
cv::Mat srcImg = cv::imread(filename);
if (srcImg.empty())
char filenameInput[256];
sprintf_s(filenameInput, "%sImage_%d.png", calibDataPath[grp], index);
cv::Mat img = cv::imread(filenameInput);
if (img.empty())
break;
char filename[256];
#if 0
cv::Mat img;
cv::rotate(srcImg, img, cv::ROTATE_90_COUNTERCLOCKWISE);
char rotateFilename[256];
sprintf_s(rotateFilename, "%scalib_%03d_rotate.bmp", calibDataPath[grp], index);
sprintf_s(rotateFilename, "%sresult/calib_%03d_rotate.bmp", calibDataPath[grp], index);
cv::String rFileName(rotateFilename);
cv::imwrite(rFileName, img);
#endif
std::vector<cv::Point2f> corners;
if (CALIB_CHESS_BOARD == calibType)
{
@ -253,7 +258,7 @@ int main()
cv::Mat color = img.clone();
cv::drawChessboardCorners(color, cbPattern, corners, true);
//cv::resize(color, color, cv::Size(), 0.5, 0.5);
sprintf_s(filename, "%scalib_%03d_center.bmp", calibDataPath[grp], index);
sprintf_s(filename, "%sresult/calib_%03d_center.bmp", calibDataPath[grp], index);
cv::imwrite(filename, color);
}
#endif
@ -284,13 +289,14 @@ int main()
cv::aruco::drawDetectedCornersCharuco(imageCopy, corners, charucoIds, cv::Scalar(0, 255, 255));
}
char markFilename[256];
sprintf_s(markFilename, "%scalib_%03d_markers.bmp", calibDataPath[grp], index);
sprintf_s(markFilename, "%sresult/calib_%03d_markers.bmp", calibDataPath[grp], index);
cv::imwrite(markFilename, imageCopy);
if (corners.empty())
continue;
cbCornersList.push_back(corners);
cbCornersIdList.push_back(charucoIds);
printf("%s... cornerSize=%d, charucoIDSize=%d\n", filenameInput, (int)corners.size(), (int)charucoIds.size());
}
imageSize = cv::Size(img.cols, img.rows);
}
@ -301,9 +307,493 @@ int main()
monocularCalibration_charuco(cbCornersIdList, cbCornersList, imageSize, cbPattern, cbSquareSize, K, D, reprojectionError);
else
monocularCalibration_chessboard(cbCornersList, imageSize, cbPattern, cbSquareSize, K, D, reprojectionError);
std::cout << "K:" << std::endl;
std::cout << K << std::endl;
std::cout << "D:" << std::endl;
std::cout << D << std::endl;
for(int i = 0; i < reprojectionError.size(); i ++)
std::cout << reprojectionError[i] << std::endl;
// 输出映射类型，通常使用CV_32FC1或CV_16SC2
cv::Mat backwardMap_x, backwardMap_y;
cv::Mat forwardMap_x, forwardMap_y;
cv::Mat newCamMatrix;
// 生成畸变矫正映射
#if ENABLE_FISH_EYE
cv::fisheye::initUndistortRectifyMap(K, D, cv::Mat(), newCamMatrix, imageSize, CV_32FC1, map1, map2);
#else
double alpha = 0.4; // 0.4;
newCamMatrix = cv::getOptimalNewCameraMatrix(K, D, imageSize, alpha, imageSize, 0);
cv::initUndistortRectifyMap(K, D, cv::Mat(), newCamMatrix, imageSize, CV_32FC1, backwardMap_x, backwardMap_y);
initForwardRectMap(K, D, cv::Mat(), newCamMatrix, imageSize, forwardMap_x, forwardMap_y);
#endif
// 生成系数表
cv::Mat fitMap_x = GetFitParamMap(forwardMap_x, 1);
cv::Mat fitMap_y = GetFitParamMap(forwardMap_y, 1);
//输出系数文件
char calibParamName[256];
sprintf_s(calibParamName, "%sresult/calib_param_x.txt", calibDataPath[grp]);
sg_outputCalibK(calibParamName, fitMap_x);
sprintf_s(calibParamName, "%sresult/calib_param_y.txt", calibDataPath[grp]);
sg_outputCalibK(calibParamName, fitMap_y);
//比较误差
cv::Mat mapGen_x = GetMapFromFitMap(fitMap_x, imageSize, 1);
cv::Mat mapGen_y = GetMapFromFitMap(fitMap_y, imageSize, 1);
//搜索最大和平均误差
// 计算绝对差异
cv::Mat diff_x, diff_y;
cv::absdiff(forwardMap_x, mapGen_x, diff_x);
cv::absdiff(forwardMap_y, mapGen_y, diff_y);
// 查找最大值和最小值
double minVal_x, maxVal_x;
cv::minMaxLoc(diff_x, &minVal_x, &maxVal_x);
double minVal_y, maxVal_y;
cv::minMaxLoc(diff_y, &minVal_y, &maxVal_y);
// 计算平均值
cv::Scalar meanVal_x = cv::mean(diff_x);
cv::Scalar meanVal_y = cv::mean(diff_y);
std::cout << "X Max_difference: " << maxVal_x << std::endl;
std::cout << "X Mean difference: " << meanVal_x[0] << std::endl;
std::cout << "Y Max difference: " << maxVal_y << std::endl;
std::cout << "Y Mean difference: " << meanVal_y[0] << std::endl;
#if 0
//生成矫正图像
for (index = startIndex; index <= endIndex; index++) {
char filename[256];
sprintf_s(filename, "%sImage_%d.png", calibDataPath[grp], index);
cv::Mat img = cv::imread(filename);
if (img.empty())
break;
//cv::Mat img;
//cv::rotate(srcImg, img, cv::ROTATE_90_COUNTERCLOCKWISE);
cv::Mat calibImg;
cv::remap(img,
calibImg,
backwardMap_x,
backwardMap_y,
cv::INTER_LINEAR,
cv::BORDER_CONSTANT,
cv::Scalar(0, 0, 0));
sprintf_s(filename, "%sresult/calib_%03d_calib.bmp", calibDataPath[grp], index);
cv::imwrite(filename, calibImg);
}
#endif
#else
char calibKDName[256];
sprintf_s(calibKDName, "%scalib_param_K_D.txt", calibDataPath[grp]);
cv::Mat K, D;
sg_readCalibKD(calibKDName, K, D);
//生成opencv校正表
cv::Mat backwardMap_x, backwardMap_y;
double alpha = 0.4; // 0.4;
imageSize = cv::Size(1200, 2048);
cv::Mat newCamMatrix = cv::getOptimalNewCameraMatrix(K, D, imageSize, alpha, imageSize, 0);
cv::initUndistortRectifyMap(K, D, cv::Mat(), newCamMatrix, imageSize, CV_32FC1, backwardMap_x, backwardMap_y);
#endif
#if ENABLE_GEN_IMAGE
cv::Vec4f laserPE;
generateLaserLine(10.f, 5.f, laserPE);
std::cout << "generateLaserLine pe: " << laserPE << std::endl;
index = 3;
for (;; index++) {
char filename[256];
sprintf_s(filename, "%s%03d.bmp", cbImagePath, index);
cv::Mat img = cv::imread(filename);
if (img.empty())
break;
std::vector<cv::Point2f> corners;
detectCorners(img, cbPattern, corners);
if (corners.empty())
continue;
cv::Vec4f pe;
fitChessboardPlane(corners, K, D, cbPattern, cbSquareSize, pe);
cv::Mat image = generateVirtualLaserLineImage(laserPE, pe, K, D, imageSize);
#if ENABLE_DEBUG
cv::Mat color = image.clone();
cv::resize(color, color, cv::Size(), 0.5, 0.5);
cv::imshow("image", color);
cv::waitKey(10);·
#endif
sprintf_s(filename, "%s%d.bmp", laserImagePath, index);
cv::imwrite(filename, image);
}
#endif
std::vector<cv::Point3f> all_pts3d;
for (index = startIndex; index <= endIndex; index++) {
char filename[256];
sprintf_s(filename, "%sImage_%d.png", calibDataPath[grp], index);
cv::Mat img = cv::imread(filename);
if (img.empty())
break;
//cv::Mat img;
//cv::rotate(srcImg, img, cv::ROTATE_90_COUNTERCLOCKWISE);
#if 1
cv::Mat charucoCalibImg;
cv::remap(img,
charucoCalibImg,
backwardMap_x,
backwardMap_y,
cv::INTER_LINEAR,
cv::BORDER_CONSTANT,
cv::Scalar(0, 0, 0));
cv::Size _size = charucoCalibImg.size();
_size.width = _size.width * 5;
//cv::resize(charucoCalibImg, charucoCalibImg, _size, 0, 0, cv::INTER_NEAREST);
sprintf_s(filename, "%sresult/calib_%03d_calib.bmp", calibDataPath[grp], index);
cv::imwrite(filename, charucoCalibImg);
#endif
std::vector<cv::Point2f> corners;
std::vector<int> charucoIds;
if (CALIB_CHESS_BOARD == calibType)
{
detectCorners(img, cbPattern, corners);
}
else if (CALIB_CIRCLE_GRID == calibType)
{
detectCirclePoints(img, cbPattern, corners);
}
else if (CALIB_CHARUCO == calibType)
{
std::vector<int> markerIds;
std::vector<std::vector<cv::Point2f> > markerCorners;
detectCharucoCorners(img,
cbPattern,
cbSquareSize,
markSize,
markerIds,
markerCorners,
charucoIds,
corners);
}
if (corners.empty())
continue;
// 创建棋盘格区域的掩码
cv::Mat chessMask;
if (CALIB_CHARUCO == calibType)
chessMask = cv::Mat::ones(img.size(), CV_8UC1);
else
{
chessMask = cv::Mat::zeros(img.size(), CV_8UC1);
// 使用多边形近似来填充角点之间的区域
// 棋盘格区域需要比角点区域大一圈
std::vector<cv::Point2f> contour_line[4];
for (int i = 0; i < cbPattern.width; i++)
{
cv::Point2f pt_c = corners[i];
cv::Point2f pt_2 = corners[cbPattern.width + i];
cv::Point2f pt_1;
pt_1.x = pt_c.x * 2 - pt_2.x;
pt_1.y = pt_c.y * 2 - pt_2.y;
contour_line[0].push_back(pt_1);
}
for (int i = 0; i < cbPattern.height; i++)
{
cv::Point2f pt_c = corners[i * cbPattern.width + cbPattern.width - 1];
cv::Point2f pt_2 = corners[i * cbPattern.width + cbPattern.width - 2];
cv::Point2f pt_1;
pt_1.x = pt_c.x * 2 - pt_2.x;
pt_1.y = pt_c.y * 2 - pt_2.y;
contour_line[1].push_back(pt_1);
}
for (int i = cbPattern.width - 1; i >= 0; i--)
{
cv::Point2f pt_c = corners[(cbPattern.height - 1) * cbPattern.width + i];
cv::Point2f pt_2 = corners[(cbPattern.height - 2) * cbPattern.width + i];
cv::Point2f pt_1;
pt_1.x = pt_c.x * 2 - pt_2.x;
pt_1.y = pt_c.y * 2 - pt_2.y;
contour_line[2].push_back(pt_1);
}
for (int i = cbPattern.height - 1; i >= 0; i--)
{
cv::Point2f pt_c = corners[i * cbPattern.width];
cv::Point2f pt_2 = corners[i * cbPattern.width + 1];
cv::Point2f pt_1;
pt_1.x = pt_c.x * 2 - pt_2.x;
pt_1.y = pt_c.y * 2 - pt_2.y;
contour_line[3].push_back(pt_1);
}
std::vector<cv::Point> contours;
//生成轮廓点
for (int n = 0; n < 4; n++)
{
int num = contour_line[n].size();
for (int i = 0; i < num; i++)
contours.push_back(contour_line[n][i]);
cv::Point2f pt_c = contour_line[n][num - 1];
cv::Point2f pt_2 = contour_line[n][num - 2];
cv::Point2f pt_1;
pt_1.x = pt_c.x * 2 - pt_2.x;
pt_1.y = pt_c.y * 2 - pt_2.y;
contours.push_back(pt_1);
}
// 使用 fillPoly 填充多边形
cv::Scalar color(255); // 红色
cv::fillPoly(chessMask, contours, color);
#if 1
sprintf_s(filename, "%schessMask_%03d.png", calibDataPath[grp], index);
cv::imwrite(filename, chessMask);
#endif
}
cv::Vec4f pe;
if (CALIB_CHARUCO == calibType)
fitChessboardPlane_charuco(charucoIds,corners, K, D, cbPattern, cbSquareSize, pe);
else
fitChessboardPlane_chessboard(corners, K, D, cbPattern, cbSquareSize, pe);
sprintf_s(filename, "%sImage_%d_Laser.png", calibDataPath[grp], index);
cv::Mat laserImg_unMask = cv::imread(filename);
if (laserImg_unMask.empty())
break;
//cv::Mat laserImg_unMask;
//cv::rotate(srcLaserImg, laserImg_unMask, cv::ROTATE_90_COUNTERCLOCKWISE);
//与Mask相与，保证待处理的激光线在标定板上
cv::Mat laserImg;
cv::bitwise_and(laserImg_unMask, laserImg_unMask, laserImg, chessMask);
#if 1
sprintf_s(filename, "%slaser_mask_%d.png", calibDataPath[grp], index);
cv::imwrite(filename, laserImg);
cv::Mat laserCalibImg;
cv::remap(laserImg,
laserCalibImg,
backwardMap_x,
backwardMap_y,
cv::INTER_LINEAR,
cv::BORDER_CONSTANT,
cv::Scalar(0, 0, 0));
cv::Size laserImgSize = laserCalibImg.size();
laserImgSize.width = laserImgSize.width * 5;
cv::resize(laserCalibImg, laserCalibImg, laserImgSize, 0, 0, cv::INTER_NEAREST);
sprintf_s(filename, "%slaser_%03d_calib.bmp", calibDataPath[grp], index);
cv::imwrite(filename, laserCalibImg);
#endif
std::vector<cv::Point2f> pts2d = detectLaserLine(laserImg);
//显示亚像素点
cv::Mat enlargeImg;
if (laserImg.channels() == 1)
laserImg.convertTo(enlargeImg, cv::COLOR_GRAY2BGR);
else
enlargeImg = laserImg.clone();
cv::Size objSize = laserImg.size();
objSize.width = objSize.width * 5;
cv::resize(enlargeImg, enlargeImg, objSize, 0, 0, cv::INTER_NEAREST);
if (pts2d.size() > 0)
{
sprintf_s(filename, "%slaser_rotate_enlarge_%03d_subpixData.txt", calibDataPath[grp], index);
saveSubpixData(filename, pts2d);
}
for (int i = 0, i_max = (int)pts2d.size(); i < i_max; i++)
{
cv::Point2f a_subPix = pts2d[i];
int row = (int)(a_subPix.y + 0.5);
int col = (int)(a_subPix.x * 5 + 0.5);
enlargeImg.at<cv::Vec3b>(row, col)[0] = 0;
enlargeImg.at<cv::Vec3b>(row, col)[1] = 0;
enlargeImg.at<cv::Vec3b>(row, col)[2] = 255;
}
sprintf_s(filename, "%slaser_rotate_enlarge_%03d_subpix.png", calibDataPath[grp], index);
cv::imwrite(filename, enlargeImg);
std::vector<cv::Point3f> pts3d = project2DTo3D(pts2d, pe, K, D);
#if 1
//保存3D点
#endif
all_pts3d.insert(all_pts3d.end(), pts3d.begin(), pts3d.end());
}
cv::Vec4f pe = fitPlaneToPoints(all_pts3d);
std::cout << "pe: " << pe << std::endl;
//output K and D
char calibKDPName[256];
sprintf_s(calibKDPName, "%scalib_param_K_D.txt", calibDataPath[grp]);
sg_outputCalibKD(calibKDPName, K, D, pe);
}
return 0;
}
#if 0
#define STEREO_CALIB_TEST_GROUP 1
int StereoCamCalib()
{
std::cout << "Hello World!\n";
const char* calibDataPath[STEREO_CALIB_TEST_GROUP] = {
"F:\\ShangGu\\ProductDev\\三角光相机\\相机开发\\CamAlgo_git\\camCalib\\camCalibData\\撕裂原理相机标定图像\\", //0
};
const SWdNLRange fileIdx[STEREO_CALIB_TEST_GROUP] = {
{3,39},
};
const int boardType[STEREO_CALIB_TEST_GROUP] =
{
CALIB_BALL_POLE
};
for (int grp = 0; grp < 1; grp++)
{
grp = 1;
int calibType = boardType[grp];
cv::Size cbPattern;
float cbSquareSize;
float markSize;
if (CALIB_CHARUCO == calibType)
{
cbPattern = cv::Size(47, 21); // 10);
cbSquareSize = 50.0f;
markSize = 37.0f;
}
else if (CALIB_CIRCLE_GRID == calibType)
{
cbPattern = cv::Size(7, 7); // 10);
cbSquareSize = 50.0f; // 10.f;
}
else if (CALIB_BALL_POLE == calibType)
{
}
else
continue;
std::vector<std::vector<cv::Point2f>> cbCornersListL;
std::vector<std::vector<int>> cbCornersIdListL;
std::vector<std::vector<cv::Point2f>> cbCornersListR;
std::vector<std::vector<int>> cbCornersIdListR;
cv::Size imageSize;
int startIndex = fileIdx[grp].nMin;
int endIndex = fileIdx[grp].nMax;
int index;
#if _DO_CAMERA_CALIB
for (index = startIndex; index <= endIndex; index++)
{
char imgFileL[256];
char imgFileR[256];
sprintf_s(imgFileL, "%scalib_%03d_L.bmp", calibDataPath[grp], index);
sprintf_s(imgFileR, "%scalib_%03d_R.bmp", calibDataPath[grp], index);
cv::Mat srcImgL = cv::imread(imgFileL);
cv::Mat srcImgR = cv::imread(imgFileR);
if ( (true == srcImgL.empty()) || (true == srcImgR.empty()))
continue;
std::vector<cv::Point2f> cornersL;
std::vector<cv::Point2f> cornersR;
if (CALIB_CIRCLE_GRID == calibType)
{
detectCirclePoints(srcImgL, cbPattern, cornersL);
detectCirclePoints(srcImgL, cbPattern, cornersR);
if ( (true == cornersL.empty()) || (true == cornersR.empty()))
continue;
#if ENABLE_DEBUG
{
cv::Mat colorL = srcImgL.clone();
cv::Mat colorR = srcImgR.clone();
cv::drawChessboardCorners(colorL, cbPattern, cornersL, true);
cv::drawChessboardCorners(colorR, cbPattern, cornersR, true);
sprintf_s(imgFileL, "%sdebug_%03d_gridL.bmp", calibDataPath[grp], index);
sprintf_s(imgFileR, "%sdebug_%03d_gridR.bmp", calibDataPath[grp], index);
cv::imwrite(imgFileL, colorL);
cv::imwrite(imgFileR, colorR);
}
#endif
cbCornersListL.push_back(cornersL);
cbCornersListR.push_back(cornersR);
}
else if (CALIB_CHARUCO == calibType)
{
std::vector<int> markerIds_L;
std::vector<int> markerIds_R;
std::vector<std::vector<cv::Point2f> > markerCorners_L;
std::vector<std::vector<cv::Point2f> > markerCorners_R;
std::vector<int> charucoIds_L;
std::vector<int> charucoIds_R;
detectCharucoCorners(srcImgL,
cbPattern,
cbSquareSize,
markSize,
markerIds_L,
markerCorners_L,
charucoIds_L,
cornersL);
detectCharucoCorners(srcImgR,
cbPattern,
cbSquareSize,
markSize,
markerIds_R,
markerCorners_R,
charucoIds_R,
cornersR);
if ((true == cornersL.empty()) || (true == cornersR.empty()))
continue;
#if ENABLE_DEBUG
{
cv::Mat colorL = srcImgL.clone();
cv::Mat colorR = srcImgR.clone();
cv::aruco::drawDetectedMarkers(colorL, markerCorners_L, markerIds_L);
cv::aruco::drawDetectedCornersCharuco(colorL, cornersL, charucoIds_L, cv::Scalar(0, 255, 255));
cv::aruco::drawDetectedMarkers(colorR, markerCorners_R, markerIds_R);
cv::aruco::drawDetectedCornersCharuco(colorR, cornersR, charucoIds_R, cv::Scalar(0, 255, 255));
sprintf_s(imgFileL, "%sdebug_%03d_charucoL.bmp", calibDataPath[grp], index);
sprintf_s(imgFileR, "%sdebug_%03d_charucoR.bmp", calibDataPath[grp], index);
cv::imwrite(imgFileL, colorL);
cv::imwrite(imgFileR, colorR);
}
#endif
cbCornersListL.push_back(cornersL);
cbCornersListR.push_back(cornersR);
cbCornersIdListL.push_back(charucoIds_L);
cbCornersIdListR.push_back(charucoIds_R);
}
else if (CALIB_BALL_POLE == calibType)
{
}
imageSize = cv::Size(srcImgL.cols, srcImgL.rows);
}
cv::Mat K, D;
std::vector<double> reprojectionError;
if (CALIB_CHARUCO == calibType)
monocularCalibration_charuco(cbCornersIdList, cbCornersList, imageSize, cbPattern, cbSquareSize, K, D, reprojectionError);
else
monocularCalibration_chessboard(cbCornersList, imageSize, cbPattern, cbSquareSize, K, D, reprojectionError);
std::cout << "K:" << std::endl;
std::cout << K << std::endl;
std::cout << "D:" << std::endl;
std::cout << D << std::endl;
for (int i = 0; i < reprojectionError.size(); i++)
std::cout << reprojectionError[i] << std::endl;
// 输出映射类型，通常使用CV_32FC1或CV_16SC2
cv::Mat backwardMap_x, backwardMap_y;
cv::Mat forwardMap_x, forwardMap_y;
@ -384,7 +874,6 @@ int main()
imageSize = cv::Size(1200, 2048);
cv::Mat newCamMatrix = cv::getOptimalNewCameraMatrix(K, D, imageSize, alpha, imageSize, 0);
cv::initUndistortRectifyMap(K, D, cv::Mat(), newCamMatrix, imageSize, CV_32FC1, backwardMap_x, backwardMap_y);
#endif
#if ENABLE_GEN_IMAGE
@ -435,7 +924,7 @@ int main()
cv::Mat img;
cv::rotate(srcImg, img, cv::ROTATE_90_COUNTERCLOCKWISE);
#if 0
#if 1
cv::Mat charucoCalibImg;
cv::remap(img,
charucoCalibImg,
@ -625,4 +1114,10 @@ int main()
}
return 0;
}
#endif
int main(void)
{
MonoCamLaserCalib();
//StereoCamCalib();
}

10
camCalib/camCalib.vcxproj
View File

@ -29,26 +29,26 @@
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>true</UseDebugLibraries>
<PlatformToolset>v142</PlatformToolset>
<PlatformToolset>v143</PlatformToolset>
<CharacterSet>Unicode</CharacterSet>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>false</UseDebugLibraries>
<PlatformToolset>v142</PlatformToolset>
<PlatformToolset>v143</PlatformToolset>
<WholeProgramOptimization>true</WholeProgramOptimization>
<CharacterSet>Unicode</CharacterSet>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>true</UseDebugLibraries>
<PlatformToolset>v142</PlatformToolset>
<PlatformToolset>v143</PlatformToolset>
<CharacterSet>Unicode</CharacterSet>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>false</UseDebugLibraries>
<PlatformToolset>v142</PlatformToolset>
<PlatformToolset>v143</PlatformToolset>
<WholeProgramOptimization>true</WholeProgramOptimization>
<CharacterSet>Unicode</CharacterSet>
</PropertyGroup>
@ -151,8 +151,10 @@
<ClCompile Include="sourceCode\aruco\aruco.cpp" />
<ClCompile Include="sourceCode\aruco\aruco_calib.cpp" />
<ClCompile Include="sourceCode\aruco\charuco.cpp" />
<ClCompile Include="sourceCode\ballPole\ballCenter.cpp" />
<ClCompile Include="sourceCode\FitMapParam.cpp" />
<ClCompile Include="sourceCode\MonoLaserCalibrate.cpp" />
<ClCompile Include="sourceCode\stereoCalib.cpp" />
</ItemGroup>
<ItemGroup>
<ClInclude Include="lineDetection_steger.h" />

9
camCalib/camCalib.vcxproj.filters
View File

@ -16,6 +16,9 @@
<Filter Include="源文件\aruco">
<UniqueIdentifier>{5709fb07-01a0-47f3-b3c7-11842aaaa85e}</UniqueIdentifier>
</Filter>
<Filter Include="源文件\ballPole">
<UniqueIdentifier>{c1cd206d-431c-4fe6-9c47-03c9c93c8b1a}</UniqueIdentifier>
</Filter>
</ItemGroup>
<ItemGroup>
<ClCompile Include="camCalib.cpp">
@ -42,6 +45,12 @@
<ClCompile Include="sourceCode\aruco\charuco.cpp">
<Filter>源文件\aruco</Filter>
</ClCompile>
<ClCompile Include="sourceCode\ballPole\ballCenter.cpp">
<Filter>源文件\ballPole</Filter>
</ClCompile>
<ClCompile Include="sourceCode\stereoCalib.cpp">
<Filter>源文件</Filter>
</ClCompile>
</ItemGroup>
<ItemGroup>
<ClInclude Include="sourceCode\MonoLaserCalibrate.h">

14
camCalib/sourceCode/MonoLaserCalibrate.cpp
View File

@ -185,11 +185,15 @@ void detectCharucoCorners(const cv::Mat& img,
cv::Ptr<cv::aruco::DetectorParameters> ptrParams = cv::makePtr<cv::aruco::DetectorParameters>(params);
cv::aruco::detectMarkers(gray, ptrDictionary, markerCorners, markerIds, ptrParams);
std::vector<int> boardAlignIds;
for (int id : markerIds)
boardAlignIds.push_back(id - 1);
// if at least one marker detected
if (markerIds.size() > 0) {
//cv::aruco::drawDetectedMarkers(imageCopy, markerCorners, markerIds);
cv::Ptr<cv::aruco::CharucoBoard> ptrBoard = cv::makePtr<cv::aruco::CharucoBoard>(board);
cv::aruco::interpolateCornersCharuco(markerCorners, markerIds, gray, ptrBoard, charucoCorners, charucoIds);
cv::aruco::interpolateCornersCharuco(markerCorners, boardAlignIds, gray, ptrBoard, charucoCorners, charucoIds);
// if at least one charuco corner detected
#if 1
if (charucoIds.size() > 0)
@ -223,14 +227,16 @@ void gen3DCoordinate_charuco(
const float squareSize,
std::vector<cv::Point3f>& objectPoints)
{
float ratio = 1.002;
double ratio = 0.998057;
// 准备3D世界坐标点 (z=0)
for (int j = 0, j_max = (int)charucoCorners.size(); j < j_max; j++)
{
int id = charucoIds[j];
int id_row = id / (patternSize.width-1);
int id_col = id % (patternSize.width-1);
objectPoints.emplace_back(id_col * squareSize/ ratio, id_row *squareSize, 0);
double x = (double)id_col * (double)squareSize*ratio;
double y = (double)id_row * (double)squareSize;
objectPoints.emplace_back((float)x, (float)y, 0);
}
return;
@ -255,7 +261,7 @@ void monocularCalibration(
flags |= cv::fisheye::CALIB_FIX_SKEW;
cv::fisheye::calibrate(objectPoints, imagePoints, imageSize, cameraMatrix, distCoeffs, rvecs, tvecs);// , flags, cv::TermCriteria(3, 20, 1e-6));
#else
cv::calibrateCamera(objectPoints, imagePoints, imageSize, cameraMatrix, distCoeffs, rvecs, tvecs); // , cv::CALIB_FIX_ASPECT_RATIO);
cv::calibrateCamera(objectPoints, imagePoints, imageSize, cameraMatrix, distCoeffs, rvecs, tvecs, cv::CALIB_FIX_ASPECT_RATIO);
#endif
// 重投影三维点到二维图像点
// 计算重投影误差