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代码同步

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This commit is contained in:
jerryzeng 2025-08-23 21:35:12 +08:00
parent 2ff81bd90f
commit 838c37da3c
1 changed files with 177 additions and 131 deletions
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90
camCalib/camCalib.cpp
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@ -29,7 +29,7 @@ void sg_outputCalibK(const char* fileName, cv::Mat& fitMap)
return;
}
void sg_outputCalibKD(const char* fileName, cv::Mat& K, cv::Mat& D)
void sg_outputCalibKD(const char* fileName, cv::Mat& K, cv::Mat& D, cv::Vec4f& pe)
{
std::ofstream sw(fileName);
@ -50,6 +50,20 @@ void sg_outputCalibKD(const char* fileName, cv::Mat& K, cv::Mat& D)
temp[_c] = D.ptr<double>(0)[_c];
sprintf_s(dataStr, 250, "%g, %g, %g, %g, %g", temp[0], temp[1], temp[2], temp[3], temp[4]);
sw << dataStr << std::endl;
//ax+by+cz+d = 0
float a = (float)pe[0];
float b = (float)pe[1];
float c = (float)pe[2];
float d = (float)pe[3];
//将c变成-1，转成z=ax+by+c的形式，使用3个参数
a = -a / c;
b = -b / c;
d = -d / c;
c = -1;
sprintf_s(dataStr, 250, "%g, %g, %g", a, b, d);
sw << dataStr << std::endl;
sw.close();
return;
}
@ -87,6 +101,24 @@ void sg_readCalibKD(const char* fileName, cv::Mat& K, cv::Mat& D)
return;
}
void saveSubpixData(char* filename, std::vector<cv::Point2f>& subpixPnt)
{
if (subpixPnt.size() < 6)
return;
std::ofstream TXTFile(filename);
char TXTData[250];
int headOffset = 6;
for (int i = 6, i_max = (int)subpixPnt.size(); i < i_max; i++)
{
cv::Point2f a_subPix = subpixPnt[i];
snprintf(TXTData, sizeof(TXTData), "%.5f %.5f", a_subPix.x, a_subPix.y);
TXTFile << TXTData << std::endl;
}
TXTFile.close();
}
typedef struct
{
int nMin; //< 最小值
@ -103,13 +135,13 @@ int main()
std::cout << "Hello World!\n";
const char* calibDataPath[CALIB_TEST_GROUP] = {
"F:\\ShangGu\\ProductDev\\三角光相机\\相机开发\\CamAlgo\\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\\camCalib\\camCalibData\\chessboard\\", //1
"F:\\ShangGu\\ProductDev\\三角光相机\\相机开发\\CamAlgo\\camCalib\\camCalibData\\circlePoint\\", //2
"F:\\ShangGu\\ProductDev\\三角光相机\\相机开发\\CamAlgo\\camCalib\\camCalibData\\charuCo\\", //3
"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
};
const SWdNLRange fileIdx[CALIB_TEST_GROUP] = {
{3,39},{1,200},{1,166},{122,141}
{3,39},{1,33},{1,33},{1,10}
};
const int boardType[CALIB_TEST_GROUP] =
{
@ -121,7 +153,7 @@ int main()
for(int grp = 0; grp < CALIB_TEST_GROUP; grp ++)
{
grp = 2;
grp = 1;
int calibType = boardType[grp];
cv::Size cbPattern;
float cbSquareSize;
@ -255,9 +287,7 @@ int main()
std::cout << "Y Mean difference: " << meanVal_y[0] << std::endl;
//生成矫正图像
index = 3;
for (;; index++) {
for (index = startIndex; index <= endIndex; index++) {
char filename[256];
sprintf_s(filename, "%scalib_%03d.bmp", calibDataPath[grp], index);
cv::Mat srcImg = cv::imread(filename);
@ -278,10 +308,6 @@ int main()
cv::imwrite(filename, calibImg);
}
//output K and D
char calibKDName[256];
sprintf_s(calibKDName, "%scalib_param_K_D.txt", calibDataPath[grp]);
sg_outputCalibKD(calibKDName, K, D);
#else
char calibKDName[256];
sprintf_s(calibKDName, "%scalib_param_K_D.txt", cbImagePath);
@ -326,11 +352,8 @@ int main()
#endif
{
std::vector<cv::Point3f> all_pts3d;
index = 3;
for (;; index++) {
for (index = startIndex; index <= endIndex; index++) {
char filename[256];
sprintf_s(filename, "%scalib_%03d.bmp", calibDataPath[grp], index);
@ -421,10 +444,22 @@ int main()
//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
#if 1
sprintf_s(filename, "%slaser_rotate_mask_%03d.png", calibDataPath[grp], index);
cv::imwrite(filename, laserImg);
#endif
cv::Mat calibImg;
remap(laserImg,
calibImg,
mapGen_x,
mapGen_y,
cv::INTER_LINEAR,
cv::BORDER_CONSTANT,
cv::Scalar(0, 0, 0));
sprintf_s(filename, "%slaser_%03d_calib.bmp", calibDataPath[grp], index);
cv::imwrite(filename, calibImg);
#endif
std::vector<cv::Point2f> pts2d = detectLaserLine(laserImg);
//显示亚像素点
cv::Mat enlargeImg;
@ -436,10 +471,14 @@ int main()
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 = pts2d.size(); i < i_max; i++)
{
cv::Point2f a_subPix = pts2d[i];
a_subPix.x += 0.5;
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;
@ -449,13 +488,20 @@ int main()
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 calibKDName[256];
sprintf_s(calibKDName, "%scalib_param_K_D.txt", calibDataPath[grp]);
sg_outputCalibKD(calibKDName, K, D, pe);
}
return 0;