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添加二维码标定流程

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jerryzeng 2025-08-28 11:03:16 +08:00
parent 25151a4c61
commit a634036379
3 changed files with 321 additions and 99 deletions
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124
camCalib/camCalib.cpp
View File

@ -8,7 +8,7 @@
#include "sourceCode/MonoLaserCalibrate.h"
#include "sourceCode/FitMapParam.h"
#define _DO_CAMERA_CALIB 0
#define _DO_CAMERA_CALIB 1
void sg_outputCalibK(const char* fileName, cv::Mat& fitMap)
{
@ -88,7 +88,7 @@ void sg_readCalibKD(const char* fileName, cv::Mat& K, cv::Mat& D)
for (int _c = 0; _c < 3; _c++)
K.ptr<double>(line)[_c] = data[_c];
}
else
else if(line == 3)
{
double data[5];
sscanf_s(linedata.c_str(), "%lf, %lf, %lf, %lf, %lf", &data[0], &data[1], &data[2], &data[3], &data[4]);
@ -180,10 +180,11 @@ int main()
for(int grp = 0; grp < CALIB_TEST_GROUP; grp ++)
{
grp = 1;
grp = 3;
int calibType = boardType[grp];
cv::Size cbPattern;
float cbSquareSize;
float markSize;
if (CALIB_CHESS_BOARD == calibType)
{
cbPattern = cv::Size(8, 11); // 10);
@ -196,13 +197,15 @@ int main()
}
else if (CALIB_CHARUCO == calibType)
{
cbPattern = cv::Size(20, 46); // 10);
cbSquareSize = 50.0f; // 10.f;
cbPattern = cv::Size(47, 21); // 10);
cbSquareSize = 0.05f;
markSize = 0.037f;
}
else
continue;
std::vector<std::vector<cv::Point2f>> cbCornersList;
std::vector<std::vector<int>> cbCornersIdList;
cv::Size imageSize;
int startIndex = fileIdx[grp].nMin;
@ -237,6 +240,9 @@ int main()
cv::imwrite(filename, color);
}
#endif
if (corners.empty())
continue;
cbCornersList.push_back(corners);
}
else if (CALIB_CIRCLE_GRID == calibType)
{
@ -251,26 +257,55 @@ int main()
cv::imwrite(filename, color);
}
#endif
if (corners.empty())
continue;
cbCornersList.push_back(corners);
}
else if (CALIB_CHARUCO == calibType)
{
std::vector<int> markerIds;
std::vector<std::vector<cv::Point2f> > markerCorners;
std::vector<int> charucoIds;
detectCharucoCorners(img,
cbPattern,
cbSquareSize,
markSize,
markerIds,
markerCorners,
charucoIds,
corners);
cv::Mat imageCopy = img.clone();
if (markerIds.size() > 0)
{
cv::aruco::drawDetectedMarkers(imageCopy, markerCorners, markerIds);
}
if (charucoIds.size() > 0)
{
cv::aruco::drawDetectedCornersCharuco(imageCopy, corners, charucoIds, cv::Scalar(0, 255, 255));
}
char markFilename[256];
sprintf_s(markFilename, "%scalib_%03d_markers.bmp", calibDataPath[grp], index);
cv::imwrite(markFilename, imageCopy);
if (corners.empty())
continue;
imageSize = cv::Size(img.cols, img.rows);
cbCornersList.push_back(corners);
cbCornersIdList.push_back(charucoIds);
}
imageSize = cv::Size(img.cols, img.rows);
}
cv::Mat K, D;
std::vector<double> reprojectionError;
monocularCalibration(cbCornersList, imageSize, cbPattern, cbSquareSize, K, D, 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);
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 map_x, map_y;
cv::Mat backwardMap_x, backwardMap_y;
cv::Mat newCamMatrix;
// 生成畸变矫正映射
#if ENABLE_FISH_EYE
@ -279,12 +314,12 @@ int main()
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, map_x, map_y);
initForwardRectMap(K, D, cv::Mat(), newCamMatrix, imageSize, map_x, map_y);
initForwardRectMap(K, D, cv::Mat(), newCamMatrix, imageSize, backwardMap_x, backwardMap_y);
#endif
// 生成系数表
cv::Mat fitMap_x = GetFitParamMap(map_x, 1);
cv::Mat fitMap_y = GetFitParamMap(map_y, 1);
cv::Mat fitMap_x = GetFitParamMap(backwardMap_x, 1);
cv::Mat fitMap_y = GetFitParamMap(backwardMap_y, 1);
//输出系数文件
char calibParamName[256];
sprintf_s(calibParamName, "%scalib_param_x.txt", calibDataPath[grp]);
@ -298,8 +333,8 @@ int main()
//搜索最大和平均误差
// 计算绝对差异
cv::Mat diff_x, diff_y;
cv::absdiff(map_x, mapGen_x, diff_x);
cv::absdiff(map_y, mapGen_y, diff_y);
cv::absdiff(backwardMap_x, mapGen_x, diff_x);
cv::absdiff(backwardMap_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);
@ -325,7 +360,7 @@ int main()
cv::Mat img;
cv::rotate(srcImg, img, cv::ROTATE_90_COUNTERCLOCKWISE);
cv::Mat calibImg;
remap(img,
cv::remap(img,
calibImg,
mapGen_x,
mapGen_y,
@ -341,6 +376,14 @@ int main()
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
@ -392,11 +435,37 @@ int main()
cv::Mat img;
cv::rotate(srcImg, img, cv::ROTATE_90_COUNTERCLOCKWISE);
std::vector<cv::Point2f> corners;
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;
std::vector<int> charucoIds;
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
{
cv::Mat 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
@ -458,6 +527,7 @@ int main()
sprintf_s(filename, "%schessMask_%03d.png", calibDataPath[grp], index);
cv::imwrite(filename, chessMask);
#endif
}
cv::Vec4f pe;
fitChessboardPlane(corners, K, D, cbPattern, cbSquareSize, pe);
@ -475,19 +545,20 @@ int main()
#if 1
sprintf_s(filename, "%slaser_rotate_mask_%03d.png", calibDataPath[grp], index);
cv::imwrite(filename, laserImg);
/*
cv::Mat calibImg;
remap(laserImg,
calibImg,
mapGen_x,
mapGen_y,
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, calibImg);
*/
cv::imwrite(filename, laserCalibImg);
#endif
std::vector<cv::Point2f> pts2d = detectLaserLine(laserImg);
//显示亚像素点
@ -530,9 +601,8 @@ int main()
//output K and D
char calibKDPName[256];
sprintf_s(calibKDPName, "%scalib_param_K_D.txt", calibDataPath[grp]);
sg_outputCalibKD(calibKDName, K, D, pe);
sg_outputCalibKD(calibKDPName, K, D, pe);
}
return 0;
}

145
camCalib/sourceCode/MonoLaserCalibrate.cpp
View File

@ -2,6 +2,8 @@
//
#include <iostream>
#include <opencv2/opencv.hpp>
#include "aruco.hpp"
#include "aruco/charuco.hpp"
#include <vector>
#include <math.h>
#include "MonoLaserCalibrate.h"
@ -158,18 +160,53 @@ void detectCirclePoints(const cv::Mat& img,
return;
}
/*Breif：单目相机标定函数*/
void monocularCalibration(
/*Breif：二维码标定板角点函数*/
void detectCharucoCorners(const cv::Mat& img,
const cv::Size& patternSize,
float sqSize,
float mkSize,
std::vector<int>& markerIds,
std::vector<std::vector<cv::Point2f> >& markerCorners,
std::vector<int>& charucoIds,
std::vector<cv::Point2f>& charucoCorners)
{
cv::Mat gray;
if (img.channels() == 3)
cv::cvtColor(img, gray, cv::COLOR_BGR2GRAY);
else
gray = img.clone();
cv::aruco::Dictionary dictionary(cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_1000));
cv::aruco::CharucoBoard board = cv::aruco::CharucoBoard(patternSize, sqSize, mkSize, dictionary);
cv::aruco::DetectorParameters params = cv::aruco::DetectorParameters();
params.cornerRefinementMethod = cv::aruco::CORNER_REFINE_NONE;
cv::Ptr<cv::aruco::Dictionary> ptrDictionary = cv::makePtr<cv::aruco::Dictionary>(dictionary);
cv::Ptr<cv::aruco::DetectorParameters> ptrParams = cv::makePtr<cv::aruco::DetectorParameters>(params);
cv::aruco::detectMarkers(gray, ptrDictionary, markerCorners, markerIds, ptrParams);
// 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);
// if at least one charuco corner detected
if (charucoIds.size() > 0)
// 亚像素精确化
cv::cornerSubPix(gray, charucoCorners, cv::Size(11, 11), cv::Size(-1, -1),
cv::TermCriteria(cv::TermCriteria::EPS + cv::TermCriteria::MAX_ITER, 50, 0.1));
}
return;
}
void gen3DCoordinate_chessboard(
const std::vector<std::vector<cv::Point2f>>& imagePoints,
const cv::Size& imageSize,
const cv::Size& patternSize,
const float squareSize,
cv::Mat& cameraMatrix,
cv::Mat& distCoeffs,
std::vector<double>& reprojectionError)
std::vector<std::vector<cv::Point3f>>& objectPoints
)
{
// 根据角点生成3d点
std::vector<std::vector<cv::Point3f>> objectPoints;
for (const auto& corners : imagePoints) {
// 准备3D世界坐标点 (z=0)
@ -180,7 +217,44 @@ void monocularCalibration(
objectPoints.push_back(obj);
}
return;
}
void gen3DCoordinate_charuco(
std::vector<std::vector<int>>& charucoIds,
std::vector<std::vector<cv::Point2f>>& charucoCorners,
const cv::Size& patternSize,
const float squareSize,
std::vector<std::vector<cv::Point3f>>& objectPoints)
{
// 根据角点生成3d点
for (int i = 0, i_max = (int)charucoCorners.size(); i < i_max; i ++) {
std::vector<cv::Point2f>& a_cornerList = charucoCorners[i];
std::vector<int>& a_idList = charucoIds[i];
// 准备3D世界坐标点 (z=0)
std::vector<cv::Point3f> obj;
for (int j = 0, j_max = (int)a_cornerList.size(); j < j_max; j++)
{
int id = a_idList[j];
int id_row = id / (patternSize.width-1);
int id_col = id % (patternSize.width-1);
obj.emplace_back(id_col * squareSize, id_row *squareSize, 0);
}
objectPoints.push_back(obj);
}
return;
}
/*Breif：单目相机标定函数*/
void monocularCalibration(
const std::vector<std::vector<cv::Point2f>>& imagePoints,
const cv::Size& imageSize,
std::vector<std::vector<cv::Point3f>>& objectPoints,
cv::Mat& cameraMatrix,
cv::Mat& distCoeffs,
std::vector<double>& reprojectionError)
{
// 执行相机标定
std::vector<cv::Mat> rvecs, tvecs;
#if ENABLE_FISH_EYE
@ -236,6 +310,63 @@ void monocularCalibration(
return;
}
/*Breif：棋盘格单目相机标定函数*/
void monocularCalibration_chessboard(
const std::vector<std::vector<cv::Point2f>>& imagePoints,
const cv::Size& imageSize,
const cv::Size& patternSize,
const float squareSize,
cv::Mat& cameraMatrix,
cv::Mat& distCoeffs,
std::vector<double>& reprojectionError)
{
std::vector<std::vector<cv::Point3f>> objectPoints;
gen3DCoordinate_chessboard(
imagePoints,
patternSize,
squareSize,
objectPoints
);
monocularCalibration(
imagePoints,
imageSize,
objectPoints,
cameraMatrix,
distCoeffs,
reprojectionError);
return;
}
/*Breif：二维码标定板单目相机标定函数*/
void monocularCalibration_charuco(
std::vector<std::vector<int>>& charucoIds,
std::vector<std::vector<cv::Point2f>>& charucoCorners,
const cv::Size& imageSize,
const cv::Size& patternSize,
const float squareSize,
cv::Mat& cameraMatrix,
cv::Mat& distCoeffs,
std::vector<double>& reprojectionError)
{
std::vector<std::vector<cv::Point3f>> objectPoints;
gen3DCoordinate_charuco(
charucoIds,
charucoCorners,
patternSize,
squareSize,
objectPoints);
monocularCalibration(
charucoCorners,
imageSize,
objectPoints,
cameraMatrix,
distCoeffs,
reprojectionError);
return;
}
/*Brief: 拟合棋盘格角点平面*/
void fitChessboardPlane(
const std::vector<cv::Point2f>& corners,

25
camCalib/sourceCode/MonoLaserCalibrate.h
View File

@ -17,8 +17,18 @@ void detectCirclePoints(const cv::Mat& img,
const cv::Size& patternSize,
std::vector<cv::Point2f>& corners);
/*Breif：单目相机标定函数*/
void monocularCalibration(
/*Breif：二维码标定板角点函数*/
void detectCharucoCorners(const cv::Mat& img,
const cv::Size& patternSize,
float sqSize,
float mkSize,
std::vector<int>& markerIds,
std::vector<std::vector<cv::Point2f> >& markerCorners,
std::vector<int>& charucoIds,
std::vector<cv::Point2f>& charucoCorners);
/*Breif：棋盘格单目相机标定函数*/
void monocularCalibration_chessboard(
const std::vector<std::vector<cv::Point2f>>& imagePoints,
const cv::Size& imageSize,
const cv::Size& patternSize,
@ -27,6 +37,17 @@ void monocularCalibration(
cv::Mat& distCoeffs,
std::vector<double>& reprojectionError);
/*Breif：二维码标定板单目相机标定函数*/
void monocularCalibration_charuco(
std::vector<std::vector<int>>& charucoIds,
std::vector<std::vector<cv::Point2f>>& charucoCorners,
const cv::Size& imageSize,
const cv::Size& patternSize,
const float squareSize,
cv::Mat& cameraMatrix,
cv::Mat& distCoeffs,
std::vector<double>& reprojectionError);
/*Brief: 拟合棋盘格角点平面*/
void fitChessboardPlane(
const std::vector<cv::Point2f>& corners,