opencv4 0棋盤格標定c

2021-10-06 03:26:38 字數 1954 閱讀 3300

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#include #include #include #include #include using namespace cv;


using namespace std;


void m_calibration(vector&filesname, size board_size, size square_size, mat &cameramatrix, mat &distcoeffs, vector&rvecsmat, vector&tvecsmat)


/* 提取角點 */


bool bres = findchessboardcorners(imageinput, board_size, image_points, 0);


if (bres)


else


}cout << "角點提取完成！！！" << endl;


/*棋盤三維資訊*/


vector> object_points_seq; // 儲存標定板上角點的三維座標


for (int t = 0; t < image_count; t++)


}object_points_seq.push_back(object_points);


}/* 執行標定函式 */


double rms = calibratecamera(object_points_seq, image_points_seq, image_size, cameramatrix, distcoeffs, rvecsmat, tvecsmat, cv::calib_fix_k3 + cv::calib_zero_tangent_dist);


cout << "rms：" << rms << "畫素" << endl << endl;


cout << "標定完成！！！" << endl;


cout << "開始評價標定結果………………";


double total_err = 0.0; // 所有影象的平均誤差的總和


double err = 0.0; // 每幅影象的平均誤差


double totalerr = 0.0;


double totalpoints = 0.0;


vectorimage_points_pro; // 儲存重新計算得到的投影點


for (int i = 0; i < image_count; i++)


fout << "重投影誤差2：" << sqrt(totalerr / totalpoints) << "畫素" << endl << endl;


fout << "重投影誤差3：" << total_err / image_count << "畫素" << endl << endl;


cout << "x = " << cameramatrix.at(0, 2) << endl;


cout << "y = " << cameramatrix.at(1, 2) << endl;


//儲存定標結果


// cout << "開始儲存定標結果………………" << endl;


// mat rotation_matrix = mat(3, 3, cv_32fc1, scalar::all(0)); /* 儲存每幅影象的旋轉矩陣 */


// fout << "相機內引數矩陣：" << endl;


fout << cameramatrix << endl << endl;


// fout << "畸變係數：\n";


// fout << distcoeffs << endl << endl << endl;


// for (int i = 0; i < image_count; i++)


// cout << "定標結果完成儲存！！！" << endl;


fout << endl;


}int main()

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