利用aruco标定板标定相机

1、生成aruco标定板

#include #include #include #include #include using namespace cv;using namespace std;int main() { int markersX = 17; int markersY = 12; int markerLength = 200; int markerSeparation = 44; int margins = markerSeparation; int borderBits = 1; bool showImage = false; String out = \"aruco_board4.png\"; Size imageSize; imageSize.width = markersX * (markerLength + markerSeparation) - markerSeparation + 2 * margins; imageSize.height = markersY * (markerLength + markerSeparation) - markerSeparation + 2 * margins; aruco::Dictionary dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250); aruco::GridBoard board(Size(markersX, markersY), float(markerLength), float(markerSeparation), dictionary); Mat boardImage; board.generateImage(imageSize, boardImage, margins, borderBits); imwrite(out, boardImage); return 0;}

2、利用aruco标定板标定相机

#include #include #include #include #include using namespace cv;using namespace std;int main() { int markersX = 17; int markersY = 12; float markerLength = 200; float markerSeparation = 44; string outputFile = \"cam3.yml\"; int calibrationFlags = 0; float aspectRatio = 1; aruco::Dictionary dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250); aruco::DetectorParameters detectorParams; bool refindStrategy = false; int camId = 0; aruco::GridBoard gridboard(Size(markersX, markersY), markerLength, markerSeparation, dictionary); aruco::ArucoDetector detector(dictionary, detectorParams); vector<vector<vector>> allMarkerCorners; vector<vector> allMarkerIds; Size imageSize; vector imgPath; glob(\"E:\\\\相机标定\\\\0723\\\\calib1_1\\\\*.jpg\", imgPath); for (int i = 0; i < 1; i++) { Mat image, imageCopy; image = imread(imgPath[i]); vector markerIds; vector<vector> markerCorners, rejectedMarkers; detector.detectMarkers(image, markerCorners, markerIds, rejectedMarkers); if (refindStrategy) { detector.refineDetectedMarkers(image, gridboard, markerCorners, markerIds, rejectedMarkers); } image.copyTo(imageCopy); if (!markerIds.empty()) { aruco::drawDetectedMarkers(imageCopy, markerCorners, markerIds); } std::cout << \"markerIds.size() = \" << markerIds.size() << std::endl; namedWindow(\"out\", cv::WINDOW_NORMAL); resizeWindow(\"out\", imageCopy.cols * 0.4, imageCopy.rows * 0.4); imshow(\"out\", imageCopy); waitKey(0); cv::imwrite(\"draw.bmp\", imageCopy); if (!markerIds.empty()) { allMarkerCorners.push_back(markerCorners); allMarkerIds.push_back(markerIds); imageSize = image.size(); } } if (allMarkerIds.empty()) { throw std::runtime_error(\"Not enough captures for calibration\\n\"); } Mat cameraMatrix, distCoeffs; if (calibrationFlags & CALIB_FIX_ASPECT_RATIO) { cameraMatrix = Mat::eye(3, 3, CV_64F); cameraMatrix.at(0, 0) = aspectRatio; } vector objectPoints; vector imagePoints; vector processedObjectPoints, processedImagePoints; size_t nFrames = allMarkerCorners.size(); for (size_t frame = 0; frame  0 && currentObjPoints.total() > 0) { processedImagePoints.push_back(currentImgPoints); processedObjectPoints.push_back(currentObjPoints); } } double repError = calibrateCamera(processedObjectPoints, processedImagePoints, imageSize, cameraMatrix, distCoeffs, noArray(), noArray(), noArray(), noArray(), noArray(), calibrationFlags); bool saveOk = saveCameraParams(outputFile, imageSize, aspectRatio, calibrationFlags, cameraMatrix, distCoeffs, repError); std::cout << \"Rep Error: \" << repError << endl; std::cout << \"Calibration saved to \" << outputFile << endl; std::cout << \"cameraMatrix = \" << cameraMatrix << endl; std::cout << \"distCoeffs = \" << distCoeffs << endl; return 0;}