opencv相機標定 3 魚眼鏡頭成像模型與標定

這篇部落格介紹得很詳細，鏈結

其中，opencv魚眼相機標定後，畸變引數是4個，鏈結裡部落格的畸變引數是五個，應該是使k0=1.

1）世界座標系->相機座標系

2）相機座標系->影象物理座標系

注意使用的是歸一化的座標，魚眼模型好像都是近似為單位球面投影模型，這點還是比較困惑，為什麼不直接用f,而是在單位球面上建模。

徑向畸變座標

xd,yd這個公式不太明白，括號內應該是rd才對吧？不過如果是單位球面、等距投影,rd=theta_d,這樣就說的通了。

3）影象物理座標系->影象畫素座標系

綜合：

#include

"learnbasic.h"
#include
"stdio.h"
#include
#include
#include
void
getfiles
(string path, vector
& files)
else
}while
(_findnext
(hfile,
&fileinfo)==0
);_findclose
(hfile);}
}void
fisheyecalibration()
//檢測棋盤點
namedwindow
("img"
, window_normal)
;for
(int i =
0; i < picnum; i++
)		worldpoints.
push_back
(worldpoint)
;cornersubpix
(img_gray, imgpoint, cv::
size(3
,3), cv::
size(-
1,-1
),cv::
termcriteria
(cv::termcriteria::max_iter + termcriteria::eps,30,
0.1));
//		drawchessboardcorners(img, cv::size(colnum, rownum), imgpoint, true);
// 		imshow("img", img);
// 		waitkey(0);
imgpoints.
push_back
(imgpoint);}
//標定
cv::fisheye::
calibrate
(worldpoints, imgpoints, picsize, cameramatrix, distcoeffs,
rvecs, tvecs, flag, cv::
termcriteria(3
,20,1e-6))
;	cout << cameramatrix << endl;
cout << distcoeffs << endl;
//調整相機顯示
double mechinew =
540;
//設定想要的幅面寬，高按比例轉換
double chessboardw =
(colnum-1)
* space;
//棋盤點範圍，範圍外畸變校正的效果應該比較差
double chessboardh =
(rownum-1)
* space;
vector undistort_imgpts;
vector prj_imgpts;
mat newcameramatrix = cameramatrix.
clone()
;	cv::fisheye::
projectpoints
(worldpoints[0]
, prj_imgpts, rvecs[0]
, tvecs[0]
, cameramatrix, distcoeffs,0,
noarray()
);cv::fisheye::
undistortpoints
(prj_imgpts, undistort_imgpts, cameramatrix, distcoeffs, cv::
noarray()
, cameramatrix)
;double chessboardw_pix =
fabs
(undistort_imgpts.at(
0).x - undistort_imgpts.
at(rownum*colnum -1)
.x);
double chessboardh_pix =
fabs
(undistort_imgpts.at(
0).y - undistort_imgpts.
at(rownum*colnum -1)
.y);
double pixsize =
sqrt((
pow(chessboardw,2)
+pow
(chessboardw,2)
)/(pow
(chessboardw_pix,2)
+pow
(chessboardh_pix,2)
));	cout <<
"畸變校正後畫素精度:"
<< pixsize<< endl;
double scale = mechinew / pixsize /picsize.width;
//縮放比例,確定新的內參，可以想象為把靶面尺寸縮放
cout <<
"scale:"
<
newcameramatrix.at<
double
>(0
,0)= cameramatrix.at<
double
>(0
,0)/scale;
newcameramatrix.at<
double
>(1
,1)= cameramatrix.at<
double
>(1
,1)/scale;
mat mapx, mapy;
cv::fisheye::
initundistortrectifymap
(cameramatrix, distcoeffs, cv::matx33d::
eye(
), newcameramatrix,
picsize, cv_16sc2, mapx, mapy)
;for
(int i =
0; i < picnum; i++
)}

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