CircleCalib.rar

#include “opencv2/core/core.hpp“
#include “opencv2/imgproc/imgproc.hpp“
#include “opencv2/calib3d/calib3d.hpp“
#include “opencv2/highgui/highgui.hpp“
#include 
#include 

using namespace cv;
using namespace std;

void main（）
{
	ifstream fin（“calibdata_G.txt“）; /* 标定所用图像文件的路径 */
	ofstream fout（“caliberation_result.txt“）;  /* 保存标定结果的文件 */
											   //读取每一幅图像，从中提取出角点，然后对角点进行亚像素精确化	
	cout << “开始提取角点………………“;
	int image_count = 0;  /* 图像数量 */
	Size image_size;  /* 图像的尺寸 */
	Size board_size = Size（77）;    /* 标定板上每行、列的角点数。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。需要改 */
	vector image_points_buf;  /* 缓存每幅图像上检测到的角点 */
	vector> image_points_seq; /* 保存检测到的所有角点 */
	string filename;
	int count = -1;//用于存储角点个数。
	while （getline（fin filename））
	{
		image_count++;
		// 用于观察检验输出
		cout << “image_count = “ << image_count << endl;
		/* 输出检验*/
		cout << “-->count = “ << count;
		Mat imageInput = imread（filename）;
		if （image_count == 1）  //读入第一张图片时获取图像宽高信息
		{
			image_size.width = imageInput.cols;
			image_size.height = imageInput.rows;
			cout << “image_size.width = “ << image_size.width << endl;
			cout << “image_size.height = “ << image_size.height << endl;
		}

		/* 提取角点 */
		if （0 != findChessboardCorners（imageInput board_size image_points_buf））
		{
			cout << “can not find chessboard corners!
“; //找不到角点
			exit（1）;
		}
		else
		{
			Mat view_gray;
			cvtColor（imageInput view_gray CV_RGB2GRAY）;
			/* 亚像素精确化 */
			//find4QuadCornerSubpix（view_gray image_points_buf Size（5 5））; //对粗提取的角点进行精确化
			cv::SimpleBlobDetector::Params param;
			param.filterByCircularity = true;
			param.minCircularity = 0.8f;
			param.maxCircularity = 1.0f;
			cv::Ptr blobDetector = cv::SimpleBlobDetector::create（param）;
			cv::Size boardSize = cv::Size（7 7）;//.................................................................................................................需要改
			bool found = findCirclesGrid（view_gray boardSize image_points_buf cv::CALIB_CB_SYMMETRIC_GRID | cv::CALIB_CB_CLUSTERING blobDetector）;
			image_points_seq.push_back（image_points_buf）;  //保存亚像素角点
														   /* 在图像上显示角点位置 */
			drawChessboardCorners（view_gray board_size image_points_buf true）; //用于在图片中标记角点
			namedWindow（“Camera Calibration“0）;
			imshow（“Camera Calibration“ view_gray）;//显示图片
			waitKey（500）;//暂停0.5S		
		}
	}
	int total = image_points_seq.size（）;
	cout << “total = “ << total << endl;
	int CornerNum = board_size.width*board_size.height;  //每张图片上总的角点数
	for （int ii = 0; ii	{
		if （0 == ii%CornerNum）// 24 是每幅图片的角点个数。此判断语句是为了输出 图片号，便于控制台观看 
		{
			int i = -1;
			i = ii / CornerNum;
			int j = i + 1;
			cout << “--> 第 “ << j << “图片的数据 --> : “ << endl;
		}
		if （0 == ii % 3）	// 此判断语句，格式化输出，便于控制台查看
		{
			cout << endl;
		}
		else
		{
			cout.width（10）;
		}
		//输出所有的角点
		cout << “ -->“ << image_points_seq[ii][0].x;
		cout << 

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----

    ..A..H.     40960  2018-10-22 13:24  CircleCalib.vsDotFittingv14.suo

     文件     740105  2018-10-22 13:13  CircleCalibDotFitting1_d.jpg

     文件     679136  2018-10-22 13:13  CircleCalibDotFitting2_d.jpg

     文件     702128  2018-10-22 13:13  CircleCalibDotFitting3_d.jpg

     文件     682442  2018-10-22 13:13  CircleCalibDotFitting4_d.jpg

     文件     688486  2018-10-22 13:13  CircleCalibDotFitting5_d.jpg

     文件     681585  2018-10-22 13:13  CircleCalibDotFitting6_d.jpg

     文件     722943  2018-10-22 13:13  CircleCalibDotFitting7_d.jpg

     文件         63  2018-10-22 10:30  CircleCalibDotFittingcalibdata_G.txt

     文件       3274  2018-10-22 13:13  CircleCalibDotFittingcaliberation_result.txt

     文件       9366  2018-10-22 10:32  CircleCalibDotFittingCircleCalib.cpp

     文件       7699  2018-10-22 10:22  CircleCalibDotFittingDotFitting.vcxproj

     文件        952  2018-10-22 10:22  CircleCalibDotFittingDotFitting.vcxproj.filters

     文件        223  2018-10-22 10:22  CircleCalibDotFittingDotFitting.vcxproj.user

     文件     416817  2018-10-21 16:54  CircleCalibDotFittingG_1.jpg

     文件     372028  2018-10-21 16:54  CircleCalibDotFittingG_2.jpg

     文件     389877  2018-10-21 16:54  CircleCalibDotFittingG_3.jpg

     文件     371512  2018-10-21 16:54  CircleCalibDotFittingG_4.jpg

     文件     381058  2018-10-21 16:54  CircleCalibDotFittingG_5.jpg

     文件     377537  2018-10-21 16:54  CircleCalibDotFittingG_6.jpg

     文件     401167  2018-10-21 16:54  CircleCalibDotFittingG_7.jpg

     文件    1934651  2018-10-22 10:32  CircleCalibDotFittingx64ReleaseCircleCalib.obj

     文件       1582  2018-10-22 10:22  CircleCalibDotFittingx64ReleaseDotFitting.Build.CppClean.log

     文件       1043  2018-10-22 10:32  CircleCalibDotFittingx64ReleaseDotFitting.log

     文件        734  2018-10-22 10:32  CircleCalibDotFittingx64ReleaseDotFitting.tlogCL.command.1.tlog

     文件      18982  2018-10-22 10:32  CircleCalibDotFittingx64ReleaseDotFitting.tlogCL.read.1.tlog

     文件        502  2018-10-22 10:32  CircleCalibDotFittingx64ReleaseDotFitting.tlogCL.write.1.tlog

     文件        225  2018-10-22 10:32  CircleCalibDotFittingx64ReleaseDotFitting.tlogDotFitting.lastbuildstate

     文件       1480  2018-10-22 10:32  CircleCalibDotFittingx64ReleaseDotFitting.tloglink.command.1.tlog

     文件       3734  2018-10-22 10:32  CircleCalibDotFittingx64ReleaseDotFitting.tloglink.read.1.tlog

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