1

我正在尝试通过使用 opencv 相机校准功能来获取相机校准参数。我有一个视频并试图找到校准参数并在视频中找到包含不同位置的棋盘的点。但我还不能通过校准阶段。我可以找到棋盘的一角并将它们显示在 openCV 窗口中，但是当涉及到线时：

calibrateCamera(objectPoints,imagePoints..............)

它抛出异常并停止。

我收到以下错误：OpenCV 错误：断言失败 0 &&nimages==int imagePoints1.total ()&&

这是我的代码：

#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "C:/opencv/include/opencv/cv.h"

#include <iostream>
#include <math.h>

using namespace cv;
using namespace std;

std::vector<cv::Point2f> imageCorners;
std::vector<cv::Point3f> objectCorners;
std::vector<std::vector<cv::Point3f>> objectPoints;
std::vector<std::vector<cv::Point2f>> imagePoints;

void addPoints(const std::vector<cv::Point2f>&imageCorners, const std::vector<cv::Point3f>& objectCorners)
{
// 2D image points from one view
imagePoints.push_back(imageCorners);
// corresponding 3D scene points
objectPoints.push_back(objectCorners);
}
int main()
{

int key;
cv::Mat   image;
cv::Mat   gray_image;

VideoCapture cap("here goes path of the file"); 
   if (!cap.isOpened())  // check if we succeeded
       cout<<"failed";
else
   cout<<"success";

    cvNamedWindow( "video",0);

cv::Size boardSize(8,6);
// output Matrices
cv::Mat cameraMatrix;
std::vector<cv::Mat> rvecs, tvecs;
cv::Mat distCoeffs;

for (int i=0; i<boardSize.height; i++) 
{
    for (int j=0; j<boardSize.width; j++) 
    {
        objectCorners.push_back(cv::Point3f(i, j, 0.0f));
    }
}
int frame=1;
int corner_count=0;
while(1) 
{
    if(cap.read(image))
    {
        frame++;
        if(frame%20==0)
        {
            if(waitKey(30) >= 0) break;

            bool found = cv::findChessboardCorners(image, boardSize, imageCorners);

            cvtColor( image, gray_image, CV_RGB2GRAY );


                addPoints(imageCorners, objectCorners);

            //bool found = cv::findChessboardCorners(image,boardSize, imageCorners);
            cv::drawChessboardCorners(gray_image,boardSize, imageCorners,found);
            imshow( "video",  gray_image );
        }
    }
    else
        break;

}
int flag=0;
std::string text="";

for (int i=1; i<imagePoints.size();i++)
{
    std::stringstream out;
    out << imagePoints[i];
    text=out.str();
    cout<<text<<endl;

}

calibrateCamera(objectPoints,imagePoints,gray_image.size(), cameraMatrix, distCoeffs, rvecs, tvecs, flag);

return 0;

}
4

2 回答 2

0

你应该看看这个： http://docs.opencv.org/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html#bool findChessboardCorners(InputArray image, Size patternSize, OutputArray corners, int flags)

它说您的源棋盘视图必须是 8 位灰度或彩色图像。所以你必须使用这个： bool found = cv::findChessboardCorners(gray_image, boardSize, imageCorners);

于 2015-03-23T18:45:34.893 回答
0

打印所有 的大小std::vector，我怀疑您正在将一个空向量传递给该函数。

编辑：

我在这个答案中分享了一些关于如何进行相机校准的说明。这些参考资料包括工作源代码。您可能需要对这些程序进行小幅调整，以便它们可以处理视频。

于 2011-12-03T14:21:23.087 回答