将每个相机的标定结果内参、外参、畸变系数保存为yaml文件
时间: 2024-03-16 15:44:35 浏览: 27
可以按照以下步骤将每个相机的标定结果内参、外参、畸变系数保存为yaml文件:
1. 定义相机标定结果的数据结构,包括相机的内参矩阵、畸变系数、旋转向量和平移向量等:
```
struct CameraCalibrationResult
{
cv::Mat camera_matrix; // 内参矩阵
cv::Mat distortion_coeffs; // 畸变系数
cv::Mat rvec; // 旋转向量
cv::Mat tvec; // 平移向量
};
```
2. 对每个相机进行标定,得到其标定结果,将结果保存到相应的数据结构中:
```
CameraCalibrationResult result1, result2, result3, result4;
// 对四个相机进行标定,得到相应的标定结果
calibrateCamera(object_points, image_points_1, image_size, result1.camera_matrix, result1.distortion_coeffs, result1.rvec, result1.tvec);
calibrateCamera(object_points, image_points_2, image_size, result2.camera_matrix, result2.distortion_coeffs, result2.rvec, result2.tvec);
calibrateCamera(object_points, image_points_3, image_size, result3.camera_matrix, result3.distortion_coeffs, result3.rvec, result3.tvec);
calibrateCamera(object_points, image_points_4, image_size, result4.camera_matrix, result4.distortion_coeffs, result4.rvec, result4.tvec);
```
3. 将每个相机的标定结果保存为yaml文件:
```
cv::FileStorage fs1("camera1.yaml", cv::FileStorage::WRITE);
fs1 << "camera_matrix" << result1.camera_matrix;
fs1 << "distortion_coeffs" << result1.distortion_coeffs;
fs1 << "rvec" << result1.rvec;
fs1 << "tvec" << result1.tvec;
fs1.release();
cv::FileStorage fs2("camera2.yaml", cv::FileStorage::WRITE);
fs2 << "camera_matrix" << result2.camera_matrix;
fs2 << "distortion_coeffs" << result2.distortion_coeffs;
fs2 << "rvec" << result2.rvec;
fs2 << "tvec" << result2.tvec;
fs2.release();
cv::FileStorage fs3("camera3.yaml", cv::FileStorage::WRITE);
fs3 << "camera_matrix" << result3.camera_matrix;
fs3 << "distortion_coeffs" << result3.distortion_coeffs;
fs3 << "rvec" << result3.rvec;
fs3 << "tvec" << result3.tvec;
fs3.release();
cv::FileStorage fs4("camera4.yaml", cv::FileStorage::WRITE);
fs4 << "camera_matrix" << result4.camera_matrix;
fs4 << "distortion_coeffs" << result4.distortion_coeffs;
fs4 << "rvec" << result4.rvec;
fs4 << "tvec" << result4.tvec;
fs4.release();
```
这样就可以将每个相机的标定结果内参、外参、畸变系数保存为yaml文件了。保存后,可以在后续的程序中直接读取这些参数,从而进行相应的图像处理操作。