利用棋盘格标定点云坐标系 代码
时间: 2023-09-29 08:05:46 浏览: 29
以下是C++代码示例,使用OpenCV库进行棋盘格标定:
```cpp
#include <opencv2/opencv.hpp>
#include <iostream>
#include <vector>
using namespace cv;
using namespace std;
int main()
{
// 定义棋盘格参数
Size boardSize(9, 6);
float squareSize = 0.0245f; // 棋盘格格子尺寸
// 读取标定图像
vector<String> filenames;
glob("calib_images/*.jpg", filenames);
vector<vector<Point2f>> imagePoints;
vector<vector<Point3f>> objectPoints;
vector<Point3f> obj;
for (int i = 0; i < boardSize.height; i++) {
for (int j = 0; j < boardSize.width; j++) {
obj.push_back(Point3f(j * squareSize, i * squareSize, 0));
}
}
for (int i = 0; i < filenames.size(); i++) {
Mat image = imread(filenames[i]);
vector<Point2f> corners;
bool found = findChessboardCorners(image, boardSize, corners);
if (found) {
cvtColor(image, image, COLOR_BGR2GRAY);
cornerSubPix(image, corners, Size(11, 11), Size(-1, -1),
TermCriteria(TermCriteria::EPS + TermCriteria::MAX_ITER, 30, 0.1));
drawChessboardCorners(image, boardSize, corners, found);
imshow("image", image);
waitKey(0);
imagePoints.push_back(corners);
objectPoints.push_back(obj);
}
}
// 标定相机
Mat cameraMatrix, distCoeffs, rvecs, tvecs;
calibrateCamera(objectPoints, imagePoints, Size(640, 480), cameraMatrix, distCoeffs, rvecs, tvecs);
// 打印标定结果
cout << "Camera Matrix:" << endl;
cout << cameraMatrix << endl;
cout << "Distortion Coefficients:" << endl;
cout << distCoeffs << endl;
return 0;
}
```
注意,这里假设棋盘格的每个格子都是正方形,如果不是,需要将`squareSize`参数修改为实际的格子尺寸。