我一直在尝试使用Opencv calibrateCamera()函数校准我的相机。我遵循了与opencv示例程序中所述相同的过程。我正在尝试先加载10 9 x 6棋盘图像。然后找到棋盘角。如果找到了角点,则将角点的像素位置存储在vector <vector <Point2f >> ImagePoints中。对所有图像执行此操作后,将执行runCalibrationAndSave部分。在runCalibrationAndSave中,执行第一个runCalibration部分,其中用角的真实坐标值填充ObjectPoints(类型为vector <vector <Point3f >>)。到此为止,代码运行良好,并且没有问题。准确地找到了棋盘角,并且ImagePoints矢量也填充了矢量。但是,当它涉及到calibrateCamera()部分OpenCV时:
OpenCV错误:
断言失败(nimages> 0 && nimages ==(int)imagePoints1.total()&&(!imgPtMat2 || nimages ==(int)imagePoints2.total()))在setCalibrationData,文件/ ........中.... / modules / calib3d / src / calibration.cpp,第3164行
我对相同的问题进行了一些研究,发现当ObjectPoints向量和ImagePoints向量的长度不相等或填充不正确时,通常会发生此问题。但就我而言,我已经在调试模式下检查了两个向量均正确地填充了相等的长度。作为参考,我附加了代码部分,该部分可以正确运行到calibrateCamera()部分之前,然后断言失败。
#include <iostream>
#include <sstream>
#include <time.h>
#include <stdio.h>
#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/highgui/highgui.hpp>
using namespace cv;
using namespace std;
class Settings
{public:
Size boardSize;
float squareSize;
};
bool runCalibrationAndSave(Settings& s, Size imageSize, Mat& cameraMatrix, Mat& distCoeffs,
vector<vector<Point2f> > imagePoints );
int main()
{
Settings s;
s.boardSize.width =9;
s.boardSize.height=6;
s.squareSize=50;
Mat cameraMatrix, distCoeffs;
Size imageSize;
char filename[512];
vector<vector<Point2f> > imagePoints;
for(int counter=0; counter<10; counter++)
{sprintf( filename, "chessboard%d.jpg", counter );
IplImage* img = cvLoadImage(filename);
cv::Mat& m = cv::cvarrToMat(img);
Mat pointBuf = Mat::zeros(54,2,CV_32FC1);
vector<Point2f> pointBuf_vec;
bool found=false;
found = findChessboardCorners( m,s.boardSize, pointBuf,CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FAST_CHECK | CV_CALIB_CB_NORMALIZE_IMAGE);
if(found)
{
cout<<"check"<<endl;
Mat viewGray;
cvtColor(m, viewGray, CV_BGR2GRAY);
cornerSubPix( viewGray, pointBuf, Size(11 ,11),Size(-1,-1), TermCriteria( CV_TERMCRIT_EPS+CV_TERMCRIT_ITER, 30, 0.1 ));
drawChessboardCorners( m, s.boardSize, Mat(pointBuf), found );
pointBuf_vec.clear();
for(int i=0;i<54;i++)
{
Point2f temp;
temp.x=pointBuf.at<float>(i,0);
temp.y=pointBuf.at<float>(i,1);
pointBuf_vec.push_back(temp);
}
imagePoints.push_back(pointBuf_vec);
}
imshow("Example1",m);
cvWaitKey();
imageSize = m.size();
}
runCalibrationAndSave(s, imageSize, cameraMatrix, distCoeffs, imagePoints);
return 0;
}
static void calcBoardCornerPositions(Size boardSize, float squareSize, vector<Point3f>& corners)
{
corners.clear();
for( int i = 0; i < boardSize.height; i++ )
for( int j = 0; j < boardSize.width; j++ )
{ corners.push_back(Point3f(float( j*squareSize ), float( i*squareSize ), 0));
}
}
static bool runCalibration( Settings& s, Size& imageSize, Mat& cameraMatrix, Mat& distCoeffs,
vector<vector<Point2f> > imagePoints, vector<Mat>& rvecs, vector<Mat>& tvecs,
vector<float>& reprojErrs, double& totalAvgErr)
{
cameraMatrix = Mat::eye(3, 3, CV_64F);
// if( s.flag & CV_CALIB_FIX_ASPECT_RATIO )
// cameraMatrix.at<double>(0,0) = 1.0;
distCoeffs = Mat::zeros(8, 1, CV_64F);
vector<vector<Point3f> > objectPoints;
Mat object_pointBuf = Mat::zeros(s.boardSize.width*s.boardSize.height,3,CV_32FC1);
vector<Point3f> object_pointBuf_vec;
calcBoardCornerPositions(s.boardSize, s.squareSize, object_pointBuf_vec);
for(int k=0;k<imagePoints.size();k++)
{
objectPoints.push_back(object_pointBuf_vec);
}
// objectPoints.resize(imagePoints.size(),objectPoints[0]);
//Find intrinsic and extrinsic camera parameters
double rms = calibrateCamera(objectPoints, imagePoints, imageSize, cameraMatrix,
distCoeffs, rvecs, tvecs, /*s.flag|* /CV_CALIB_FIX_K4|CV_CALIB_FIX_K5);
cout << "Re-projection error reported by calibrateCamera: "<< rms << endl;
bool ok = checkRange(cameraMatrix) && checkRange(distCoeffs);
// totalAvgErr = computeReprojectionErrors(objectPoints, imagePoints,
// rvecs, tvecs, cameraMatrix, distCoeffs, reprojErrs);
return ok;
}
bool runCalibrationAndSave(Settings& s, Size imageSize, Mat& cameraMatrix, Mat& distCoeffs,vector<vector<Point2f> > imagePoints )
{
vector<Mat> rvecs, tvecs;
vector<float> reprojErrs;
double totalAvgErr = 0;
bool ok = runCalibration(s,imageSize, cameraMatrix, distCoeffs, imagePoints, rvecs, tvecs,
reprojErrs, totalAvgErr);
cout << (ok ? "Calibration succeeded" : "Calibration failed")
<< ". avg re projection error = " << totalAvgErr ;
return ok;
}
我正在使用Visual C ++和Opencv 2.4.9。请帮助我解决问题。这是我第一次在SO中提出任何问题,如果我在提出问题时犯了任何错误,请告诉我。预先感谢您的帮助。
我发现要解决此问题的唯一方法是下载OpenCV源代码,然后使用CMAKE和Visual Studio 2010对其进行构建。现在,使用cmake构建的库消除所有这些问题。还存在与“ imread”和“ imshow”相关的问题;从CMAKE构建openCV库时,这些问题也不会出现。有关如何从CMAKE构建库的信息,请检查此链接http://docs.opencv.org/doc/tutorials/introduction/windows_install/windows_install.html,希望对您有所帮助。
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