在C语言中使用cvCalibrateCamera2

Question

我尝试了所有可能的cvCalibrateCamera2实现，但总是遇到以下错误:

函数'cvCalibrateCamera2'参数太少。

我正在解决这里提供的方案，但总是遇到相同的错误。

系统: Ubuntu 16.04 | 编程语言：C (对我来说坚持使用C非常重要) | gcc版本: 5.4

CMakeLists.txt:

cmake_minimum_required(VERSION 2.8)
project(main)
set(CMAKE_BUILD_TYPE Debug)
find_package( OpenCV REQUIRED )
set(SOURCE_FILES main.c)

# Executable
add_executable( ${PROJECT_NAME} ${SOURCE_FILES} )
target_link_libraries( ${PROJECT_NAME} ${OpenCV_LIBS} )

add_definitions(-O4 -g)

感谢任何意见。谢谢。

参考整个代码：

#include <opencv2/core/core_c.h>
#include "opencv2/highgui/highgui_c.h"
#include "opencv2/imgproc/imgproc_c.h"
#include "opencv2/calib3d/calib3d_c.h"
#include "opencv2/videoio/videoio_c.h"
#include <stdio.h>

int main(){

    int n_boards = 0;
    int board_dt = 15;
    int board_w;
    int board_h;

    CvCapture* capture;
    board_w  = 8;//atoi(argv[1]);
    board_h  = 5;//atoi(argv[2]);
    n_boards = 8;//atoi(argv[3]);

    CvSize board_sz = cvSize( board_w, board_h );
    capture = cvCreateCameraCapture( 0 );
    if(!capture) { printf("\nCouldn't open the camera\n"); return -1;}

    cvNamedWindow( "Calibration" , CV_WINDOW_AUTOSIZE);
    IplImage *image = cvQueryFrame( capture );

    int board_n  = board_w * board_h;

    //ALLOCATE STORAGE
    CvMat* image_points      = cvCreateMat(n_boards*board_n,2,CV_32FC1);
    CvMat* object_points     = cvCreateMat(n_boards*board_n,3,CV_32FC1);
    CvMat* point_counts      = cvCreateMat(n_boards,1,CV_32SC1);
    CvMat* intrinsic_matrix  = cvCreateMat(3,3,CV_32FC1);
    CvMat* distortion_coeffs = cvCreateMat(5,1,CV_32FC1);

    CvPoint2D32f* corners = (CvPoint2D32f*) malloc(board_n);
    int corner_count;
    int successes = 0;
    int step, frame = 0;

    IplImage *gray_image = cvCreateImage(cvGetSize(image),8,1);//subpixel

    // CAPTURE CORNER VIEWS LOOP UNTIL WE'VE GOT n_boards
    // SUCCESSFUL CAPTURES (ALL CORNERS ON THE BOARD ARE FOUND)
    while (successes < n_boards) {
        //Skip every board_dt frames to allow user to move chessboard
        if((frame++ % board_dt) == 0) {
            //Find chessboard corners:
            int found = cvFindChessboardCorners(
                    image, board_sz, corners, &corner_count,
                    CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS
                    );

            //Get Subpixel accuracy on those corners
            cvCvtColor(image, gray_image, CV_BGR2GRAY);
            cvFindCornerSubPix(gray_image, corners, corner_count,
                    cvSize(11,11),cvSize(-1,-1), cvTermCriteria(
                        CV_TERMCRIT_EPS+CV_TERMCRIT_ITER, 30, 0.1 ));

            //Draw it
            cvDrawChessboardCorners(image, board_sz, corners,
                    corner_count, found);
            cvShowImage( "Calibration", image );

            if( corner_count == board_n ) {
                step = successes*board_n;
                for( int i=step, j=0; j<board_n; ++i,++j ) {
                    CV_MAT_ELEM(*image_points, float,i,0) = corners[j].x;
                    CV_MAT_ELEM(*image_points, float,i,1) = corners[j].y;
                    CV_MAT_ELEM(*object_points,float,i,0) = j/board_w;
                    CV_MAT_ELEM(*object_points,float,i,1) = j%board_w;
                    CV_MAT_ELEM(*object_points,float,i,2) = 0.0f;
                }
                CV_MAT_ELEM(*point_counts, int,successes,0) = board_n;
                successes++;
            }

        }

        //Handle pause/unpause and ESC
        int c = cvWaitKey(15);
        if (c == 'p'){
            c = 0;
            while(c != 'p' && c != 27){
                c = cvWaitKey(250);
            }
        }
        if(c == 27)
            return 0;
        image = cvQueryFrame( capture ); //Get next image

    }


    //ALLOCATE MATRICES ACCORDING TO HOW MANY CHESSBOARDS FOUND
    CvMat* object_points2 = cvCreateMat(successes*board_n,3,CV_32FC1);
    CvMat* image_points2 = cvCreateMat(successes*board_n,2,CV_32FC1);
    CvMat* point_counts2 = cvCreateMat(successes,1,CV_32SC1);

    //TRANSFER THE POINTS INTO THE CORRECT SIZE MATRICES
    for(int i = 0; i<successes*board_n; ++i) {
        CV_MAT_ELEM( *image_points2, float, i, 0) = CV_MAT_ELEM( *image_points, float, i, 0);
        CV_MAT_ELEM( *image_points2, float, i, 1) = CV_MAT_ELEM( *image_points, float, i, 1);
        CV_MAT_ELEM( *object_points2, float, i, 0) = CV_MAT_ELEM( *object_points, float, i, 0) ;
        CV_MAT_ELEM( *object_points2, float, i, 1) = CV_MAT_ELEM( *object_points, float, i, 1) ;
        CV_MAT_ELEM( *object_points2, float, i, 2) = CV_MAT_ELEM( *object_points, float, i, 2) ;
    }
    for(int i=0; i<successes; ++i){ //These are all the same number
        CV_MAT_ELEM( *point_counts2, int, i, 0) = CV_MAT_ELEM( *point_counts, int, i, 0);
    }


    // Initialize the intrinsic matrix such that the two focal
    // lengths have a ratio of 1.0
    CV_MAT_ELEM( *intrinsic_matrix, float, 0, 0 ) = 1.0f;
    CV_MAT_ELEM( *intrinsic_matrix, float, 1, 1 ) = 1.0f;

    //CALIBRATE THE CAMERA! -- **** PROBLEM LIES HERE ****
    cvCalibrateCamera2(
      object_points2, image_points2,
      point_counts2, cvGetSize( image ),
      intrinsic_matrix, distortion_coeffs,
      NULL, NULL,0);    //CV_CALIB_FIX_ASPECT_RATIO



    printf("Done!\n\n");
    return 0;



}

- arch

---

OpenCV 版本？ - Dan Mašek

Opencv 版本 3.3.0 - arch

请查看这个链接，然后查看cvCalibrateCamera2的签名。参数的默认值似乎不适用于C API（我承认我的C语言非常生疏）。因此，我建议您为最后一个CvTermCriteria参数提供一个值。 - Dan Mašek

问题已解决。非常感谢您。简直不敢相信我居然错过了那个！ - arch

没问题，把它写成回答并获得一些声望吧（可以随意使用我上面提到的链接）。 ;) - Dan Mašek

我的代码现在实现了cvCalibrateCamera2函数，如下所示： cvCalibrateCamera2(object_points2, image_points2, point_counts2, cvGetSize(image)**, intrinsic_matrix, distortion_coeffs, rot_vects, trans_vects, 0, cvTermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS, 30, DBL_EPSILON)); 我 得到 以下错误`~/opencv/modules/calib3d/src/fundam.cpp, line 1029 terminate called after throwing an instance of 'cv::Exception' what(): ~/opencv/modules/calib3d/src/fundam.cpp:1029: error: (-215) _dst.fixedType() in function convertPointsHomogeneousAborted (core dumped)`。 - arch

Answer 1

将英文句子翻译成中文：

将cvCalibrateCamera2实现为：

（保留HTML格式）

cvCalibrateCamera2(object_points2,image_points2,point_counts‌​2,cvGetSize( image), intrinsic_matrix, distortion_coeffs, rot_vects, trans_vects,0,cvTermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EP‌​S,30,DBL_EPSILON) );

修复了错误

参数过少

该文献可以在这里找到。

- arch