相机标定软件编写（vs+opencv+qt designer）

联系方式：QQ：936874728
标定板：棋盘格标定板
标定算法：张正友标定法
模块：登录界面模块、时间显示模块、相机标定模块
闲话不多说，上代码。
ui界面：

登陆界面模块：

void login::on_clicked() //自定义函数
{
	if (ui.UserlineEdit->text() == tr("1") && ui.PassWordlineEdit->text() == tr("1")) //用户密码
	{
		accept();
	}
	else
	{
		QMessageBox::warning(this, tr("warning!"), tr("username or password is wrong"),QMessageBox::Yes); //错误提示
		}
}

时间显示模块

//显示实时系统时间的函数定义*******************************
void camcali::timerUpdate(void)

{
	//获取实时时间
	QDateTime time = QDateTime::currentDateTime();
	//设置显示的时间日期的格式
	QString str = time.toString("yyyy-MM-dd hh:mm:ss dddd");
	//显示在label标签上
	ui.label->setText(str);
}

读取文件模块

/*读取图片和保存数据的路径获取与规划*/
	/************************************/

	ifstream inImgPath("cali.txt");//ifstream读操作（输入）标定所用图像文件的路径
	vector<string> imgList;	//vrter<string>是一种数据类型，字符串
	vector<string>::iterator p;	//迭代器是一种允许程序员检查容器内元素，并实现元素遍历的数据类型，::是域操作符
	string temp;
	if (!inImgPath.is_open())//!是非的意思，真的变成假的，假的变成真的
	{
		cout << "没有找到文件" << endl;	//输出字符串“没有没有找到文件”和换行符到屏幕。cout是标准库iostream中定义好的对象，cout 是std的一个成员函数
		ui.textEdit_shuchu->append("没有找到文件");
	}
	//读取文件中保存的图片文件路径，并存放在数组中
	while (getline(inImgPath, temp))//getline()是从输入流中读取一行字符，读到终止符时会将'0'存入结果缓冲区中，作为输入的终止。
	{
		imgList.push_back(temp);//push_back()函数将一个新的元素加到vector的最后面，位置为当前最后一个元素的下一个元素
	}
	ofstream fout("caliberation_result.txt");//ofstream写操作（输出）保存标定结果的文件，fout()向文件中进行写操作 

角点提取模块

/*标定图片上的角点提取，即提取标定用特征点*/
	/******************************************/
	//读取每一幅图像，从中提取出角点，然后对角点进行亚像素精确化	
	cout << "开始提取角点......" << endl;//输入的图像，必须是8位的灰度或彩色图像
	//打印到软件界面的程序输出区（QTextEdit）
	ui.textEdit_shuchu->append("开始提取角点......");
	ui.textEdit_shuchu->append("遍历每一幅图片......");
	//cout.flush();//可以实答现立刻的输出
	cv::Size image_size;	//保存图片的大小
	int x = ui.lineEdit_x->text().toInt();
	int y = ui.lineEdit_y->text().toInt();
	int Length = ui.lineEdit_Length->text().toInt();
	//int x = 8;
	//int y = 11;
	cv::Size pattern_size = cv::Size(x, y);//标定板上每行、每列的角点数；测试图片中的标定板上内角点数为4*6
	vector<cv::Point2f>corner_points_buf;//建一个数组缓存检测到的角点，通常采用Point2f形式,缓存每幅图像上检测到的角点
	vector<cv::Point2f>::iterator corner_points_buf_ptr;
	vector<vector<cv::Point2f>>corner_points_of_all_imgs;//corner输出角点坐标，通常用cv::Point2f向量来保存，保存检测到的所有角点
	int image_num = 0;//定义整型变量，赋初值
	string filename;//定义字符串变量
	while (image_num < imgList.size())
	{
		filename = imgList[image_num++];//读取文件
		//string str1 = "image_num = ";
		//char* name;
		//sprintf(name, "%d", image_num);
		//string str2 = name;
		////string str = str1 + str2 + ".jpg";
		//QString qstr;
		//qstr = QString::fromStdString(str2);
		cout << "image_num = " << image_num << endl;// 用于观察检验输出
/*		ui.textEdit_shuchu->append(qstr);	*/										/* 输出检验*/
		cout << filename.c_str() << endl;

		//String转QString**
		QString qstr;
		qstr = QString::fromStdString(filename.c_str());
		ui.textEdit_shuchu->append(qstr);

		/*ui.textEdit_shuchu->setText("filename.c_str()");*/
		cv::Mat imageInput = cv::imread(filename.c_str());
		if (image_num == 1)	//读入第一张图片时获取图像宽高信息
		{
			image_size.width = imageInput.cols;
			image_size.height = imageInput.rows;
			cout << "image_size.width = " << image_size.width << endl;
			cout << "image_size.height = " << image_size.height << endl;
		}
		if (findChessboardCorners(imageInput, pattern_size, corner_points_buf) == 0)	//寻找图片中的角点
		{
			cout << "can not find chessboard corners!\n";//找不到角点
			ui.textEdit_shuchu->append("can not find chessboard corners!");
			exit(1);//非正常运行导致退出程序
		}
		else
		{
			cv::Mat gray;
			/*转换为灰度图像*/
			cv::cvtColor(imageInput, gray, CV_RGB2GRAY);
			/* 亚像素精确化 */
			cv::find4QuadCornerSubpix(gray, corner_points_buf, cv::Size(Length, Length));	//find4QuadCornerSubpix()函数实现亚像素角点检测,对粗提取的角点进行精确化
			corner_points_of_all_imgs.push_back(corner_points_buf);	//保存亚像素角点
																	/* 在图像上显示角点位置 */
			cv::drawChessboardCorners(gray, pattern_size, corner_points_buf, true);		//在图片上画出检测到的角点。
			cv::imshow("camera calibration", gray);	//显示图片
			cv::waitKey(100);//暂停0.1S	
		}
	}
	int total = corner_points_of_all_imgs.size();
	cout << "total=" << total << endl;
	int cornerNum = pattern_size.width * pattern_size.height;//每张图片上的总的角点数
	for (int i = 0; i < total; i++)
	{
		cout << "-->第" << i + 1 << "幅图片的数据 -->:" << endl;
		for (int j = 0; j < cornerNum; j++)
		{
			//输出所有的角点
			cout << "-->" << corner_points_of_all_imgs[i][j].x;
			cout << "-->" << corner_points_of_all_imgs[i][j].y;
			if ((j + 1) % 3 == 0)
			{
				cout << endl;
			}
			else
			{
				cout.width(10);
			}
		}
		cout << endl;
	}

	cout << endl << "角点提取完成" << endl;
	ui.textEdit_shuchu->append("角点提取完成");

相机标定模块

/*摄像机标定*/
	/****************************/

	cout << "开始摄像机标定………………" << endl;
	ui.textEdit_shuchu->append("开始摄像机标定......");
	/*为标定参数分配内存*/
	cv::Mat cameraMatrix = cv::Mat(3, 3, CV_32FC1, cv::Scalar::all(0));//内外参矩阵，H--单应性矩阵
	cv::Mat distCoefficients = cv::Mat(1, 5, CV_32FC1, cv::Scalar::all(0));//摄像机的5个畸变系数：k1,k2,p1,p2,k3

	vector<cv::Mat>tvecsMat;//每幅图像的平移向量，t
	vector<cv::Mat>rvecsMat;//每幅图像的旋转向量（罗德里格旋转向量）
	vector<vector<cv::Point3f>> objectPoints;//保存所有图片的角点的三维坐标，初始化每一张图片中标定板上角点的三维坐标

	int i, j, k;
	for (k = 0; k < image_num; k++)//遍历每一张图片
	{
		vector<cv::Point3f> tempCornerPoints;//每一幅图片对应的角点数组
											 //遍历所有的角点
		for (i = 0; i < pattern_size.height; i++)
		{
			for (j = 0; j < pattern_size.width; j++)
			{
				cv::Point3f singleRealPoint;//一个角点的坐标
				singleRealPoint.x = i * 10;
				singleRealPoint.y = j * 10;
				singleRealPoint.z = 0;//假设z=0
				tempCornerPoints.push_back(singleRealPoint);
			}
		}
		objectPoints.push_back(tempCornerPoints);
	}

	cv::calibrateCamera(objectPoints, corner_points_of_all_imgs, image_size, cameraMatrix, distCoefficients, rvecsMat, tvecsMat, 0);
	cout << "标定完成" << endl;
	ui.textEdit_shuchu->append("标定完成");

保存标定结果

/*开始保存标定结果*/
	/***********************************/
	cout << "开始保存标定结果" << endl;
	ui.textEdit_shuchu->append("开始保存标定结果");
	//相机内外参数
	cout << endl << "相机相关参数：" << endl;
	fout << "相机相关参数：" << endl;
	cout << "1.内外参矩阵：" << endl;
	fout << "1.内外参矩阵：" << endl;
	cout << "大小：" << cameraMatrix.size() << endl;
	fout << "大小：" << cameraMatrix.size() << endl;
	cout << cameraMatrix << endl;
	fout << cameraMatrix << endl;

	//相机畸变系数
	cout << "2.畸变系数：" << endl;
	fout << "2.畸变系数：" << endl;
	cout << "大小：" << distCoefficients.size() << endl;
	fout << "大小：" << distCoefficients.size() << endl;
	cout << distCoefficients << endl;
	fout << distCoefficients << endl;

	//图像相关参数
	cout << endl << "图像相关参数：" << endl;
	fout << endl << "图像相关参数：" << endl;
	cv::Mat rotation_Matrix = cv::Mat(3, 3, CV_32FC1, cv::Scalar::all(0));//旋转矩阵
	for (i = 0; i < image_num; i++)
	{
		//旋转矩阵
		cout << "第" << i + 1 << "幅图像的旋转向量：" << endl;
		fout << "第" << i + 1 << "幅图像的旋转向量：" << endl;
		cout << rvecsMat[i] << endl;
		fout << rvecsMat[i] << endl;
		cout << "第" << i + 1 << "幅图像的旋转矩阵：" << endl;
		fout << "第" << i + 1 << "幅图像的旋转矩阵：" << endl;
		cv::Rodrigues(rvecsMat[i], rotation_Matrix);//将旋转向量转换位相对应的旋转矩阵
													//平移向量
		cout << rotation_Matrix << endl;
		fout << rotation_Matrix << endl;
		cout << "第" << i + 1 << "幅图像的平移向量：" << endl;
		fout << "第" << i + 1 << "幅图像的平移向量：" << endl;
		cout << tvecsMat[i] << endl;
		fout << tvecsMat[i] << endl;
	}

	cout << "结果保存完毕" << endl;
	ui.textEdit_shuchu->append("结果保存完毕");

结果评价模块

/*对标定结果进行评价*/
	/*************************************/

	cout << "开始评价标定结果…………" << endl;
	ui.textEdit_shuchu->append("开始评价标定结果......");

	//计算每幅图像中的角点数量，假设全部角点都检测到了
	int corner_points_counts;
	/*角点总数*/
	corner_points_counts = pattern_size.width * pattern_size.height;

	cout << "每幅图像的标定误差：" << endl;
	fout << "每幅图像的标定误差：" << endl;
	double err = 0;//单张图像的误差
	double total_err = 0;//所有图像的平均误差
	for (i = 0; i < image_num; i++)
	{
		vector<cv::Point2f> image_points_calculated;//存放新的计算出得投影点的坐标
		vector<cv::Point3f> tempPointSet = objectPoints[i];
		/*通过得到的摄像机内外参数，对空间的三维点进行重新投影计算，得到新的投影点*/
		cv::projectPoints(tempPointSet, rvecsMat[i], tvecsMat[i], cameraMatrix, distCoefficients, image_points_calculated);
		/*计算新的投影点与旧的投影点之间的误差*/
		vector<cv::Point2f> image_points_old = corner_points_of_all_imgs[i];
		/*将两组数据换成Mat格式*/
		cv::Mat image_points_calculated_mat = cv::Mat(1, image_points_calculated.size(), CV_32FC2);
		cv::Mat image_points_old_mat = cv::Mat(1, image_points_old.size(), CV_32FC2);
		for (j = 0; j < tempPointSet.size(); j++)
		{
			image_points_calculated_mat.at<cv::Vec2f>(0, j) = cv::Vec2f(image_points_calculated[j].x, image_points_calculated[j].y);
			image_points_old_mat.at<cv::Vec2f>(0, j) = cv::Vec2f(image_points_old[j].x, image_points_old[j].y);
		}
		err = cv::norm(image_points_calculated_mat, image_points_old_mat, cv::NORM_L2);
		err /= corner_points_counts;
		total_err += err;
		cout << "第" << i + 1 << "幅图像的平均误差：" << err << "像素" << endl;
		fout << "第" << i + 1 << "幅图像的平均误差：" << err << "像素" << endl;
	}
	cout << "总体平均误差：" << total_err / image_num << "像素" << endl;
	fout << "总体平均误差：" << total_err / image_num << "像素" << endl;
	cout << "评价完成" << endl;
	ui.textEdit_shuchu->append("评价完成");

	fout.close();

矫正图像模块

	/*矫正图像*/
	/*******************************************/
	cv::Mat mapx = cv::Mat(image_size, CV_32FC1);
	cv::Mat mapy = cv::Mat(image_size, CV_32FC1);
	cv::Mat R = cv::Mat::eye(3, 3, CV_32F);
	cout << "保存矫正图像" << endl;
	ui.textEdit_shuchu->append("保存矫正图像");
	string imageFileName;
	std::stringstream StrStm;
	for (int i = 0; i < image_num; i++)
	{
		cout << "Frame #" << i + 1 << endl;
		cv::initUndistortRectifyMap(cameraMatrix, distCoefficients, R, cameraMatrix, image_size, CV_32FC1, mapx, mapy);
		cv::Mat src_image = cv::imread(imgList[i].c_str(), 1);
		cv::Mat new_image = src_image.clone();
		cv::remap(src_image, new_image, mapx, mapy, cv::INTER_LINEAR);
		imshow("original image", src_image);
		imshow("Dedistorted image", new_image);

		StrStm.clear();
		imageFileName.clear();
		StrStm << i + 1;
		StrStm >> imageFileName;
		imageFileName += "_d.jpg";
		cv::imwrite(imageFileName, new_image);

		cv::waitKey(200);
	}
	cout << "保存结束" << endl;
	ui.textEdit_shuchu->append("保存结束");
	cv::waitKey(0);

}

参数显示模块

//显示参数按键函数定义******************************************
void camcali::on_pushButton_canshu_clicked()
{
	QString displayString;
	QFile file("caliberation_result.txt");
	if (!file.open(QIODevice::ReadOnly | QIODevice::Text))
	{
		qDebug() << "Can't open the file!" << endl;
		ui.textEdit_shuchu->append("Can't open the file!");
	}
	while (!file.atEnd())
	{
		QByteArray line = file.readLine();
		QString str(line);
		qDebug() << str;
		ui.textEdit_shuchu->append(str);
		displayString.append(str);
	}
	ui.textEdit_canshu->clear();
	ui.textEdit_canshu->setPlainText(displayString);
}