%实现.m文件自动化双目标定
% Auto-generated by stereoCalibrator app on 10-Jul-2019
%-------------------------------------------------------
%function stereoParams = tereoCameraCalibrator01(file_path01,file_path02)
h=waitbar(0,'计算中，请稍候！');%增加进度条
file_path01 = 'left\';% 图像文件夹路径
file_path02 = 'right\';% 图像文件夹路径
img_path_list01 = dir(strcat(file_path01,'*.png'));%获取该文件夹中所有.PNG格式的图像
img_num01 = length(img_path_list01);%获取图像总数
imageFileNames1 = cell(1,img_num01);
if img_num01 > 0 %有满足条件的图像
for pn = 1:img_num01 %逐一读取图像
image_name = img_path_list01(pn).name;% 图像名
%img_origin = imread(strcat(file_path01,image_name));%读取图像
imageFileNames1(1,pn) ={ strcat(file_path01,image_name)};
%fprintf('%d %s\n',pn,strcat(file_path01,image_name));% 显示正在处理的图像名
%%此处添加具体的图像处理程序
end
end
img_path_list02 = dir(strcat(file_path02,'*.png'));%获取该文件夹中所有.PNG格式的图像
img_num02 = length(img_path_list02);%获取图像总数
imageFileNames2 = cell(1,img_num02);
if img_num02 > 0 %有满足条件的图像
for pn = 1:img_num02 %逐一读取图像
image_name = img_path_list02(pn).name;% 图像名
%img_origin = imread(strcat(file_path01,image_name));%读取图像
imageFileNames2(1,pn) ={ strcat(file_path02,image_name)};
%fprintf('%d %s\n',pn,strcat(file_path01,image_name));% 显示正在处理的图像名
%%此处添加具体的图像处理程序
end
end
waitbar(0.1);
% Detect checkerboards in images
[imagePoints, boardSize, imagesUsed] = detectCheckerboardPoints(imageFileNames1, imageFileNames2);
waitbar(0.2);
% Generate world coordinates of the checkerboard keypoints
squareSize = 24; % in units of 'millimeters'
worldPoints = generateCheckerboardPoints(boardSize, squareSize);
waitbar(0.3);
% Read one of the images from the first stereo pair
I1 = imread(imageFileNames1{1});
[mrows, ncols, ~] = size(I1);
waitbar(0.4);
% Calibrate the camera
[stereoParams, pairsUsed, estimationErrors] = estimateCameraParameters(imagePoints, worldPoints, ...
'EstimateSkew', false, 'EstimateTangentialDistortion', true, ...
'NumRadialDistortionCoefficients', 3, 'WorldUnits', 'millimeters', ...
'InitialIntrinsicMatrix', [], 'InitialRadialDistortion', [], ...
'ImageSize', [mrows, ncols]);
waitbar(0.8);
% View reprojection errors
h1=figure; showReprojectionErrors(stereoParams);
% Visualize pattern locations
h2=figure; showExtrinsics(stereoParams, 'CameraCentric');
waitbar(0.9);
% Display parameter estimation errors
%displayErrors(estimationErrors, stereoParams);
% You can use the calibration data to rectify stereo images.
%I2 = imread(imageFileNames2{1});
%[J1, J2] = rectifyStereoImages(I1, I2, stereoParams);
% See additional examples of how to use the calibration data. At the prompt type:
% showdemo('StereoCalibrationAndSceneReconstructionExample')
% showdemo('DepthEstimationFromStereoVideoExample')
fid=fopen('CameraParameter.txt','wt');
fprintf(fid,'stereoParams.RotationOfCamera2:\n');
fprintf(fid,'%f %f %f \n',stereoParams.RotationOfCamera2);
fprintf(fid,'stereoParams.TranslationOfCamera2:\n');
fprintf(fid,'%f %f %f\n',stereoParams.TranslationOfCamera2);
fprintf(fid,'stereoParams.CameraParameters1.IntrinsicMatrix:\n');
fprintf(fid,'%f %f %f\n',stereoParams.CameraParameters1.IntrinsicMatrix);
fprintf(fid,'stereoParams.CameraParameters2.IntrinsicMatrix:\n');
fprintf(fid,'%f %f %f\n',stereoParams.CameraParameters2.IntrinsicMatrix);
fclose(fid);
close(h);
%mcc -mv tereoCameraCalibrator01.m