Opencv2.0 单目相机标定，畸变矫正

步骤：

（1）制作棋盘格，打印Opencv自带的9*7的棋盘格到A4纸上。棋盘格方格大小为27*27mm。
（2）对准相机晃动棋盘格。得到多张图像。注意棋盘格角度不要过大，出图像边界。距离相机近点。
（3）使用得到的图像，比如10张，一般大于5张。使用Opencv2.0的程序进行相机标定。获取内参和畸变系数矩阵。（程序见下方）
（4）使用内参和畸变系数矩阵进行图像矫正。



#include "stdafx.h"
#include
#include
#include
#include
#include

using namespace cv;
using namespace std;

//#define CALIB //打开此宏则为标定，否则为矫正

int main(int argc,char *argv[])
{

#ifdef CALIB
    int numBoards = 10; // 图像个数
    int board_w = 8;   // 棋盘格X方向格子个数-1
    int board_h = 6;   // 棋盘格Y方向格子个数-1

    Size board_sz = Size(board_w, board_h);
    int board_n = board_w*board_h;

    vector > objectPoints;
    vector > imagePoints;
    vector corners;
    
    Mat img, gray;
    int success = 0;
    int k = 0;
    bool found = false;

    Size sz;

    
    vector obj;
    for (int j=0; j
    {
        obj.push_back(Point3f(j/board_w*27, (j%board_w)*27, 0.0f));
    }

    //读入一个文件夹下图像
    char *path = "Imgs\\";
    int count = 0;
    char numidx[10] = {0};
    char filename[20] = {0};


    for (count=0; count
    {

        memset(numidx,0,10);
        itoa(count+1,numidx,10);

        memset(filename,0,20);
        strcat(filename,path);
        strcat(filename,numidx);
        strcat(filename,".jpg");

        img  = imread(filename);

        sz = Size(img.cols,img.rows);

        if (img.empty())
        {
            continue;
        }

        cvtColor(img, gray, CV_BGR2GRAY);
        
        found = findChessboardCorners(gray, board_sz, corners,
            CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS);
        // returns bool if found or not

        if (found)
        {
            imagePoints.push_back(corners);
            objectPoints.push_back(obj);
            printf ("Corners stored\n");
            success++;
        }

        
        cornerSubPix(gray, corners, Size(11, 11), Size(-1, -1),
            TermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 30, 0.1));
        drawChessboardCorners(img, board_sz, corners, found);
        imshow("corners", img);
        waitKey(200);

        img.release();
    }
    

    Mat CM = Mat(3, 3, CV_32FC1);
    Mat D;
    vector rvecs, tvecs;

    CM.at(0, 0) = 1;
    CM.at(1, 1) = 1;

    
    calibrateCamera(objectPoints, imagePoints, sz, CM, D, rvecs, tvecs);

    //保存结果
    FileStorage fs1("mycalib.yml", FileStorage::WRITE);
    fs1 << "CM" << CM;
    fs1 << "D" << D;

    fs1.release();
#else
    //读入图像
    char *filename = "Imgs\\1.jpg";
    Mat Img = imread(filename);
    Mat ImgUndistort = Img.clone();
    Mat CM = Mat(3, 3, CV_32FC1);
    Mat D;


    //导入相机内参和畸变系数矩阵
    FileStorage fs2("mycalib.yml",FileStorage::READ);
    fs2["CM"]>>CM;
    fs2["D"]>>D;
    fs2.release();

    //矫正
    undistort(Img,ImgUndistort,CM,D);

    imshow("img",Img);
    imshow("undistort",ImgUndistort);

    waitKey(0);

    Img.release();
    ImgUndistort.release();
#endif
}