#include <opencv2\>
#include <fstream>
#include <iostream>
#include <vector>
using namespace std;
using namespace cv;
int main()
{
//Read all images
vector<Mat> imgs;
string imageName;
ifstream fin("");// Text stream reads txt text
while (getline(fin, imageName))//Read each line of data in the text, that is, the name of each image, and store the imageName as a string;
{
Mat img = imread(imageName);
imgs.push_back(img);
}
Size board_size = Size(9, 6); //The number of corner points (height, width) and rows of rows should be different to determine the direction of the checkerboard.
vector<vector<Point2f>> imgsPoints;
for (int i = 0; i < imgs.size(); i++)
{
Mat img1 = imgs[i];
Mat gray1;
cvtColor(img1, gray1, COLOR_BGR2GRAY);
vector<Point2f> img1_points;
findChessboardCorners(gray1, board_size, img1_points); //Calculate the corner points of the grid calibration plate
find4QuadCornerSubpix(gray1, img1_points, Size(5, 5)); //Refine the coordinates of the corner points of the square calibrating plate
bool pattern = true;
drawChessboardCorners(img1, board_size, img1_points, pattern);
imshow("img1", img1);
waitKey(0);
imgsPoints.push_back(img1_points);
}
// Generate the three-dimensional coordinates of each inner corner point of the checkerboard grid
Size squareSize = Size(10, 10); //The real size of each square of the checkerboard grid
vector<vector<Point3f>> objectPoints;
for (int i = 0; i < imgsPoints.size(); i++)//The two-dimensional coordinate points under the pixel coordinate system of N pictures
{
vector<Point3f> tempPointSet;
for (int j = 0; j < board_size.height; j++)
{
for (int k = 0; k < board_size.width; k++)
{
Point3f realPoint;
// Assuming that the calibration plate is the z-plane of the world coordinate system, that is, z=0
realPoint.x = j * squareSize.width;
realPoint.y = k * squareSize.height;
realPoint.z = 0;
tempPointSet.push_back(realPoint);
}
}
objectPoints.push_back(tempPointSet);
}
///* Initialize the number of corner points in each image, assuming that a complete calibration board can be seen in each image */
//vector<int> point_number;
//for (int i = 0; i<(); i++)
//{
// point_number.push_back(board_size.width*board_size.height);
//}
//Image size
Size imageSize;
imageSize.width = imgs[0].cols;
imageSize.height = imgs[0].rows;
Mat cameraMatrix = Mat(3, 3, CV_32FC1, Scalar::all(0)); //Camera parameter matrix
Mat distCoeffs = Mat(1, 5, CV_32FC1, Scalar::all(0)); //The 5 distortion coefficients of the camera: k1, k2, p1, p2, k3
vector<Mat> rvecs; //The rotation vector of each image
vector<Mat> tvecs; //Plant amount of each image
calibrateCamera(objectPoints, imgsPoints, imageSize, cameraMatrix, distCoeffs, rvecs, tvecs, 0);
cout << "Camera's internal parameter matrix=" << endl << cameraMatrix << endl;
cout << "Camera Distortion Coefficient" << distCoeffs << endl;
waitKey(0);
return 0;
}
