相机标定

相机标定&读取摄像头

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（因为用到的摄像头是红外线摄像头（监控摄像头），有必要了解其原理）从光谱来讲，和普通摄像头感可见光原理类似。红外摄像头工作原理是红外灯发出红外线照射物体，红外线漫反射，被监控摄像头接收，形成视频图像。

calibrate.h()

``` class CameraCalibrator { vector> objectPoints; vector> imagePoints;

	Mat cameraMatrix;
	Mat distCoeffs;
	
	int flag;
	
	Mat map1, map2;
	bool mustInitUndistort;

	public:
		CameraCalibrator() : flag(0), mustInitUndistort(true) {};
	
		int addChessboardPoints(const std::vector<std::string>& filelist, cv::Size & boardSize);
			// Add scene points and corresponding image points
		void addPoints(const std::vector<cv::Point2f>& imageCorners, const std::vector<cv::Point3f>& objectCorners);
			// Calibrate the camera
		double calibrate(cv::Size &imageSize);
			// Set the calibration flag
		void setCalibrationFlag(bool radial8CoeffEnabled = false, bool tangentialParamEnabled = false);
			// Remove distortion in an image (after calibration)
		cv::Mat CameraCalibrator::remap(const cv::Mat &image);
	
		// Getters
		cv::Mat getCameraMatrix() { return cameraMatrix; }
		cv::Mat getDistCoeffs() { return distCoeffs; }
};

</details>

<details>
<summary><mark><font color=red>CameraCalibrator.cpp</font></mark></summary>

		#include "CameraCalibrator.h"
		using namespace cv;
		cv::Mat CameraCalibrator::remap(const cv::Mat &image) {
	
		cv::Mat undistorted;
	
		if (mustInitUndistort) { // called once per calibration
	
			cv::initUndistortRectifyMap(
				cameraMatrix,  // computed camera matrix
				distCoeffs,    // computed distortion matrix
				cv::Mat(),     // optional rectification (none) 
				cv::Mat(),     // camera matrix to generate undistorted
				cv::Size(720, 540),
				//            image.size(),  // size of undistorted
				CV_32FC1,      // type of output map
				map1, map2);   // the x and y mapping functions
	
			mustInitUndistort = false;
		}
	
		// Apply mapping functions
		cv::remap(image, undistorted, map1, map2,
			cv::INTER_LINEAR); // interpolation type
	
		return undistorted;
	}

</details>