嗨,我正在做一个项目,做一个图像三维重建。我是校准相机的阶段,这需要很长时间才能完成。但是,当我编译代码并在相机前面显示棋盘时,它会直接处理异常错误。摄像机校准opencv
当图片不在框架中时,只要框架中没有错误,未处理的错误就会发生,我不知道为什么。
我问过很多人,没有任何身体可以帮忙。
这里是我的代码
#include <cv.h>
#include <highgui.h>
#include <vector>
#include <stdlib.h>
#include <stdio.h>
using namespace cv;
using namespace std;
int main()
{
int numBoards = 0;
int numCornersHor;
int numCornersVer;
printf("Enter number of corners along width: ");
scanf("%d", &numCornersHor);
printf("Enter number of corners along height: ");
scanf("%d", &numCornersVer);
printf("Enter number of boards: ");
scanf("%d", &numBoards);
int numSquares = numCornersHor * numCornersVer;
Size board_sz = Size(numCornersHor, numCornersVer);
VideoCapture capture = VideoCapture(0);
vector<vector<Point3d>> object_points;
vector<vector<Point2d>> image_points;
vector<Point2d> corners;
int successes=0;
Mat image;
Mat gray_image;
capture >> image;
vector<Point3d> obj;
for(int j=0;j<numSquares;j++)
obj.push_back(Point3d(j/numCornersHor, j%numCornersHor, 0.0f));
while(successes<numBoards)
{
cvtColor(image, gray_image, CV_BGR2GRAY);
bool found = findChessboardCorners(image, board_sz, corners, CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS);
if(found)
{
cornerSubPix(gray_image, corners, Size(11, 11), Size(-1, -1), TermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 30, 0.1));
drawChessboardCorners(gray_image, board_sz, corners, found);
}
imshow("win1", image);
imshow("win2", gray_image);
capture >> image;
int key = waitKey(1);
if(key==27)
return 0;
if(key==' ' && found!=0)
{
image_points.push_back(corners);
object_points.push_back(obj);
printf("Snap stored!\n");
successes++;
if(successes>=numBoards)
break;
}
}
Mat intrinsic = Mat(3, 3, CV_32FC1);
Mat distCoeffs;
vector<Mat> rvecs;
vector<Mat> tvecs;
intrinsic.ptr<float>(0)[0] = 1;
intrinsic.ptr<float>(1)[1] = 1;
calibrateCamera(object_points, image_points, image.size(), intrinsic, distCoeffs, rvecs, tvecs);
Mat imageUndistorted;
while(1)
{
capture >> image;
undistort(image, imageUndistorted, intrinsic, distCoeffs);
imshow("win1", image);
imshow("win2", imageUndistorted);
waitKey(1);
}
capture.release();
return 0;
}
我得到的控制台上的错误是
OpenCV的错误:断言失败(ncorners> = 0 & & corners.depth()== CV_32F)未知功能文件,文件..... \ SRC \ OpenCV的\模块\ imgproc的\ src \ cornersubpix.cpp,线257
和错误对话框说
basiccalibration.exe中的0x769afc16未处理的异常:Microsoft C++异常:cv ::内存位置0x0021f51c处的异常..
帮助将不胜感激。 谢谢
opencv软件包内有一个示例代码来校准摄像头,您使用的是? – 2013-02-13 21:22:49
不,我想写我自己的代码。我试过,但它有太多的错误,如未定义的函数。 – 2013-02-15 15:16:16
我正在尝试运行与您相同的代码。其实我的代码有点不一样,但是我修改了它来让一些东西接近你并尝试在这里解决我的问题。一些问题: 在你的最终版本中,你真的使用numCornersHor两次?为什么你不使用numCornersVer作为第二个参数? 当你声明它们时你是否将它们定义为float?谢谢你的帮助! – user2414816 2013-07-19 14:46:52