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长沙红胖子Qt#xff08;长沙创微智科#xff09;博文大全#xff1a;开发技术集合#xff08;包含Qt实用技术、树莓派、三维、OpenCV、Op…若该文为原创文章转载请注明出处 本文章博客地址https://hpzwl.blog.csdn.net/article/details/141334834
长沙红胖子Qt长沙创微智科博文大全开发技术集合包含Qt实用技术、树莓派、三维、OpenCV、OpenGL、ffmpeg、OSG、单片机、软硬结合等等持续更新中…
Qt开发专栏项目实战点击传送门 需求 1.打开摄像头可设置帧率、分辨率可设置 2.可打开usb、rtsp和本地文件直接输入地址自动判断 3.opencv摄像头操作子线程处理 4.支持设置棋盘格的行列角点数 5.支持标定过程可控制 6.采集标定图、可对标定图进行查看、删除 7.可对已有的标定图查看评价像素误差率 8.标定完成后可以追加标定继续开始基于原来的标定采集图继续标定 9.支持定制配置文件的导出和导出测试运行包不对外开放该功能 相关博客 《OpenCV开发笔记〇使用mingw530_32编译openCV3.4.1源码搭建Qt5.9.3的openCV开发环境》 《OpenCV开发笔记三OpenCV图像的概念和基本操作》 《OpenCV开发笔记四OpenCV图片和视频数据的读取与存储》 《OpenCV开发笔记五OpenCV读取与操作摄像头》 《OpenCV开发笔记六OpenCV基础数据结构、颜色转换函数和颜色空间》 《OpenCV开发笔记七十六相机标定一识别棋盘并绘制角点》 《OpenCV开发笔记七十七相机标定二通过棋盘标定计算相机内参矩阵矫正畸变摄像头图像》 DemocalibrateTool_v1.3.0 windows运行包 广角摄像头标定过程 鱼眼摄像头标定过程 动态标定过程查看、删除和评价 CSDN粉丝0积分下载https://download.csdn.net/download/qq21497936/89652658 QQ群博客首页扫码进入QQ技术群点击“文件”搜索“calibrateTool”群内与博文同步更新 模块化部署 关键源码
CalibrateManager.h
#ifndef CALIBRATEMANAGER_H
#define CALIBRATEMANAGER_H// opencv
#include opencv/highgui.h
#include opencv/cxcore.h
#include opencv2/core/core.hpp
#include opencv2/highgui/highgui.hpp
#include opencv2/opencv.hpp
#include opencv2/xphoto.hpp
#include opencv2/dnn/dnn.hpp
// opencv_contrib
#include opencv2/xphoto.hpp
#include opencv2/ximgproc.hpp
#include opencv2/calib3d.hpp
#include opencv2/features2d.hpp
#include opencv2/xfeatures2d.hpp
#include opencv2/xfeatures2d/nonfree.hpp#include cvui.h
#include calibrateCommon.h
#include QImage
#include QTimerclass CalibrateManager: public QObject
{Q_OBJECT
public:explicit CalibrateManager(QObject *parent 0);~CalibrateManager();public slots:void testOpencvEnv(); // 测试环境public:double getBrightness() const; // 亮度double getContrast() const; // 对比度double getSaturation() const; // 饱和度double getHue() const; // 色调double getGain() const; // 增益double getExposure() const; // 曝光度bool getShowProperty() const; // 显示属性int getCalibrateRegionX() const; // 区域xint getCalibrateRegionY() const; // 区域yint getCalibrateRegionWidth() const; // 区域widthint getCalibrateRegionHeight() const; // 区域heightint getChessboardColCornerCount() const;// 棋盘行角点数量int getChessboardRowCornerCount() const;// 棋盘列角点数量QString getSerialize() const; // 获取序列化参数public:void setBrightness (double value); // 亮度void setContrast (double value); // 对比度void setSaturation (double value); // 饱和度void setHue (double value); // 色调void setGain (double value); // 增益void setExposure (double value); // 曝光度void setShowProperty(bool value); // 显示属性void setCalibrateRegionX(int x); // 区域xvoid setCalibrateRegionY(int y); // 区域yvoid setCalibrateRegionWidth(int width); // 区域widthvoid setCalibrateRegionHeight(int height); // 区域heightvoid setChessboardColCornerCount(int count);// 棋盘行角点数量void setChessboardRowCornerCount(int count);// 棋盘列角点数量bool setSerialize(QString str); // 获取序列化参数signals:void signal_opened(bool result); // 打开摄像头信号void signal_closed(); // 关闭摄像头信号void signal_captureOneFrame(cv::Mat mat); // 接收图像后抛出信号void signal_captureOneFrame(QImage image); // 接收图像后抛出信号void signal_captureOneResultFrame(cv::Mat mat); // 接收图像后抛出信号void signal_captureOneResultFrame(QImage image); // 接收图像后抛出信号void signal_startedCalibrate(bool result); // 开始标定结果void signal_regionChanged(int x, int y, int width, int height);void signal_fpsChanged(int fps); // 帧率void signal_stopedCalibrate(); // 结束标定结果这是强制中断不是标定完成void signal_finishedCalibrate(); // 标定完成void signal_cameraInfo(CameraInfo cameraInfo); // 更新截图相机信息public slots:void slot_startCapture(int usb, int width 0, int height 0, int fps 0);// 打开摄像头, 0...void slot_startCapture(QString url, int width 0, int height 0, int fps 0);// 打开摄像头, 网络摄像头地址void slot_stopCapture(); // 当正在采集中时(时)关闭摄像头会导致程序崩溃所以采集与停止放一个线程中(消息循环)void slot_startCalibrate(); // 开始标定void slot_addCalibrate(); // 继续标定void slot_snapshot(); // 快照void slot_deleteSnapshot(int index); // 删除快照void slot_stopCalibrate(); // 停止标定void slot_finishCalibrate(); // 完成标定public slots:void slot_start(); // 开启线程void slot_stop(); // 关闭线程protected slots:void slot_captrueFrame(); // 消息循环获取图像protected:void initControl();void updateCalibrateResult(); // 更新标定结果void calculateCalibrateErrors(); // 计算误差protected:bool findChessboard(int rowCornerCount, int colCornerCount, cv::Mat mat, std::vectorcv::Point2f vectorPoint2fCorners);public:static QImage mat2Image(cv::Mat mat); // cv::Mat 转 QImageprivate:bool _running; // 线程是否运行private:cv::VideoCapture *_pVideoCapture; // 摄像头实例bool _showProperty; // 是否显示属性参数double _brightness; // 亮度double _contrast; // 对比度double _saturation; // 饱和度double _hue; // 色调double _gain; // 增益double _exposure; // 曝光度int _width; // 宽度int _height; // 高度int _fps; // 帧率bool _opened; // 摄像头是否打开bool _calibratingBefore; // 标定前一个变化状态bool _calibrating; // 正在标定bool _calibratFinished; // 校准完了当前最近一个已经校准int _calibrateRegionX; // 标定region区域像素起始x坐标int _calibrateRegionY; // 标定region区域像素起始y坐标int _calibrateRegionWidth; // 标定region区域像素宽度int _calibrateRegionHeight; // 标定region区域像素高度cv::Mat _mat; // 缓存一帧cv::Mat _resultMat; // 结果int _chessboardColCornerCount; // 一列多少个角点int _chessboardRowCornerCount; // 一行多少个角点std::vectorstd::vectorcv::Point3f _vectorObjectPoint; // 缓存点std::vectorstd::vectorcv::Point2f _vectorImagePoint;bool _snapshot; // 拍照private: // 计算内参和畸变系数cv::Mat _cameraMatrix; // 相机矩阵接收输出cv::Mat _distCoeffs; // 畸变系数接收输出std::vectorcv::Mat _rotate; // 旋转量接收输出std::vectorcv::Mat _translate; // 偏移量接收输出private:CameraInfo _cameraInfo;
};#endif // CALIBRATEMANAGER_H
CalibrateManager.cpp
...
void CalibrateManager::slot_captrueFrame()
{if(!_running){return;}if(_pVideoCapture-isOpened()){*_pVideoCapture _mat;if(_showProperty){cv::putText(_mat, QString(brightness: %1).arg(_brightness).toStdString(),cvPoint(0, 30), cv::FONT_HERSHEY_COMPLEX, 1.0, cv::Scalar(255));cv::putText(_mat, QString( contrast: %1).arg(_contrast ).toStdString(),cvPoint(0, 60), cv::FONT_HERSHEY_COMPLEX, 1.0, cv::Scalar(255));cv::putText(_mat, QString(saturation: %1).arg(_saturation).toStdString(),cvPoint(0, 90), cv::FONT_HERSHEY_COMPLEX, 1.0, cv::Scalar(255));cv::putText(_mat, QString( hue: %1).arg(_hue ).toStdString(),cvPoint(0, 120), cv::FONT_HERSHEY_COMPLEX, 1.0, cv::Scalar(255));cv::putText(_mat, QString( gain: %1).arg(_gain ).toStdString(),cvPoint(0, 150), cv::FONT_HERSHEY_COMPLEX, 1.0, cv::Scalar(255));cv::putText(_mat, QString( exposure: %1).arg(_exposure ).toStdString(),cvPoint(0, 180), cv::FONT_HERSHEY_COMPLEX, 1.0, cv::Scalar(255));cv::putText(_mat, QString(press ESC out).toStdString(),cvPoint(0, 210), cv::FONT_HERSHEY_COMPLEX, 1.0, cv::Scalar(255));}// 第一次进入标定if(!_calibratingBefore _calibrating){_calibrateRegionX 0;_calibrateRegionY 0;_calibrateRegionWidth _width;_calibrateRegionHeight _height;_calibratingBefore true;emit signal_regionChanged(_calibrateRegionX, _calibrateRegionY, _calibrateRegionWidth, _calibrateRegionHeight);QImage srcImage mat2Image(_mat);emit signal_captureOneResultFrame(srcImage);}else if(_calibrating){QImage srcImage mat2Image(_mat);// 获取std::vectorcv::Point2f imagePoints;if(findChessboard(_chessboardRowCornerCount,_chessboardColCornerCount,_mat,imagePoints)){// 这是拍照截图if(_snapshot){// 三维世界坐标系std::vectorcv::Point3f objectPoints;for(int i 0; i _chessboardRowCornerCount; i){for(int j 0; j _chessboardColCornerCount; j){objectPoints.push_back(cv::Point3f(j, i, 0));}}// 图像识别出来的角点一张图一组_vectorObjectPoint.push_back(objectPoints);_vectorImagePoint.push_back(imagePoints);_snapshot false;{SnapShot snapShot;snapShot.dateTime QDateTime::currentDateTime().toString(yyyy-MM-dd hh:mm:ss:zzz);snapShot.srcImage srcImage;snapShot.drawChessboardImage mat2Image(_mat);snapShot.imagePoints imagePoints;snapShot.objectPoints objectPoints;_cameraInfo.listSnapShot.append(snapShot);// 更新标定结果updateCalibrateResult();// 计算误差率calculateCalibrateErrors();// 抛出更新emit signal_cameraInfo(_cameraInfo);}}}
// if(_cameraInfo.listSnapShot.size() 0)
// {
// QImage srcImage mat2Image(_mat);
// emit signal_captureOneResultFrame(srcImage);
// }else{
// cv::undistort(_mat, _resultMat, _cameraMatrix, _distCoeffs);
// QImage image mat2Image(_resultMat);
// emit signal_captureOneResultFrame(image);
// }}else if(_calibratFinished){
// if(_cameraInfo.listSnapShot.size() 0)
// {
// QImage srcImage mat2Image(_mat);
// emit signal_captureOneResultFrame(srcImage);
// }else{
// cv::undistort(_mat, _resultMat, _cameraMatrix, _distCoeffs);
// QImage image mat2Image(_resultMat);
// emit signal_captureOneResultFrame(image);
// }}// 抛出原图QImage image mat2Image(_mat);emit signal_captureOneFrame(image);// 抛出校正图if(_cameraMatrix.empty()){emit signal_captureOneResultFrame(image);}else{LOG;cv::undistort(_mat, _resultMat, _cameraMatrix, _distCoeffs);QImage dstImage mat2Image(_resultMat);emit signal_captureOneResultFrame(dstImage);}QTimer::singleShot(5, this, SLOT(slot_captrueFrame()));}
}
...入坑 算法的研究优化过程中受到摄像头光学、标定板、标定板所占视口大小图像处理过程原本的流程优化、标定过程中动态的处理等多方面因素坑多暂时未记录。 本文章博客地址https://hpzwl.blog.csdn.net/article/details/141334834
