main.cpp

#include <opencv2/opencv.hpp>
#include <vector>
#include <iostream>
#include <filesystem> // C++17 标准需开启

using namespace cv;
using namespace std;
namespace fs = std::filesystem;

// 配置参数
const Size chessboardSize(9, 6);       // 棋盘格内角点数量（列数-1, 行数-1）
const float squareSize = 2.5f;         // 棋盘格实际尺寸（单位：厘米）
const string savePath = "./calib_images/"; // 标定图像保存路径
const int requiredImages = 15;         // 需要采集的有效图像数量
const int captureInterval = 1000;      // 自动拍摄间隔（毫秒）

// 生成标定板三维坐标
vector<Point3f> generateObjectPoints() {
    vector<Point3f> objp;
    for (int i = 0; i < chessboardSize.height; i++) {
        for (int j = 0; j < chessboardSize.width; j++) {
            objp.push_back(Point3f(j * squareSize, i * squareSize, 0));
        }
    }
    return objp;
}

// 实时拍摄标定图像
int captureCalibrationImages() {
    // 创建保存目录
    if (!fs::exists(savePath)) fs::create_directory(savePath);

    VideoCapture cap(0);
    if (!cap.isOpened()) {
        cerr << "无法打开摄像头！" << endl;
        return -1;
    }

    Mat frame;
    int savedCount = 0;
    auto lastCaptureTime = chrono::steady_clock::now();

    cout << "按 ESC 退出拍摄" << endl;
    cout << "请移动标定板至不同角度和距离..." << endl;

    while (savedCount < requiredImages) {
        cap >> frame;
        if (frame.empty()) break;

        Mat gray;
        cvtColor(frame, gray, COLOR_BGR2GRAY);

        vector<Point2f> corners;
        bool found = findChessboardCorners(gray, chessboardSize, corners,
                                           CALIB_CB_ADAPTIVE_THRESH + CALIB_CB_NORMALIZE_IMAGE);

        // 绘制检测状态
        string status = "找到棋盘格: " + string(found ? "是" : "否");
        putText(frame, status, Point(10,30), FONT_HERSHEY_SIMPLEX, 0.7,
                found ? Scalar(0,255,0) : Scalar(0,0,255), 2);

        // 自动保存有效图像
        auto now = chrono::steady_clock::now();
        if (found && chrono::duration_cast<chrono::milliseconds>
                             (now - lastCaptureTime).count() > captureInterval) {

            string filename = savePath + "calib_" + to_string(savedCount) + ".jpg";
            imwrite(filename, frame);
            savedCount++;
            lastCaptureTime = now;
            cout << "已保存图像: " << savedCount << "/" << requiredImages << endl;
        }

        // 显示剩余拍摄数量
        string counter = "剩余拍摄: " + to_string(requiredImages - savedCount);
        putText(frame, counter, Point(10,70), FONT_HERSHEY_SIMPLEX, 0.7, Scalar(255,255,0), 2);
        imshow("实时标定拍摄", frame);

        if (waitKey(30) == 27) break; // ESC退出
    }
    destroyAllWindows();
    return savedCount;
}

// 执行标定并保存参数
bool calibrateAndSave() {
    vector<vector<Point3f>> objectPoints;
    vector<vector<Point2f>> imagePoints;
    auto objp = generateObjectPoints();

    vector<String> images;
    glob(savePath + "*.jpg", images);
    if (images.empty()) {
        cerr << "未找到标定图像！" << endl;
        return false;
    }

    Size imageSize;
    for (const auto& imgPath : images) {
        Mat img = imread(imgPath);
        imageSize = img.size();

        Mat gray;
        cvtColor(img, gray, COLOR_BGR2GRAY);

        vector<Point2f> corners;
        bool found = findChessboardCorners(gray, chessboardSize, corners);
        if (found) {
            cornerSubPix(gray, corners, Size(11,11), Size(-1,-1),
                         TermCriteria(TermCriteria::EPS + TermCriteria::COUNT, 30, 0.1));
            imagePoints.push_back(corners);
            objectPoints.push_back(objp);
        }
    }

    if (imagePoints.size() < 5) {
        cerr << "有效图像不足，至少需要5张！" << endl;
        return false;
    }

    Mat cameraMatrix, distCoeffs;
    vector<Mat> rvecs, tvecs;
    double rms = calibrateCamera(objectPoints, imagePoints, imageSize,
                                 cameraMatrix, distCoeffs, rvecs, tvecs);

    cout << "标定完成，重投影误差: " << rms << endl;

    FileStorage fs("camera_calib.yml", FileStorage::WRITE);
    fs << "camera_matrix" << cameraMatrix;
    fs << "distortion_coefficients" << distCoeffs;
    fs.release();

    return true;
}

int main() {
    int captured = captureCalibrationImages();
    if (captured >= 5) { // 至少需要5张有效图像
        if (calibrateAndSave()) {
            cout << "标定参数已保存至 camera_calib.yml" << endl;
            // 实时测试校正效果
            VideoCapture cap(0);
            Mat frame, undistorted;
            FileStorage fs("camera_calib.yml", FileStorage::READ);
            Mat cameraMatrix, distCoeffs;
            fs["camera_matrix"] >> cameraMatrix;
            fs["distortion_coefficients"] >> distCoeffs;
            fs.release();

            while (cap.read(frame)) {
                undistort(frame, undistorted, cameraMatrix, distCoeffs);
                hconcat(frame, undistorted, frame);
                imshow("校正前 vs 校正后", frame);
                if (waitKey(10) == 27) break;
            }
        }
    } else {
        cerr << "标定失败：采集的有效图像不足！" << endl;
    }
    return 0;
}