结构光三维重建Projector-Camera Calibration投影仪相机标定

Posted 2022-01-21 pan_jinquan

结构光三维重建-Projector-Camera Calibration投影仪相机标定

目录

结构光三维重建-Projector-Camera Calibration投影仪相机标定

1.结构光相机标定软件

2. 依赖环境

2.1 安装TIFF

2.2 安装OpenCV

(1) 源码编译

(2) 编译OpenCV常见错误

2.3 安装QT5

3. 编译标定源码：3D Scanning Software

（1）源码编译

（2）常见的错误和解决方法

4.懒人必备

5. 结构光三维重建-3D Scanning Software实现三维重建

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1.结构光相机标定软件

结构光相机标定是一件十分复杂的过程，所幸布朗大学开源了一套投影仪摄像机标定系统(Projector-Camera Calibration/3D Scanning Software) 

官方地址： Projector-Camera Calibration / 3D Scanning Software

官网提供了Window和Apple OSX编译好的标定软件，很不幸的是，版本比较老旧，仅支持Windows 7 x64，Opencv也是比较老旧的OpenCV 2.4.11,没有提供Linux版本的,你想在Ubuntu成功运行还是要采坑的。

下面手把手教你，如何在Ubuntu上，编译源码

 当然，若你不想经历填坑的痛苦，可以直接下载本人已经修改好的源码，已经包括Opencv，TIFF，scan3d-capture-src-2015等源码，直接使用即可

下载地址： https://download.csdn.net/download/guyuealian/36484460

 关于如果实现三维重建，请查看下一篇博客《结构光三维重建-3D Scanning Software实现三维重建》：https://panjinquan.blog.csdn.net/article/details/121113787

---

2. 依赖环境

库	本地使用版本	说明
Ubuntu	Ubuntu18.04	本机系统
tiff	tiff-4.3.0 (tiff-4.0.x以上亦可)	opencv编译需要TIFF
OpenCV	opencv-4.3.0 (opencv-3.2.0.x以上亦可)	3D Scanning Software需要用的OpenCV
Qt	Qt 5.5.1(Qt 5.0.x以上亦可)	3D Scanning Software的UI是使用Qt布局的

2.1 安装TIFF

下载地址：Index of /libtiff/ ，tiff-4.0.4.tar.gz (tiff-4.0.x以上亦可)

   # 解压tar -zxvf tiff-4.0.4.tar.gz
   # 进入tiff目录
   ./configure
   make
   sudo make install

2.2 安装OpenCV

(1) 源码编译

安装 OpenCV 所需要的库，在终端依次执行以下命令：

sudo apt-get update
sudo apt-get install build-essential
sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev

官网下载 OpenCV 4.3.0 的源代码（下载地址：Releases - OpenCV）并解压到 opencv4.3.0 目录，然后进入到 opencv4.3.0 的目录，执行

mkdir build
cd build

配置 OpenCV 工程文件

sudo cmake -DBUILD_TIFF=ON -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local ..

PS: 编译选项中，一定要加上-DBUILD_TIFF=ON， 因为标定系统源码需要用到TIFF，否则会出现TIFFReadDirectory@LIBTIFF_4.0’未定义的引用的错误

如果执行命令时出现下载 ippicv 失败，可以参考文章解决：ubuntu编译安装opencv3.3+python3

编译安装

sudo make install

编译OpenCV，加上-DBUILD_TIFF=ON选项后，可能会出现以下各种错误

(2) 编译OpenCV常见错误

1.error: ‘O_RDONLY’ undeclared

/home/dm/app/opencv-4.3.0/3rdparty/libtiff/tif_close.c: In function ‘TIFFCleanup’:
/home/dm/app/opencv-4.3.0/3rdparty/libtiff/tif_close.c:50:23: error: ‘O_RDONLY’ undeclared (first use in this function)
  if (tif->tif_mode != O_RDONLY)

 解决方法：在opencv-4.3.0/3rdparty/libtiff/tiff.h头文件添加头文件#include <fcntl.h>

....
#ifndef _TIFF_
#define	_TIFF_

#include "tiffconf.h"
#include <fcntl.h>
....

PS：如果还有类似的错误，请在发生错误的该源码文件中加入头文件#include <fcntl.h>

2.error: conflicting declaration of ‘int _TIFF_snprintf_f

In file included from /home/dm/app/opencv-4.3.0/3rdparty/libtiff/tif_stream.cxx:28:0:
/home/dm/app/opencv-4.3.0/3rdparty/libtiff/tiffiop.h:60:18: error: conflicting declaration of ‘int _TIFF_snprintf_f(char*, size_t, const char*, ...)’ with ‘C’ linkage
 #define snprintf _TIFF_snprintf_f

 解决方法：声明存在冲突，应该Linux已经存在了，所以可以注释opencv-4.3.0/3rdparty/libtiff/tiffiop.h源码的下面两行：

//#define snprintf _TIFF_snprintf_f
//extern int snprintf(char* str, size_t size, const char* format, ...);

3.error: ‘strchr’ was not declared in this scope

/home/dm/app/opencv-4.3.0/3rdparty/libtiff/tif_stream.cxx:361:6: error: ‘strchr’ was not declared in this scope
  if( strchr(mode, 'w') )
      ^~~~~~
/home/dm/app/opencv-4.3.0/3rdparty/libtiff/tif_stream.cxx:361:6: note: suggested alternative: ‘strtoq’
  if( strchr(mode, 'w') )

 解决方法：在发生错误的该源码文件中opencv-4.3.0/3rdparty/libtiff/tif_stream.cxx加入头文件 #include <string.h>

2.3 安装QT5

官网下载：https://download.qt.io/archive/qt/
清华镜像：https://mirrors.tuna.tsinghua.edu.cn/qt/official_releases/qt/
下载qt-opensource-linux-x64-5.12.4.run (Qt 5.0.x以上亦可)

对于Linux系统，Qt官方的安装包总是假定C++编译器compiler、调试器debugger、生成器make以及其他开发工具 由该操作系统自己提供，另外构建Qt图形界面程序还需要OpenGL库文件（扩展名为 .a 和 .so）和头文件（扩展名为 .h）， OpenGL的开发库也是需要操作系统自己提供。所以在安装Qt官方run文件之前，必须先安装好Linux系统自己软件源里面 的GNU开发工具集和OpenGL开发库。下面针对三类 Linux 操作系统安装相应的GNU开发工具集和OpenGL开发库， 请注意安装软件都需要root权限，并且要联网安装。

sudo apt-get install build-essential libgl1-mesa-dev

给QT安装文件可执行权限：

chmod +x qt-opensource-linux-x64-5.12.4.run

安装

./qt-opensource-linux-x64-5.12.4.run

QT安装教程，可参考：https://blog.csdn.net/a435262767/article/details/99317188 

安装后，终端输入qmake,会出现下截图，表示QT已经安装成功：

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3. 编译标定源码：3D Scanning Software

（1）源码编译

 官方地址： Projector-Camera Calibration / 3D Scanning Software  ，把下面的内容都下载下来

解压scan3d-capture-src-2015.zip

在project/scan3d-capture.pri，配置qmake的opencv路径：

INCLUDEPATH += /usr/local/include/opencv4 \\
                /usr/local/include/opencv4/opencv2


LIBS += /usr/local/lib/libopencv_* \\

 配置好opencv，就可以开始编译标定源码了：

cd scan3d-capture-src
mkdir build
cd build
qmake ../project # 使用QT的qmake进行build
make # (or nmake to build with Microsoft Visual Studio)

每什么意外的话，直接make会出现各种opencv错误的，究其原因是opencv版本对应不上，源码使用的OpenCV 2.4.11,如果需要更高版本的OpenCV，如OpenCV4.3.0，则需要改动地方挺多

（2）常见的错误和解决方法

（1） error: ‘CV_BGR2GRAY’ was not declared in this scope

 将所有CV_BGR2GRAY改为cv::COLOR_BGR2GRAY

//cvtColor(rgb_image, gray_image, CV_BGR2GRAY); // 旧版本
cvtColor(rgb_image, gray_image, cv::COLOR_BGR2GRAY);// 新版本

（2）error: ‘CV_RANSAC’ was not declared in this scope

 同上，将CV_RANSAC改为cv::RANSAC

//cv::Mat H = cv::findHomography(img_points, proj_points, CV_RANSAC);
cv::Mat H = cv::findHomography(img_points, proj_points, cv::RANSAC);

（3）error: ‘CV_TERMCRIT_EPS’ was not declared in this scope

 将参数CV_TERMCRIT_EPS + CV_TERMCRIT_ITER改为cv::TermCriteria::EPS + cv::TermCriteria::MAX_ITER

// cv::cornerSubPix(gray_image, cam_corners, cv::Size(11, 11), cv::Size(-1, -1),
// cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));
cv::cornerSubPix(gray_image, cam_corners, cv::Size(11, 11), cv::Size(-1, -1),
                                 cv::TermCriteria(cv::TermCriteria::EPS + cv::TermCriteria::MAX_ITER, 30, 0.1));

（4）error: no matching function for call to ‘stereoCalibrate

修改参数：cv::stereoCalibrate如下

// calib.stereo_error = cv::stereoCalibrate(world_corners_active, camera_corners_active, projector_corners_active, calib.cam_K, calib.cam_kc, calib.proj_K, calib.proj_kc, 
//                                                imageSize /*ignored*/, calib.R, calib.T, E, F, 
//                                                cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS, 150, DBL_EPSILON), 
//                                                cv::CALIB_FIX_INTRINSIC /*cv::CALIB_USE_INTRINSIC_GUESS*/ + cal_flags);
calib.stereo_error = cv::stereoCalibrate(world_corners_active, camera_corners_active, projector_corners_active, calib.cam_K, calib.cam_kc, calib.proj_K, calib.proj_kc,
                                             imageSize /*ignored*/, calib.R, calib.T, E, F,
                                             cv::CALIB_FIX_INTRINSIC /*cv::CALIB_USE_INTRINSIC_GUESS*/ + cal_flags,
                                             cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS, 150, DBL_EPSILON));

（5）error: ‘CV_CAP_PROP_FRAME_WIDTH’ was not declared in this scope

（6）error: ‘CV_CAP_PROP_FRAME_HEIGHT’ was not declared in this scope

 这些错误都是因为版本差异问题导致的，需要改用的地方很多

修改头文件VideoInput.hpp：

//CvCapture * _video_capture;
cv::VideoCapture * _video_capture;

修改源文件VideoInput.cpp,其他地方也参考修改

//cvSetCaptureProperty(_video_capture, CV_CAP_PROP_FRAME_WIDTH, width);
//cvSetCaptureProperty(_video_capture, CV_CAP_PROP_FRAME_HEIGHT, height);
_video_capture->set(cv::CAP_PROP_FRAME_WIDTH, width);
_video_capture->set(cv::CAP_PROP_FRAME_HEIGHT, height);

（7）error: ‘IplImage’ was not declared in this scope 

 源码修改如下：

    while(_video_capture && !_stop && error<max_error)
    
        IplImage * frame = cvQueryFrame(_video_capture);
        if (frame)
           //ok
            error = 0;
            emit new_image(cv::Mat(frame));
        
        else
           //error
            if (timer.elapsed()>warmup) error++;
        
    
/*************************改为****************************/
    while(_video_capture && !_stop && error<max_error)
    
        //IplImage * frame = cvQueryFrame(_video_capture);
        cv::Mat frame;
        //*_video_capture >> frame;
        _video_capture->read(frame);
        if (not frame.empty())
           //ok
            error = 0;
            emit new_image(cv::Mat(frame));
        
        else
           //error
            if (timer.elapsed()>warmup) error++;
        
    

（7） error: ‘cvReleaseCapture’ was not declared in this scope

如下修改： 

        //cvReleaseCapture(&_video_capture);
        _video_capture->release();

 （8）error: ‘CV_CAP_V4L2’ was not declared in this scope

将CV_CAP_V4L2修改为cv::CAP_V4L2

 （9）error: ‘cvCreateCameraCapture’ was not declared in this scope

修改如下 

//_video_capture = cvCreateCameraCapture(CLASS + index);
 _video_capture->open(CLASS + index);

最终，最后。。。。。，NND，还有错

 （10）VideoInput.cpp:(.text+0xb73)：对‘VideoInput::list_device_resolutions_v4l2(int, bool)’未定义的引用

    //list = list_device_resolutions_v4l2(index, silent);
    list = list_device_resolutions_dshow(index, silent);

OK，终于成功：

然后，你在 bin目录就可以找到一个可执行文件：scan3d-capture，

运行他即可：

./scan3d-capture

千呼万唤始出来,终于见到这个界面了：

---

4.懒人必备

兄弟，如果，你不想经历上面填坑的痛苦，可以直接下载本人已经修改好的源码，已经包括Opencv，TIFF，scan3d-capture-src-2015等源码，直接使用即可

下载地址： https://download.csdn.net/download/guyuealian/36484460

 使用方法，如下：

## 安装tiff-4.3.0

```bash
cd tiff-4.3.0
./configure
make
sudo make install

```

## 安装OpenCV

已经把常见的错误，都修改了，可以直接build

```bash
cd opencv-4.3.0
bash build.sh

```

## 安装QT5

```bash
sudo apt-get install build-essential libgl1-mesa-dev
chmod +x qt-opensource-linux-x64-5.12.4.run
./qt-opensource-linux-x64-5.12.4.run

```

## 安装3D Scanning Software

已经把常见的错误，都修改了，可以直接build

```bash
cd scan3d-capture-src-2015/scan3d-capture-src
mkdir build
cd build
qmake ../project # 使用QT的qmake进行build
make # (or nmake to build with Microsoft Visual Studio)
```

## 运行3D Scanning Software
```bash
./bin/scan3d-capture
```

---

5. 结构光三维重建-3D Scanning Software实现三维重建

 关于如果实现三维重建，请查看下一篇博客《结构光三维重建-3D Scanning Software实现三维重建》：https://panjinquan.blog.csdn.net/article/details/121113787