opencv标定程序（Opencv calibration program）.docVIP

opencv标定程序（Opencv calibration program） The process / calibration: Picture loading Corner detection Extracting corner accurate coordinates Parameter Solving Use the parameters to correct the image * / #includestdio.h #include cv.h #include highgui.h #include stdlib.h / / function declaration Void PrintMat (CvMat, *matrix, BOOL, save_or_show, FILE, *fp); Int main (int, argc, char, **argv) { Int i=1; Char k=0; Int CurrentImage = 0; Int CurrentRow = 0; / / line Int CurrentColumn = 0; / / column Int findcorner_result=0; FILE *fp; / / pointer file Int ChessBoardSize_w =6; / / number of corner Int ChessBoardSize_h =7; Int width_pixel =1280; / / pixel Int high_pixel =1024; Float SquareSize=10; / / board size Int NImages=16; CvSize ChessBoardSize; CvSize image_pixel; Int NPoints=0; Int *corner_counter; Float *temppoints; / / here you can use dynamic memory storage management... CvPoint2D32f *corners; / / array to store the coordinates of the corner / / single channel image IplImage *grayimage=0; IplImage *srcimage=0; / / the three channel image IplImage *result_image=0; / / image after correction CvMat *intrinsic_matrix=0; / / internal parameter matrix CvMat *distortion_coeffs=0; / / distortion coefficient CvMat *rotation_vectors=0; / / rotation vector CvMat *translation_vectors=0; / / translation vector CvMat *points_counts=0; / / picture angle points CvMat *object_points=0; / / corner coordinates in the world coordinate system. CvMat *image_points=0; / / corner coordinates of the detected CvMat, *temp_matrix, *rotation_matrix, *translation_matrix; //***************************************************** / / data loading, open space Image_pixel = cvSize (width_pixel, high_pixel); ChessBoardSize = cvSize (ChessBoardSize_w, ChessBoardSize_h); NPoints = ChessBoardSize_w*ChessBoardSize_h; Corner_counter=calloc (NImages, sizeof (int)); / / dynamic management, Remember to release the space Temppoints =calloc (NImages*NPoints*3, sizeof (float)); Corners =calloc (NImages*NPoints, si