摄像机标定程序.docVIP

摄像机标定程序 // calib.cpp //Calling convention: //calib board_w board_h number_of_views // //Hit p to pause/unpause,ESC to quit #include cv.h #include highgui.h #includestdio.h #includestdlib.h int n_boards=0;// will be set by input list const int board_dt=20;//wait 20 frames per chessboard view int board_w; int board_h; int main(int argc,char* argv[]){ if(argc != 4){ printf(ERROR: Wrong number of input parmeters\n); return -1; } board_w = atoi(argv[1]); board_h = atoi(argv[2]); n_boards = atoi(argv[3]);//result of using atoi is make str to integer int board_n=board_w*board_h; CvSize board_sz=cvSize(board_w,board_h); CvCapture* capture=cvCreateCameraCapture(0); assert(capture); cvNamedWindow(Calibration); //ALLOCATE STORAGE CvMat* image_points = cvCreateMat(n_boards*board_n,2,CV_32FC1); CvMat* object_points = cvCreateMat(n_boards*board_n,3,CV_32FC1); CvMat* point_counts = cvCreateMat(n_boards,1,CV_32SC1); CvMat* intrinsic_matrix = cvCreateMat(3,3,CV_32FC1); CvMat* distortion_coeffs = cvCreateMat(5,1,CV_32FC1); CvPoint2D32f* corners= new CvPoint2D32f[board_n]; int corner_count; int successes=0; int step,frame=0; IplImage *image=cvQueryFrame(capture); IplImage *gray_image=cvCreateImage(cvGetSize(image),8,1); //subpixel //CAPTURE CORNER VIEWS LOOP UNTIL WEVE GOT n_boards //SUCCESSFUL APTURES (ALL CORNERS ON THE BOARD ARE FOUND) // while(successes n_boards){ //Skip every board_dt frames to allow user to move chessboard if (frame++ % board_dt == 0) { int found=cvFindChessboardCorners(image,board_sz,corners,corner_count, CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS); //GET Subpixel accuracy on those corners cvCvtColor(image,gray_image,CV_BGR2GRAY); cvFindCornerSubPix(gray_image,corners,corner_count,cvSize(11,11),cvSize(-1,-1),cvTermCriteria( CV_TERMCRIT_EPS+CV_TERMCRIT_ITER,30,0.1)); //Draw it cvDrawChessboardCorners(image,board_sz,corners,corner_count,found); cvShowIm