摄像头标定程序用于标定多幅棋盘图像.docxVIP

//#include nstdafx.hn #include stdio.h #include stdlib-h #inelude string.h // OpenCV #include cxcore.h #include cv.h #include highgui.h #inelude cvaux.h void InitCorners3D(CvMat *Comers3D, CvSize ChessBoardSize, int Nimages, float SquareSize); void makeChessBoard(); int myFindChessboardCorners( const void* image, CvSize pattern_size, CvPoint2D32f* corners, int* comer_count=NULL, int flags=CV_CALIB_CB_ADAPTIVE_THRESH); inline int drawCorssMark(IplImage *dst,CvPoint pt) / ?上 ?上 ?上 ?丄? ?匕 *1* ?匕 ?匕 *1* ?匕■匕 ?匕?匕 ■匕 ?匕■立?匕 / 彳.彳.彳.彳.彳. Function:Description:Qills:Called By: Function: Description: Qills: Called By: Input: Output: Return: Others: 绘制一个十字标记 RGB image, pt 需要检查坐标是否越界to do list ?丄■ ?土 ?丄■ ?丄■ ?丄■ ?土 ?丄■ *4* ?丄■ ?丄■ ?丄■ *4* ?丄■ *4* ?丄■ *4* ?丄■ ?卜?丄■ *4* ?丄■ ?卜?丄■ ?丄■ ?丄■ ?丄■ / ^7^ ^7^ #T T j const int cross_len = 4; CvPoint ptl ,pt2,pt3,pt4; ptl.x = pt.x; ptl.y = pt.y - crossJen; pt2.x = pt.x; pt2.y = pt.y + cross _len; pt3.x = pt.x - cross_len; pt3.y = pt.y; pt4.x = pt.x + crossJen; pt4.y = pt.y; cvLine(dst,ptl,pt2,CV_RGB(0,255,0)2CV_AA, 0); cvLine(dst,pt3,pt4,CV_RGB(0,255,0),2,CV_AA, 0); return 0; return 0; intThresholdness = 120; int int image_width = 640;//320; int image_height = 480;//240; bool verbose = false; const int ChessBoardSize_w = 7; const int ChessBoardSize_h = 7; // Calibration stuff bool calibration_done = false; const CvSize ChessBoardSize = cvSize(ChessBoardSize_w,ChessBoardSize_h); //floatfloatSquareWidth = 21.6f; 〃实际距离 毫米单位 在A4 //float float SquareWidth = 17; //投影实际距离 毫米单位200 const int NPoints = ChessBoardSize_w*ChessBoardSize_h; const int NImages = 10; //Number of images to collect CvPoint2D32f corners[NPoints*NImages]; int corner_count[NImages] = {0}; int captured_frames = 0; CvMat *intrinsics; CvMat *distortion_coeff; CvMat *rotation_vectors; CvMat *translation_vectors; CvMat *object_points; CvMat *point_counts; CvMat *image_points; int find_corners_result =0; void on_mouse( int event, int x, int y, int flags, void* param ) if( event ==