opencv摄像机标定代码

// cvCalib.cpp : Defines the entry point for the console application.

//

#include "stdafx.h"

#include

#include

#include

#include

void InitCorners3D(CvMat *Corners3D, CvSize ChessBoardSize, int Nimages, float SquareSize);

int image_width = 768;

int image_height = 576;//待标定图片的大小

const int ChessBoardSize_w = 7;

const int ChessBoardSize_h = 7;//图片中可标定的角数

const CvSize ChessBoardSize = cvSize(ChessBoardSize_w,ChessBoardSize_h);

const int NPoints = ChessBoardSize_w*ChessBoardSize_h;//角点个数

const int NImages=6;//待标定的图片数

int corner_count[NImages] = {0};

float SquareWidth = 10; //棋盘格子的边长，可任意设定，不影响内参数

CvMat *intrinsics;

CvMat *distortion_coeff;

CvMat *rotation_vectors;

CvMat *translation_vectors;

CvMat *object_points;

CvMat *point_counts;

CvMat *image_points;

void main()

{

IplImage *current_frame_rgb;

IplImage *current_frame_gray;

IplImage *chessBoard_Img;

CvPoint2D32f corners[NPoints*NImages];

chessBoard_Img =cvCreateImage(cvSize(image_width, image_height), IPL_DEPTH_8U, 3);

current_frame_gray = cvCreateImage(cvSize(image_width, image_height), IPL_DEPTH_8U, 1);

current_frame_rgb = cvCreateImage(cvSize(image_width, image_height), IPL_DEPTH_8U, 3);

int captured_frames=0;

for(captured_frames=0;captured_frames

{

char filename[]="cal20Img00.bmp"; //说明：我把待标定的图片的名子依次命名为：01.jpg, 02.jpg, 03.jpg, 04.jpg,……

if(captured_frames<9)

filename[9]=(char)(captured_frames+49);

else if(captured_frames>=9&&captured_frames<=99)

{

int j,jj;

jj=(captured_frames+1)/10;

j=(captured_frames+1)%10;

filename[8]=jj+48;

filename[9]=j+48;

}

else

printf("error, too many images.......\n"); //load images end

chessBoard_Img=cvLoadImage( filename, CV_LOAD_IMAGE_COLOR );

cvCvtColor(chessBoard_Img, current_frame_gray, CV_BGR2GRAY);

cvCopy(chessBoard_Img,current_frame_rgb);

int find_corners_result;

find_corners_result = cvFindChessboardCorners(current_frame_gray,

ChessBoardSize,

&corners[captured_frames*NPoints],

&corner_count[captured_frames],//int corner_count[NImages] = {0};

CV_CALIB_CB_ADAPTIVE_THRESH );

cvFindCornerSubPix( current_frame_gray,

&corners[captured_frames*NPoints],

NPoints, cvSize(2,2),cvSize(-1,-1),

cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03) );

cvDrawChessboardCorners(current_frame_rgb, ChessBoardSize, //绘制检测到的棋盘角点

&corners[captured_frames*NPoints],

NPoints,

find_corners_result);

cvNamedWindow("Window 0", 1);

cvNamedWindow("result", 1);

cvShowImage("Window 0",chessBoard_Img);

cvShowImage("result",current_frame_rgb);