// cvCalib.cpp : Defines the entry point for the console application.//#include "stdafx.h"#include <stdio.h>#include <cv.h>#include <highgui.h>#include <cxcore.h>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<NImages;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;}elseprintf("error, too many images.......\n"); //load images endchessBoard_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);cvWaitKey(0);}intrinsics = cvCreateMat(3,3,CV_32FC1);distortion_coeff = cvCreateMat(1,4,CV_32FC1);rotation_vectors = cvCreateMat(NImages,3,CV_32FC1);translation_vectors = cvCreateMat(NImages,3,CV_32FC1);point_counts = cvCreateMat(NImages,1,CV_32SC1);object_points = cvCreateMat(NImages*NPoints,3,CV_32FC1);image_points = cvCreateMat(NImages*NPoints,2,CV_32FC1);//把2维点转化成三维点（object_points输出量），InitCorners3D(object_points, ChessBoardSize, NImages, SquareWidth);cvSetData( image_points, corners, sizeof(CvPoint2D32f));cvSetData( point_counts, &corner_count, sizeof(int));// float test_object_points[20000];// float test_image_point[10000];// float test_point_counts[4000];// for (int z=0;z<NPoints*NImages;z++)// {// test_object_points[z*3+0]=cvmGet(object_points,z,0); // test_object_points[z*3+1]=cvmGet(object_points,z,1); // test_object_points[z*3+2]=cvmGet(object_points,z,2); //// test_image_point[z*2+0]=cvmGet(image_points,z,0); // test_image_point[z*2+1]=cvmGet(image_points,z,1); //// test_point_counts[z]=cvmGet(point_counts,z,0);//// }//计算内参cvCalibrateCamera2( object_points,image_points,point_counts,cvSize(image_width,image_height),intrinsics,distortion_coeff,rotation_vectors,translation_vectors,0);float intr[3][3] = {0.0};float dist[4] = {0.0};float tranv[3] = {0.0};float rotv[3] = {0.0};for ( int i = 0; i < 3; i++){for ( int j = 0; j < 3; j++){intr[i][j] = ((float*)(intrinsics->data.ptr + intrinsics->step*i))[j];}dist[i] = ((float*)(distortion_coeff->data.ptr))[i];tranv[i] = ((float*)(translation_vectors->data.ptr))[i];rotv[i] = ((float*)(rotation_vectors->data.ptr))[i];}dist[3] = ((float*)(distortion_coeff->data.ptr))[3];//以上部分不明白printf("-----------------------------------------\n ");printf("INTRINSIC MA TRIX: \n");printf("[ %6.4f %6.4f %6.4f ] \n", intr[0][0], intr[0][1], intr[0][2]);printf("[ %6.4f %6.4f %6.4f ] \n", intr[1][0], intr[1][1], intr[1][2]);printf("[ %6.4f %6.4f %6.4f ] \n", intr[2][0], intr[2][1], intr[2][2]);printf("----------------------------------------- \n");printf("DISTORTION VECTOR: \n");printf("[ %6.4f %6.4f %6.4f %6.4f ] \n", dist[0], dist[1], dist[2], dist[3]);printf("----------------------------------------- \n");printf("ROTA TION VECTOR: \n");printf("[ %6.4f %6.4f %6.4f ] \n", rotv[0], rotv[1], rotv[2]);printf("TRANSLATION VECTOR: \n");printf("[ %6.4f %6.4f %6.4f ] \n", tranv[0], tranv[1], tranv[2]);printf("----------------------------------------- \n");cvReleaseMat(&intrinsics);cvReleaseMat(&distortion_coeff);cvReleaseMat(&rotation_vectors);cvReleaseMat(&translation_vectors);cvReleaseMat(&point_counts);cvReleaseMat(&object_points);cvReleaseMat(&image_points);cvDestroyAllWindows();}void InitCorners3D(CvMat *Corners3D, CvSize ChessBoardSize, int NImages, float SquareSize){int CurrentImage = 0;int CurrentRow = 0;int CurrentColumn = 0;int NPoints = ChessBoardSize.height*ChessBoardSize.width;float * temppoints = new float[NImages*NPoints*3];// for now, assuming we're row-scanningfor (CurrentImage = 0 ; CurrentImage < NImages ; CurrentImage++){for (CurrentRow = 0; CurrentRow < ChessBoardSize.height; CurrentRow++){for (CurrentColumn = 0; CurrentColumn < ChessBoardSize.width; CurrentColumn++){temppoints[(CurrentImage*NPoints*3)+(CurrentRow*ChessBoardSize.width + CurrentColumn)*3]=(float)CurrentRow*SquareSize;temppoints[(CurrentImage*NPoints*3)+(CurrentRow*ChessBoardSize.width + CurrentColumn)*3+1]=(float)CurrentColumn*SquareSize;temppoints[(CurrentImage*NPoints*3)+(CurrentRow*ChessBoardSize.width +CurrentColumn)*3+2]=0.f;}}}(*Corners3D) = cvMat(NImages*NPoints,3,CV_32FC1, temppoints);}。