OpenCV: 摄像机标定原理 - linux编程基础

常比win小)，这个区域在方程组以及自相关矩阵中不被考虑。如果不需要这样一个禁区，则zero_zone应设置为cvSize(-1，-1)0
cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER,30,0.1));
cout<<"灰度图亚像素化过程完成...\n";
cvDrawChessboardCorners(show,board_size,image_points_buf,count,found);
cout<<"在源图像上绘制角点过程完成...\n\n";
cvShowImage("RePlay",show);
cvWaitKey(0);
}

if(total_per_image==count){
step=successes*total_per_image;
for(int i=step,j=0;j CV_MAT_ELEM(*image_points,float,i,0)=image_points_buf[j].x; // opencv中用来访问矩阵每个元素的宏，这个宏只对单通道矩阵有效，多通道CV_MAT_ELEM( matrix, elemtype, row, col )参数　　matrix：要访问的矩阵　　elemtype：矩阵元素的类型　　row：所要访问元素的行数　　col：所要访问元素的列数

CV_MAT_ELEM(*image_points,float,i,1)=image_points_buf[j].y;// 求完每个角点横纵坐标值都存在image_point_buf里
CV_MAT_ELEM(*object_points,float,i,0)=(float)(j/cube_length);
CV_MAT_ELEM(*object_points,float,i,1)=(float)(j%cube_length);
CV_MAT_ELEM(*object_points,float,i,2)=0.0f;
}
CV_MAT_ELEM(*point_counts,int,successes,0)=total_per_image;
successes++;
}
a++;
}
cvReleaseImage(&show);
cvDestroyWindow("RePlay");
cout<<"*********************************************\n";
cout< cout< cout<<"*********************************************\n\n";

cout<<"按任意键开始计算摄像机内参数...\n\n";

CvCapture* capture1;
capture1=cvCreateCameraCapture(0);
IplImage * show_colie;
show_colie=cvQueryFrame(capture1);

CvMat * object_points2=cvCreateMat(successes*total_per_image,3,CV_32FC1); // OpenCV 中重要的矩阵变换函数，使用方法为cvMat* cvCreateMat ( int rows, int cols, int type ); 这里type可以是任何预定义类型，预定义类型的结构如下：CV_ (S|U|F)C。

CvMat * image_points2=cvCreateMat(successes*total_per_image,2,CV_32FC1);

CvMat * point_counts2=cvCreateMat(successes,1,CV_32SC1);
for(int i=0;i CV_MAT_ELEM(*image_points2,float,i,0)=CV_MAT_ELEM(*image_points,float,i,0);//用来存储角点提取成功的图像的角点
CV_MAT_ELEM(*image_points2,float,i,1)=CV_MAT_ELEM(*image_points,float,i,1);
CV_MAT_ELEM(*object_points2,float,i,0)=CV_MAT_ELEM(*object_points,float,i,0);
CV_MAT_ELEM(*object_points2,float,i,1)=CV_MAT_ELEM(*object_points,float,i,1);
CV_MAT_ELEM(*object_points2,float,i,2)=CV_MAT_ELEM(*object_points,float,i,2);
}

for(int i=0;i CV_MAT_ELEM(*point_counts2,int,i,0)=CV_MAT_ELEM(*point_counts,int,i,0);
}

cvReleaseMat(&object_points);
cvReleaseMat(&image_points);
cvReleaseMat(&point_counts);

CV_MAT_ELEM(*intrinsic_matrix,float,0,0)=1.0f;
CV_MAT_ELEM(*intrinsic_matrix,float,1,1)=1.0f;

cvCalibrateCamera2(object_points2,image_points2,point_counts2,cvGetSize(show_colie),
intrinsic_matrix,distortion_coeffs,NULL,NULL,0);

cout<<"摄像机内参数矩阵为：\n";
cout< <<" "< <<"\n\n";
cout< <<" "< <<"\n\n";
cout< <<" "< <<"\n\n";

cout<<"畸变系数矩阵为：\n";
cout< <<" "< <<" "<

OpenCV: 摄像机标定原理(二)