网上没有现成的，OPENCV也没有提供完整的示例，自己整理了一下，贴出来记录。
但是这里cvFindChessboardCorners非常不稳定，不能工作， 是否要自己写呢？
#include "stdafx.h"#include <stdio.h>#include <stdlib.h>#include <string.h>// OpenCV#include <cxcore.h>#include <cv.h>#include <highgui.h>#include <cvaux.h>
void InitCorners3D(CvMat *Corners3D, CvSize ChessBoardSize, int Nimages, float SquareSize);
/* uncomment the following to drop frames to prevent delays */#define DROP_FRAMES 1#define MAX_PORTS 3#define MAX_CAMERAS 1#define NUM_BUFFERS 8
/* declarations for OpenCV */IplImage *current_frame_rgb,grid;IplImage *current_frame_gray;IplImage *readOnlyImg;
int freeze = 0;
int image_width = 640;int image_height = 480;
bool verbose = false;
// Calibration stuffbool calibration_done = false;const CvSize ChessBoardSize = cvSize(4,4);float SquareWidth = 101.6f; //in millimetersconst int NImages = 20; //Number of images to collectconst int NPoints = 4*4;
CvMat *intrinsics;CvMat *distortion_coeff;CvMat *rotation_vectors;CvMat *translation_vectors;CvMat *object_points;CvMat *point_counts;CvMat *image_points;
intmain(int argc, char *argv[]){
int counter = 0; int find_corners_result = 0; int captured_frames = 0;
CvPoint2D32f corners[NImages*NPoints]; int corner_count[NImages];
CvFont font; cvInitFont( &font, CV_FONT_VECTOR0,5, 5, 0, 7, 8); 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);
// Function to fill in the real-world points of the checkerboard InitCorners3D(object_points, ChessBoardSize, NImages, SquareWidth);
CvCapture* capture = 0; if( argc == 1 || (argc == 2 && strlen(argv[1]) == 1 && isdigit(argv[1][0]))) capture = cvCaptureFromCAM( argc == 2 ? argv[1][0] - '0' : 0 ); else if( argc == 2 ) capture = cvCaptureFromAVI( argv[1] );
if( !capture ) { fprintf(stderr,"Could not initialize capturing.../n"); return -1; } // Initialize all of the IplImage structures current_frame_rgb = cvCreateImage(cvSize(image_width, image_height), IPL_DEPTH_8U, 3); IplImage *current_frame_rgb2 = cvCreateImage(cvSize(image_width, image_height), IPL_DEPTH_8U, 3); current_frame_gray = cvCreateImage(cvSize(image_width, image_height), IPL_DEPTH_8U, 1); readOnlyImg = cvCreateImage(cvSize(image_width, image_height), IPL_DEPTH_8U, 3); IplImage *tempimg = cvCreateImage(cvSize(image_width, image_height), IPL_DEPTH_8U, 1); CvScalar e; e.val[0] =1.0; cvSet(tempimg,e,0);
/* make the window */ //cvZero(readOnlyImg); e.val[0] =255; e.val[1] =255; e.val[2] =255; cvSet(readOnlyImg,e,0); for(int i = 0;i<ChessBoardSize.width;i++) for(int j = 0;j<ChessBoardSize.height;j++) { int w =image_width/(ChessBoardSize.width); int h = image_height/(ChessBoardSize.height);
if((i+j)%2==1) cvRectangle( readOnlyImg, cvPoint(w*i,h*j),cvPoint(w*(i+1)-1,h*(j+1)-1), CV_RGB(0,0,0),CV_FILLED, 8, 0 ); }
cvNamedWindow( "grid", 0); cvNamedWindow( "Window 0", 0); cvResizeWindow( "grid", 500,500); cvMoveWindow("Window 0", 100, 100);
printf("WHEN THE COUNTER HITS 20, YOU'RE DONE /n");
while (!calibration_done) { while (captured_frames < NImages) { if (verbose) printf("%d /n", counter); counter++;
current_frame_rgb = cvQueryFrame( capture ); //current_frame_rgb = cvLoadImage( "c://BoardStereoL3.jpg" );
if( !current_frame_rgb ) break;
cvCvtColor(current_frame_rgb, current_frame_gray, CV_BGR2GRAY);
//cvMul(current_frame_gray,tempimg,current_frame_gray,1.5); //cvAdaptiveThreshold( current_frame_gray, current_frame_gray,255,CV_ADAPTIVE_THRESH_MEAN_C, CV_THRESH_BINARY, 3, 5 ); //cvThreshold( current_frame_gray, current_frame_gray,90,255,CV_THRESH_BINARY_INV); //cvThreshold( current_frame_gray, current_frame_gray,90,255,CV_THRESH_BINARY);
int pos = 1; IplConvKernel* element = 0; const int element_shape = CV_SHAPE_ELLIPSE; element = cvCreateStructuringElementEx( pos*2+1, pos*2+1, pos, pos, element_shape, 0 ); cvDilate(current_frame_gray,current_frame_gray,element,1); cvErode(current_frame_gray,current_frame_gray,element,1); cvReleaseStructuringElement(&element);
cvShowImage("grid",current_frame_gray); find_corners_result = cvFindChessboardCorners(current_frame_gray, ChessBoardSize, &corners[captured_frames*NPoints], &corner_count[captured_frames], 0);
if (find_corners_result !=0) { cvDrawChessboardCorners(current_frame_rgb, ChessBoardSize, &corners[captured_frames*NPoints], NPoints, find_corners_result);
if (counter == 0) // I do this to give you time to move the checkerboard around between captures { CvTermCriteria corner_criteria = cvTermCriteria(CV_TERMCRIT_ITER, 100, 0.1); cvFindCornerSubPix( current_frame_gray,&corners[captured_frames*NPoints], NPoints, cvSize(3,3), cvSize(-1,-1), corner_criteria ); cvPutText(current_frame_rgb, "FLASH!" , cvPoint(100, 300), &font, CV_RGB(255,0,0)); printf("%d ... /n", captured_frames+1); // NOTE: I put the little "FLASH" thing in here so that you know when it takes the snapshot // I'd gotten used to the little flash when using DirectShow for intrinsic calibration captured_frames++; } } cvShowImage("Window 0",current_frame_rgb); cvWaitKey(100);
find_corners_result = 0; } printf("/n"); cvSetData( image_points, corners, sizeof(CvPoint2D32f)); cvSetData( point_counts, corner_count, sizeof(int)); cvCalibrateCamera2( object_points, image_points, point_counts, cvSize(640,480), intrinsics, distortion_coeff, rotation_vectors, translation_vectors, 0); calibration_done = true; }
// // All this below is used for dumping the parameters to the screen //
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];
printf("-----------------------------------------/n"); printf("INTRINSIC MATRIX: /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("ROTATION 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");
exit(0); 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-scanning for (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); }