单目摄像机标定 opencv标定

#include <opencv2/opencv.hpp>
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
using namespace cv;
using namespace std;

//#define CALIB //打开此宏则为标定，否则为矫正

int main(int argc,char *argv[])
{

#ifdef CALIB
    int numBoards = 10; // 图像个数
    int board_w = 8;   // 棋盘格X方向格子个数-1
    int board_h = 6;   // 棋盘格Y方向格子个数-1

    Size board_sz = Size(board_w, board_h);
    int board_n = board_w*board_h;

    vector > objectPoints;
    vector > imagePoints;
    vector corners;
    
    Mat img, gray;
    int success = 0;
    int k = 0;
    bool found = false;

    Size sz;