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// Example 11-1. Reading a chessboard’s width and height, reading and collecting the // requested number of views, and calibrating the camera // #include <cv.h> #include <highgui.h> #include <stdio.h> #include <stdlib.h> using namespace std; void help(){ printf("\n\n" " Calling convention:\n" " ch11_ex11_1 board_w board_h number_of_boards skip_frames\n" "\n" " WHERE:\n" " board_w, board_h -- are the number of corners along the row and columns respectively\n" " number_of_boards -- are the number of chessboard views to collect before calibration\n" " skip_frames -- are the number of frames to skip before trying to collect another\n" " good chessboard. This allows you time to move the chessboard. \n" " Move it to many different locations and angles so that calibration \n" " space will be well covered. \n" "\n" " Hit ‘p’ to pause/unpause, ESC to quit\n" "\n"); } // /* *************** License:************************** Oct. 3, 2008 Right to use this code in any way you want without warrenty, support or any guarentee of it working. BOOK: It would be nice if you cited it: Learning OpenCV: Computer Vision with the OpenCV Library by Gary Bradski and Adrian Kaehler Published by O'Reilly Media, October 3, 2008 AVAILABLE AT: http://www.amazon.com/Learning-OpenCV-Computer-Vision-Library/dp/0596516134 Or: http://oreilly.com/catalog/9780596516130/ ISBN-10: 0596516134 or: ISBN-13: 978-0596516130 OTHER OPENCV SITES: * The source code is on sourceforge at: http://sourceforge.net/projects/opencvlibrary/ * The OpenCV wiki page (As of Oct 1, 2008 this is down for changing over servers, but should come back): http://opencvlibrary.sourceforge.net/ * An active user group is at: http://tech.groups.yahoo.com/group/OpenCV/ * The minutes of weekly OpenCV development meetings are at: http://pr.willowgarage.com/wiki/OpenCV ************************************************** */ // int n_boards = 0; //Will be set by input list int board_dt = 90; //Wait 90 frames per chessboard view int board_w; int board_h; int main(int argc, char* argv[]) { //CvCapture* capture_l;//= cvCreateCameraCapture( 0 ); // CvCapture* capture_r;//= cvCreateCameraCapture( 1 ); // assert( capture ); if(argc != 5){ printf("\nERROR: Wrong number of input parameters"); help(); return -1; } board_w = atoi(argv[1]); board_h = atoi(argv[2]); n_boards = atoi(argv[3]); board_dt = atoi(argv[4]); int board_n = board_w * board_h; CvSize board_sz = cvSize( board_w, board_h ); CvCapture* capture_l = cvCreateCameraCapture( 0 ); CvCapture* capture_r = cvCreateCameraCapture( 1 ); if(!capture_l) { printf("\nCouldn't open the camera\n"); help(); return -1;} if(!capture_r) { printf("\nCouldn't open the camera\n"); help(); return -1;} cvNamedWindow( "Calibration_l" ); cvNamedWindow( "Calibration_r" ); cvNamedWindow( "Raw Video_l"); cvNamedWindow( "Raw Video_r"); //ALLOCATE STORAGE CvMat* image_points_l = cvCreateMat(n_boards*board_n,2,CV_32FC1); CvMat* image_points_r = cvCreateMat(n_boards*board_n,2,CV_32FC1); CvMat* object_points = cvCreateMat(n_boards*board_n,3,CV_32FC1); CvMat* point_counts = cvCreateMat(n_boards,1,CV_32SC1); ////////////////////////摄像头l参数///////////////////// CvMat* intrinsic_matrix_l = cvCreateMat(3,3,CV_32FC1); CvMat* distortion_coeffs_l = cvCreateMat(4,1,CV_32FC1); ////////////////////////摄像头r参数///////////////////// CvMat* intrinsic_matrix_r = cvCreateMat(3,3,CV_32FC1); CvMat* distortion_coeffs_r = cvCreateMat(4,1,CV_32FC1); CvPoint2D32f* corners_l = new CvPoint2D32f[ board_n ]; CvPoint2D32f* corners_r = new CvPoint2D32f[ board_n ]; int corner_count_l; int corner_count_r; int successes = 0; int step, frame = 0; IplImage *image_l = cvQueryFrame( capture_l ); IplImage *image_r = cvQueryFrame( capture_r ); IplImage *gray_image_l = cvCreateImage(cvGetSize(image_l),8,1);//subpixel IplImage *gray_image_r = cvCreateImage(cvGetSize(image_r),8,1); // CAPTURE CORNER VIEWS LOOP UNTIL WE’VE GOT n_boards // SUCCESSFUL CAPTURES (ALL CORNERS ON THE BOARD ARE FOUND) // help(); while(successes < n_boards) { //Skip every board_dt frames to allow user to move chessboard if(frame++ % board_dt == 0) { //Find chessboard corners: int found_l = cvFindChessboardCorners( image_l, board_sz, corners_l, &corner_count_l, CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS ); //Get Subpixel accuracy on those corners cvCvtColor(image_l, gray_image_l, CV_BGR2GRAY); cvFindCornerSubPix(gray_image_l, corners_l, corner_count_l, cvSize(11,11),cvSize(-1,-1), cvTermCriteria( CV_TERMCRIT_EPS+CV_TERMCRIT_ITER, 30, 0.1 )); //Draw it cvDrawChessboardCorners(image_l, board_sz, corners_l, corner_count_l, found_l); int found_r = cvFindChessboardCorners( image_r, board_sz, corners_r, &corner_count_r, CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS ); //Get Subpixel accuracy on those corners cvCvtColor(image_r, gray_image_r, CV_BGR2GRAY); cvFindCornerSubPix(gray_image_r, corners_r, corner_count_r, cvSize(11,11),cvSize(-1,-1), cvTermCriteria( CV_TERMCRIT_EPS+CV_TERMCRIT_ITER, 30, 0.1 )); //Draw it cvDrawChessboardCorners(image_r, board_sz, corners_r, corner_count_r, found_r); // cvShowImage( "Calibration", image ); // If we got a good board, add it to our data if(( corner_count_l == board_n )&&( corner_count_r == board_n )) { cvShowImage( "Calibration_l", image_l ); //show in color if we did collect the image cvShowImage( "Calibration_r", image_r ); step = successes*board_n; for( int i=step, j=0; j<board_n; ++i,++j ) { CV_MAT_ELEM(*image_points_l, float,i,0) = corners_l[j].x; CV_MAT_ELEM(*image_points_l, float,i,1) = corners_l[j].y; CV_MAT_ELEM(*image_points_r, float,i,0) = corners_r[j].x; CV_MAT_ELEM(*image_points_r, float,i,1) = corners_r[j].y; CV_MAT_ELEM(*object_points,float,i,0) = j/board_w; CV_MAT_ELEM(*object_points,float,i,1) = j%board_w; CV_MAT_ELEM(*object_points,float,i,2) = 0.0f; } CV_MAT_ELEM(*point_counts, int,successes,0) = board_n; successes++; printf("Collected our %d of %d needed chessboard images\n",successes,n_boards); } else cvShowImage( "Calibration_l", gray_image_l ); //Show Gray if we didn't collect the image cvShowImage( "Calibration_r", gray_image_r ); } //end skip board_dt between chessboard capture //Handle pause/unpause and ESC int c = cvWaitKey(15); if(c == 'p'){ c = 0; while(c != 'p' && c != 27){ c = cvWaitKey(250); } } if(c == 27) return 0; image_l = cvQueryFrame( capture_l ); //Get next image image_r = cvQueryFrame( capture_r ); //Get next image cvShowImage("Raw Video_l", image_l); cvShowImage("Raw Video_r", image_r); } //END COLLECTION WHILE LOOP. cvDestroyWindow("Calibration_l"); cvDestroyWindow("Calibration_r"); printf("\n\n*** CALLIBRATING THE CAMERA..."); //ALLOCATE MATRICES ACCORDING TO HOW MANY CHESSBOARDS FOUND CvMat* object_points2 = cvCreateMat(successes*board_n,3,CV_32FC1); CvMat* image_points2_l = cvCreateMat(successes*board_n,2,CV_32FC1); CvMat* image_points2_r = cvCreateMat(successes*board_n,2,CV_32FC1); CvMat* point_counts2 = cvCreateMat(successes,1,CV_32SC1); //TRANSFER THE POINTS INTO THE CORRECT SIZE MATRICES for(int i = 0; i<su