#include?
#include?
#include?
//?OpenCV
#include?
#include?
#include?
#include?
using?namespace?std;
using?namespace?cv;

const?int?imageWidth?=?640;								//攝像頭的分辨率
const?int?imageHeight?=?480;
const?int?boardWidth?=?5;								//橫向的角點(diǎn)數(shù)目
const?int?boardHeight?=?4;								//縱向的角點(diǎn)數(shù)據(jù)
const?int?boardCorner?=?boardWidth?*?boardHeight;		//總的角點(diǎn)數(shù)據(jù)
const?int?frameNumber?=?12;								//相機(jī)標(biāo)定時(shí)需要采用的圖像幀數(shù)
const?int?squareSize?=?20;								//標(biāo)定板黑白格子的大小?單位mm
const?Size?boardSize?=?Size（boardWidth?boardHeight）;	//
	
Mat?intrinsic;											//相機(jī)內(nèi)參數(shù)
Mat?distortion_coeff;									//相機(jī)畸變參數(shù)
vector?rvecs;									????//旋轉(zhuǎn)向量
vector?tvecs;										//平移向量
vector>?corners;						//各個(gè)圖像找到的角點(diǎn)的集合?和objRealPoint?一一對(duì)應(yīng)
vector>?objRealPoint;					//各副圖像的角點(diǎn)的實(shí)際物理坐標(biāo)集合


vector?corner;									//某一副圖像找到的角點(diǎn)

Mat?rgbImage?grayImage;

/*計(jì)算標(biāo)定板上模塊的實(shí)際物理坐標(biāo)*/
void?calRealPoint（vector>&?obj?int?boardwidthint?boardheight?int?imgNumber?int?squaresize）
{
//	Mat?imgpoint（boardheight?boardwidth?CV_32FC3Scalar（000））;
	vector?imgpoint;
	for?（int?rowIndex?=?0;?rowIndex?	{
		for?（int?colIndex?=?0;?colIndex?		{
		//	imgpoint.at（rowIndex?colIndex）?=?Vec3f（rowIndex?*?squaresize?colIndex*squaresize?0）;
			imgpoint.push_back（Point3f（rowIndex?*?squaresize?colIndex?*?squaresize?0））;
		}
	}
	for?（int?imgIndex?=?0;?imgIndex?	{
		obj.push_back（imgpoint）;
	}
}

/*設(shè)置相機(jī)的初始參數(shù)?也可以不估計(jì)*/
void?guessCameraParam（void?）
{
	/*分配內(nèi)存*/
	intrinsic.create（3?3?CV_64FC1）;
	distortion_coeff.create（5?1?CV_64FC1）;

	/*
	fx?0?cx
	0?fy?cy
	0?0??1
	*/
	intrinsic.at（00）?=?256.8093262;???//fx		
	intrinsic.at（0?2）?=?160.2826538;???//cx
	intrinsic.at（1?1）?=?254.7511139;???//fy
	intrinsic.at（1?2）?=?127.6264572;???//cy

	intrinsic.at（0?1）?=?0;
	intrinsic.at（1?0）?=?0;
	intrinsic.at（2?0）?=?0;
	intrinsic.at（2?1）?=?0;
	intrinsic.at（2?2）?=?1;

	/*
	k1?k2?p1?p2?p3
	*/
	distortion_coeff.at（0?0）?=?-0.193740;??//k1
	distortion_coeff.at（1?0）?=?-0.378588;??//k2
	distortion_coeff.at（2?0）?=?0.028980;???//p1
	distortion_coeff.at（3?0）?=?0.008136;???//p2
	distortion_coeff.at（4?0）?=?0;		??//p3
}

void?outputCameraParam（void?）
{
	/*保存數(shù)據(jù)*/
	//cvSave（“cameraMatrix.xml“?&intrinsic）;
	//cvSave（“cameraDistoration.xml“?&distortion_coeff）;
	//cvSave（“rotatoVector.xml“?&rvecs）;
	//cvSave（“translationVector.xml“?&tvecs）;
	/*輸出數(shù)據(jù)*/
	cout?<（0?0）?<（1?1）?<	cout?<（0?2）?<（1?2）?<
	cout?<

?屬性????????????大小?????日期????時(shí)間???名稱
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?????文件???????6062??2016-05-23?21:49??CalibrationOpenCV3.cpp

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