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/***************************************************************************
????
Calibration.cpp??-??description
?????????????????????????????-------------------
????
begin????????????????:?aout?15?2004
????copyright????????????:?(C)?2004?by?Simon?CONSEIL
????email????????????????:?bouldeglace@yahoo.fr
?***************************************************************************/
#include?“main.h“
//----------------------------------------------------------------------------------------------------------------
int?Calibration(char**?names?int?nbImages?CvSize?CBCornersSize?int?squareSize?CCamera*?camera)
//----------------------------------------------------------------------------------------------------------------
{
????int?i=0?j=0?t=0?x=0?y=0;
int?nbCornersFound; //?nb?de?points?interieurs?trouves
int?nbLines?=?CBCornersSize.height?;//?nb?de?lignes?ds?la?mire
int?nbCols =?CBCornersSize.width?; //?nb?de?colonnes?ds?la?mire
int?nbPoints?=?nbLines?*?nbCols;
int*?pointnumbers?=?new?int?[nbImages]?;
int?currPoint;
int?useIntrinsicGuess?=?0;?
char?savenames[128]?;
IplImage*?img?=?0;
IplImage*?img0?=?0;
IplImage*?img1?=?0;
IplImage*?greyimg?=?0;
CvMemStorage*?storage?=?0;
//?Matrices?et?Vecteurs?des?parametres:
//-------------------------------------
CvMatr64d?cameraMatrix =?new?double?[3*3]; //?parametres?intrinseques
CvMatr64d?rotMatrixes =?new?double?[3*3?*?nbImages]; //?matrices?de?rotation?3x3
CvVect64d?rotVect???????=?new?double?[3?*?nbImages]; //?vecteur?rotation
CvVect64d?transVects =?new?double?[3?*?nbImages]; //?vecteur?de?translation
CvVect64d?distortion =?new?double?[4]; //?distortion
CvPoint2D64d*?uv =?new?CvPoint2D64d?[nbPoints?*?nbImages];?
CvPoint3D64d*?XYZ =?new?CvPoint3D64d?[nbPoints?*?nbImages];?
????CvPoint2D32f*?corners =?new?CvPoint2D32f?[nbPoints?+?1];
CvPoint?onecorner;
//?initialisation?des?variables?et?tableaux:
for(?j?=?0?;?j pointnumbers[j]?=?nbPoints?;
?
//創(chuàng)建窗口
cvNamedWindow(?“image“?1?);
//初始化字體
CvFont?dfont;
float?hscale?=?0.3f;
float?vscale?=?0.3f;
float?italicscale?=?0.0f;
int?thickness?=1;
cvInitFont?(&dfont?CV_FONT_VECTOR0?hscale?vscale?italicscale?thickness);
//?Coordonnees?reelles?3D?des?points?de?la?mire?????
for(?int?currImage?=?0;?currImage? {
for(?x?=?0;?x? {
for(?y?=?0;?y? {
XYZ[?currImage*nbPoints?+?x*nbCols?+?y?].x?=?double(squareSize?*?(nbLines?-?x-1)?);?//(nbCols?-?i?))?;
XYZ[?currImage*nbPoints?+?x*nbCols?+?y?].y?=?double(squareSize?*?y?);?//(nbLines?-?j));
XYZ[?currImage*nbPoints?+?x*nbCols?+?y?].z?=?0;?
}
}
}
//for?visual?number?effect?to?see?the?corners?that?were?found
char*?numbers[]?=?
{?“1“?“2“?“3“?“4“?“5“?“6“?“7“?“8“?“9“?“10“?
“11“?“12“?“13“?“14“?“15“?“16“?“17“?“18“?“19“?“20“?
“21“?“22“?“23“?“24“?“25“?“26“?“2
?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件???????3202??2010-05-17?09:19??Calibration2\main.cpp
?????文件?????146944??2010-06-16?16:51??Calibration2\Calibration.opt
?????文件????????547??2006-08-25?17:16??Calibration2\Calibration.dsw
?????文件????????113??2004-10-26?09:35??Calibration2\Calibration.h
?????文件??????91136??2010-06-16?16:51??Calibration2\Calibration.ncb
?????文件????????256??2010-06-16?16:51??Calibration2\Calibration.plg
?????文件?????843824??2006-10-18?21:49??Calibration2\cv100.dll
?????文件????1011764??2006-10-18?21:49??Calibration2\cxcore100.dll
?????文件?????626741??2006-10-18?21:50??Calibration2\highgui100.dll
?????文件???????4720??2010-05-14?12:43??Calibration2\Calibration.dsp
?????文件?????130381??2005-11-17?13:58??Calibration2\BoardStereoL1.jpg
?????文件?????109360??2005-11-17?13:58??Calibration2\BoardStereoL2.jpg
?????文件?????125663??2005-11-17?13:58??Calibration2\BoardStereoL3.jpg
?????文件?????128246??2005-11-17?13:58??Calibration2\BoardStereoL4.jpg
?????文件?????112619??2005-11-17?13:58??Calibration2\BoardStereoL5.jpg
?????文件?????111641??2005-11-17?13:58??Calibration2\BoardStereoL6.jpg
?????文件????????134??2010-05-22?16:24??Calibration2\picturename.txt
?????文件????????977??2010-05-16?12:07??Calibration2\Camera.h
?????文件????????383??2010-05-16?12:17??Calibration2\main.h
?????文件???????3324??2010-05-16?15:27??Calibration2\Camera.cpp
?????文件???????8318??2010-05-16?22:51??Calibration2\Calibration.cpp
????..A.SH.????215552??2010-06-19?22:31??Calibration2\images\Thumbs.db
?????文件?????320512??2010-06-16?16:51??Calibration2\Debug\vc60.idb
?????文件?????200704??2010-05-17?09:19??Calibration2\Debug\vc60.pdb
?????文件?????270457??2010-05-17?09:19??Calibration2\Debug\Calibration.exe
?????文件????1434624??2010-05-17?09:19??Calibration2\Debug\Calibration.pdb
?????文件??????????0??2010-05-16?22:51??Calibration2\Debug\Calibration.sbr
?????文件??????????0??2010-05-16?15:27??Calibration2\Debug\Camera.sbr
?????文件????4850688??2010-05-17?09:19??Calibration2\Debug\Calibration.bsc
?????文件??????????0??2010-05-17?09:19??Calibration2\Debug\main.sbr
............此處省略11個文件信息
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