opencv3.0 鱼眼标定校正 改进

详见后补充说明http://blog.csdn.net/qq_15947787/article/details/51441031

//运行环境 VS2012+opencv3.0
#include 
#include 
using namespace std;
using namespace cv;

int main（）
{
    ofstream fout（“caliberation_result.txt“）;  /**    保存定标结果的文件     **/

    /************************************************************************  
           读取每一幅图像，从中提取出角点，然后对角点进行亚像素精确化  
    *************************************************************************/   
    cout<<“开始提取角点………………“<	//以下三行为需要手动修改的参数
    int image_count=  14;                   //图像数量
    Size board_size = Size（96）;            //定标板上每行、列的角点数
	int x_expand = 0y_expand = 200;		//xy方向的扩展（x横向，y纵向），适当增大可以不损失原图像信息

    vector corners;                //缓存每幅图像上检测到的角点
    vector>  corners_Seq;   //保存检测到的所有角点/   
    vector  image_Seq;
	int successImageNum = 0;				//成功提取角点的棋盘图数量	
	bool conner_flag = true;				//所有图像角点提取成功为true，其余为false
    for（ int i = 0;  i != image_count ; i++）
    {
        cout<<“img“<        string imageFileName;
        std::stringstream StrStm;
        StrStm<        StrStm>>imageFileName;
        imageFileName += “.jpg“;
        cv::Mat imageSrc = imread（“img“+imageFileName）; 
		Mat image;//边界扩展后的图片
		copyMakeBorder（imageSrcimage（int）（y_expand/2）（int）（y_expand/2）（int）（x_expand/2）（int）（x_expand/2）BORDER_CONSTANT）;
        /* 提取角点 */   
        Mat imageGray;
        cvtColor（image imageGray  CV_RGB2GRAY）;
        bool patternfound = findChessboardCorners（image board_size cornersCALIB_CB_ADAPTIVE_THRESH + CALIB_CB_NORMALIZE_IMAGE+ 
            CALIB_CB_FAST_CHECK ）;
        if （!patternfound）   
        {   
			cout<<“img“<            conner_flag = false;
			break;
        } 
        else
        {   
            /* 亚像素精确化 */
            cornerSubPix（imageGray corners Size（11 11） Size（-1 -1） TermCriteria（CV_TERMCRIT_EPS + CV_TERMCRIT_ITER 30 0.1））;
            /* 绘制检测到的角点并保存 */
            Mat imageTemp = image.clone（）;
            for （int j = 0; j < corners.size（）; j++）
            {
                circle（ imageTemp corners[j] 10 Scalar（00255） 2 8 0）;
            }
            string imageFileName;
            std::stringstream StrStm;
            StrStm<            StrStm>>imageFileName;
            imageFileName += “_corner.jpg“;
            imwrite（imageFileNameimageTemp）;
            cout<<“img“<
			successImageNum = successImageNum + 1;
            corners_Seq.push_back（corners）;
        }   
        image_Seq.push_back（image）;
    }   
	if （!conner_flag）//如果有提取失败的标定图，退出程序
	{
		system（“pause“）;
		return 0;
	}
    cout<<“角点提取完成！“<    /************************************************************************  
           摄像机定标  
    *************************************************************************/   
    cout<<“开始定标………………“<	Size square_size = Size（2020

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----

     文件     130403  2016-05-19 09:12  3.0鱼眼标定校正 改进\ConsoleApplication1\ConsoleApplication1\a.jpg

     文件       5249  2016-10-24 23:29  3.0鱼眼标定校正 改进\ConsoleApplication1\ConsoleApplication1\caliberation_result.txt

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