Opencv摄像头校正

Opencv摄像头校正代码，可以直接运行，仅供参考！

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Windows.Forms;
using System.Threading;
using System.xml;

using Emgu.CV;
using Emgu.CV.CvEnum;
using Emgu.CV.Structure;
using Emgu.Util;

namespace Camera_Calibration_EmguCV
{
    public partial class Form1 : Form
    {
        private delegate void SetTextCallback （Control control string text）;    //delegate declaration

        #region declaring global variables
        private MCvPoint3D32f[][] object_corner;                                //points in world coordinate
        private PointF[][] corner_count;                                        //points in image coordinate

        private IntrinsicCameraParameters intrinsicParam = new IntrinsicCameraParameters（5）;        //camera intrinsic       
        private ExtrinsicCameraParameters[] extrinsicParams;                                        //camera extrinsic
        private Matrix mapx = new Matrix（height width）;                      //mapping matrix
        private Matrix mapy = new Matrix（height width）;
        private MCvTermCriteria criteria=new MCvTermCriteria （1001e-5）;

        private Capture capture1;
        private const int width = 640;      //camera resolution
        private const int height = 480;
        private Size imageSize = new Size（width height）;
        private Size patternSize;           //corner pattern
        private int nPoints;                //number of corners
        private int nImage;                 //number of images which use to calibrate
        private float square;               //the actual size of square （mm）
        private bool captureInProcess;      //the process sign of camera
        private bool isCalibrating;         //the sign of calibrating
        private bool isCalibrated;          //the sign of calibrated
        Image imageframe1;
        Image grayframe1;
        private bool isCorners;             //the var is ture when there is corners file in local

        Thread newThread;                   //thread of calibrating
        #endregion

        public Form1（）
        {
            InitializeComponent（）;
            controlsInit（）;
        }

        private void controlsInit（）
        {
            Corners_Nx.Text = “12“;
            Corners_Ny.Text = “8“;
            Square_Size.Text = “20“;
            Image_Count.Text = “20“;
            radio_camera.Checked = true;

            isCalibrating = false;
            isCalibrated = false;
            captureInProcess = false;
            isCorners = false;

            Start_Calibrate.Enabled = false;
            Exit_Calibrate.Enabled = false;
        }

        private void Processframe（object sender EventArgs arg）
        {
            imageframe1 = capture1.Queryframe（）;
            grayframe1 = imageframe1.Convert（）;
            if （!isCalib

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----
     目录           0  2015-08-27 07:43  Camera-Calibration-by-EmguCV-master\
     目录           0  2015-08-27 07:43  Camera-Calibration-by-EmguCV-master\Camera Calibration EmguCV\
     文件         897  2015-08-27 07:43  Camera-Calibration-by-EmguCV-master\Camera Calibration EmguCV\Camera Calibration EmguCV.sln
     文件       50688  2015-08-27 07:43  Camera-Calibration-by-EmguCV-master\Camera Calibration EmguCV\Camera Calibration EmguCV.suo
     目录           0  2015-08-27 07:43  Camera-Calibration-by-EmguCV-master\Camera Calibration EmguCV\Camera Calibration EmguCV\
     文件        4113  2015-08-27 07:43  Camera-Calibration-by-EmguCV-master\Camera Calibration EmguCV\Camera Calibration EmguCV\Camera Calibration EmguCV.csproj
     文件         222  2015-08-27 07:43  Camera-Calibration-by-EmguCV-master\Camera Calibration EmguCV\Camera Calibration EmguCV\Camera Calibration EmguCV.csproj.user
     文件       22113  2015-08-27 07:43  Camera-Calibration-by-EmguCV-master\Camera Calibration EmguCV\Camera Calibration EmguCV\Form1.Designer.cs
     文件       25903  2015-08-27 07:43  Camera-Calibration-by-EmguCV-master\Camera Calibration EmguCV\Camera Calibration EmguCV\Form1.cs
     文件        5698  2015-08-27 07:43  Camera-Calibration-by-EmguCV-master\Camera Calibration EmguCV\Camera Calibration EmguCV\Form1.resx
     文件         485  2015-08-27 07:43  Camera-Calibration-by-EmguCV-master\Camera Calibration EmguCV\Camera Calibration EmguCV\Program.cs
     目录           0  2015-08-27 07:43  Camera-Calibration-by-EmguCV-master\Camera Calibration EmguCV\Camera Calibration EmguCV\Properties\
     文件        1364  2015-08-27 07:43  Camera-Calibration-by-EmguCV-master\Camera Calibration EmguCV\Camera Calibration EmguCV\Properties\AssemblyInfo.cs
     文件        2830  2015-08-27 07:43  Camera-Calibration-by-EmguCV-master\Camera Calibration EmguCV\Camera Calibration EmguCV\Properties\Resources.Designer.cs
     文件        5496  2015-08-27 07:43  Camera-Calibration-by-EmguCV-master\Camera Calibration EmguCV\Camera Calibration EmguCV\Properties\Resources.resx
     文件        1081  2015-08-27 07:43  Camera-Calibration-by-EmguCV-master\Camera Calibration EmguCV\Camera Calibration EmguCV\Properties\Settings.Designer.cs
     文件         242  2015-08-27 07:43  Camera-Calibration-by-EmguCV-master\Camera Calibration EmguCV\Camera Calibration EmguCV\Properties\Settings.settings
     目录           0  2015-08-27 07:43  Camera-Calibration-by-EmguCV-master\Camera Calibration EmguCV\Camera Calibration EmguCV\bin\
     目录           0  2015-08-27 07:43  Camera-Calibration-by-EmguCV-master\Camera Calibration EmguCV\Camera Calibration EmguCV\bin\Debug\
     文件       48640  2015-08-27 07:43  Camera-Calibration-by-EmguCV-master\Camera Calibration EmguCV\Camera Calibration EmguCV\bin\Debug\Camera Calibration EmguCV.pdb
     文件         479  2015-08-27 07:43  Camera-Calibration-by-EmguCV-master\Camera Calibration EmguCV\Camera Calibration EmguCV\bin\Debug\Camera Calibration EmguCV.vshost.exe.manifest
     文件      126976  2015-08-27 07:43  Camera-Calibration-by-EmguCV-master\Camera Calibration EmguCV\Camera Calibration EmguCV\bin\Debug\Emgu.CV.UI.dll
     文件      331776  2015-08-27 07:43  Camera-Calibration-by-EmguCV-master\Camera Calibration EmguCV\Camera Calibration EmguCV\bin\Debug\Emgu.CV.dll
     文件       32768  2015-08-27 07:43  Camera-Calibration-by-EmguCV-master\Camera Calibration EmguCV\Camera Calibration EmguCV\bin\Debug\Emgu.Util.dll
     文件      307200  2015-08-27 07:43  Camera-Calibration-by-EmguCV-master\Camera Calibration EmguCV\Camera Calibration EmguCV\bin\Debug\ZedGraph.dll
     文件      256840  2015-08-27 07:43  Camera-Calibration-by-EmguCV-master\Camera Calibration EmguCV\Camera Calibration EmguCV\bin\Debug\cudart32_65.dll
     文件     1012224  2015-08-27 07:43  Camera-Calibration-by-EmguCV-master\Camera Calibration EmguCV\Camera Calibration EmguCV\bin\Debug\opencv_calib3d2410.dll
     文件     4245504  2015-08-27 07:43  Camera-Calibration-by-EmguCV-master\Camera Calibration EmguCV\Camera Calibration EmguCV\bin\Debug\opencv_core2410.dll
     文件      741376  2015-08-27 07:43  Camera-Calibration-by-EmguCV-master\Camera Calibration EmguCV\Camera Calibration EmguCV\bin\Debug\opencv_features2d2410.dll
     文件      526848  2015-08-27 07:43  Camera-Calibration-by-EmguCV-master\Camera Calibration EmguCV\Camera Calibration EmguCV\bin\Debug\opencv_flann2410.dll
     文件     2160640  2015-08-27 07:43  Camera-Calibration-by-EmguCV-master\Camera Calibration EmguCV\Camera Calibration EmguCV\bin\Debug\opencv_highgui2410.dll
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