OpenCV相机标定代码分享

*/

＃i nclude<stdio.h>
＃i nclude"cv.h"
＃i nclude"highgui.h"
＃i nclude <stdlib.h>  

//函数声明
void PrintMat(CvMat *matrix,BOOL save_or_show,FILE *fp);
int main(int argc,char **argv)
{
   int  i=1;
   char k=0;
   int  CurrentImage  = 0;
   int  CurrentRow    = 0;         //行 
   int  CurrentColumn = 0;         //列
   int  findcorner_result=0;

   FILE *fp;                        //文件指针


   int ChessBoardSize_w =6;       //角点个数
   int ChessBoardSize_h =7;
   int width_pixel      =1280;     //像素
   int high_pixel       =1024;
   
   float      SquareSize=10;       //棋盘大小
   int        NImages=16;        
   CvSize     ChessBoardSize;  
   CvSize     image_pixel;  

   int        NPoints=0;   
   
   int          *corner_counter;  
   float        *temppoints;       //这里可以使用内存动态存储管理。。。
   CvPoint2D32f *corners;          //存储角点坐标的数组

   //单通道灰度图像
   IplImage   *grayimage=0;             
   IplImage   *srcimage=0;              //三通道图像
   IplImage   *result_image=0;          //矫正以后的图像
     

   CvMat      *intrinsic_matrix=0;   //内部参数矩阵
   CvMat      *distortion_coeffs=0;  //畸变系数
   CvMat      *rotation_vectors=0;   //旋转向量
   CvMat      *translation_vectors=0;//平移向量
   CvMat      *points_counts=0;      //图片角点数
   CvMat      *object_points=0;      //世界坐标系中角点的坐标
   CvMat      *image_points=0;       //检测到的角点坐标

   CvMat *temp_matrix,*rotation_matrix,*translation_matrix;
 
   //*****************************************************
   //数据载入、开辟空间
   image_pixel          = cvSize(width_pixel,high_pixel);
   ChessBoardSize       = cvSize(ChessBoardSize_w,ChessBoardSize_h);
   NPoints              = ChessBoardSize_w*ChessBoardSize_h;

   corner_counter=calloc(NImages,sizeof(int));                   //动态管理，记着释放空间
   temppoints    =calloc(NImages*NPoints*3,sizeof(float));