opencv相机标定完整代码解析

//#include <opencv2/opencv.hpp>  
//#include <highgui.hpp>  
//#include "cv.h"  
//#include <cv.hpp>  
//#include <iostream>  
//#include <tchar.h> 
//#include "atlstr.h" 

#include "opencv2/core/core.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/calib3d/calib3d.hpp"
#include "opencv2/highgui/highgui.hpp"
#include <iostream>
#include <fstream>

using namespace std;
using namespace cv;

const int imageWidth = 1600;                             //摄像头的分辨率  
const int imageHeight = 1200;
const int boardWidth = 7;                               //横向的角点数目  
const int boardHeight = 7;                              //纵向的角点数据  
const int boardCorner = boardWidth * boardHeight;       //总的角点数据  
const int frameNumber =13;                             //相机标定时需要采用的图像帧数  
const int squareSize = 20;                              //标定板黑白格子的大小 单位mm  
const Size boardSize = Size(boardWidth, boardHeight);   //  

Mat intrinsic;                                          //相机内参数  
Mat distortion_coeff;                                   //相机畸变参数  

vector<Mat> rvecs;                                        //旋转向量  
vector<Mat> tvecs;                                        //平移向量  
vector<vector<Point2f>> corners;                        //各个图像找到的角点的集合 和objRealPoint 一一对应  
vector<vector<Point3f>> objRealPoint;                   //各副图像的角点的实际物理坐标集合  


vector<Point2f> corner;                                   //某一副图像找到的角点  

Mat rgbImage, grayImage;

/*计算标定板上模块的实际物理坐标*/
void calRealPoint(vector<vector<Point3f>>& obj, int boardwidth, int boardheight, int imgNumber, int squaresize)
{
//  Mat imgpoint(boardheight, boardwidth, CV_32FC3,Scalar(0,0,0));  
vector<Point3f> imgpoint;
for (int rowIndex = 0; rowIndex < boardheight; rowIndex++)
{
for (int colIndex = 0; colIndex < boardwidth; colIndex++)
{
//  imgpoint.at<Vec3f>(rowIndex, colIndex) = Vec3f(rowIndex * squaresize, colIndex*squaresize, 0);  
imgpoint.push_back(Point3f(colIndex * squaresize, rowIndex * squaresize, 0));
}
}
for (int imgIndex = 0; imgIndex < imgNumber; imgIndex++)
{
obj.push_back(imgpoint);
}
}

/*设置相机的初始参数 也可以不估计*/