Opencv 检测棋盘标定点 例程

#include <iostream>
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/features2d/features2d.hpp"
#include "opencv2/legacy/legacy.hpp"
using namespace std;
 
 
//by Huang, Haiqiao 25 Jun. 2011, fzyhhq@bift.edu.cn
//http://www.opencv.org.cn/forum/viewtopic.php?f=1&t=14214
 
int main( )
{
    cout<<"Draw Chess OpenCV!"<<endl;  
    char* filename="e:/src2/chess2.bmp";
    IplImage* imgRGB = cvLoadImage(filename,1); 
    IplImage* imgGrey = cvLoadImage(filename,CV_LOAD_IMAGE_GRAYSCALE); 
 
    if (imgGrey==NULL){//image validation
        cout<< "No valid image input."<<endl; 
        char c=getchar();
        return 1;
    } 
 
    //-------find chessboard corners--------------
    //使用的棋盘格的内角点个数，如结果图所示
    int corner_row=10;//13;//interior number of row corners.(this can be countered by fingers.)
    int corner_col=12;//interior number of column corners.
    int corner_n=corner_row*corner_col;
    
    CvSize pattern_size=cvSize(corner_row,corner_col);
    CvPoint2D32f* corners=new CvPoint2D32f[corner_n];
    int corner_count;
 
    int found=cvFindChessboardCorners(//returning non-zero means sucess.
        imgGrey,// 8-bit single channel greyscale image.
        pattern_size,//how many INTERIOR corners in each row and column of the chessboard.
        corners,//a pointer to an array where the corner locations can be recorded.
        &corner_count,// optional, if non-NULL, its a point to an integer where the nuber of corners found can be recorded.
        CV_CALIB_CB_ADAPTIVE_THRESH|CV_CALIB_CB_FILTER_QUADS// check page 382-383.
 
        );
     cout<<"corner_count = "<<corner_count;
    //-------Draw the corner pattern-------
    cvDrawChessboardCorners(
        imgRGB,
        pattern_size,
        corners,
        corner_count,
        found
        );
 
    //to summary a bit of findings.
    cout<<"found="<<found<<endl;
    
    CvPoint2D32f* newCorners=new CvPoint2D32f[corner_n];//将检测出来的corner的坐标系转换成为同图像坐标系相同
    int count=0;
    for (int c = 0; c<corner_col; c++)
    {
        cout<<endl;
        for (int r = 0; r<corner_row; r++)
        {
            cout<<"[x="<<corners[c*corner_row+r].x;
            cout<<" y="<<corners[c*corner_row+r].y<<"] ";
            newCorners[count++].x = corners[c*corner_row+r].x;
            newCorners[count++].y = corners[c*corner_row+r].x;
        }
    }
 
    //cvNamedWindow("Find and Draw ChessBoard", 0 );//窗口大小可调
    cvShowImage( "Find and Draw ChessBoard", imgRGB );
 
    cvWaitKey(0); 
 
    cvReleaseImage(&imgGrey);
    cvReleaseImage(&imgRGB);
    //cvDestroyWindow("Find and Draw ChessBoard"); 
 
    return 0;
}