相机标定部分官方代码

两个地方注意。
1.点击：项目->xxx属性->调试->命令参数：加上xx.xml。这里的xx.xml具体名字看自己怎么起了。然后更改xml里面的三点：

<BoardSize_Width> 8</BoardSize_Width>
<BoardSize_Height>7</BoardSize_Height>
<Input>"VID5.xml"</Input>

2.编辑VID5.xml，添加自己的照片

<?xml version="1.0"?>
<opencv_storage>
<images>
xx1.jpg
xx2.jpg
xx3.jpg
xx4.jpg
xx5.jpg
xx6.jpg
xx7.jpg
</images>
</opencv_storage>

以下是更改过的xml文件。

<?xml version="1.0"?>
<opencv_storage>
<Settings>
  <!-- Number of inner corners per a item row and column. (square, circle) -->
  <BoardSize_Width> 8</BoardSize_Width>
  <BoardSize_Height>7</BoardSize_Height>

  <!-- The size of a square in some user defined metric system (pixel, millimeter)-->
  <Square_Size>100</Square_Size>

  <!-- The type of input used for camera calibration. One of: CHESSBOARD CIRCLES_GRID ASYMMETRIC_CIRCLES_GRID -->
  <Calibrate_Pattern>"CHESSBOARD"</Calibrate_Pattern>

  <!-- The input to use for calibration. 
        To use an input camera -> give the ID of the camera, like "1"
        To use an input video  -> give the path of the input video, like "/tmp/x.avi"
        To use an image list   -> give the path to the XML or YAML file containing the list of the images, like "/tmp/circles_list.xml"
        -->
  <Input>"VID5.xml"</Input>
  <!--  If true (non-zero) we flip the input images around the horizontal axis.-->
  <Input_FlipAroundHorizontalAxis>0</Input_FlipAroundHorizontalAxis>

  <!-- Time delay between frames in case of camera. -->
  <Input_Delay>100</Input_Delay>    

  <!-- How many frames to use, for calibration. -->
  <Calibrate_NrOfFrameToUse>25</Calibrate_NrOfFrameToUse>
  <!-- Consider only fy as a free parameter, the ratio fx/fy stays the same as in the input cameraMatrix. 
       Use or not setting. 0 - False Non-Zero - True-->
  <Calibrate_FixAspectRatio> 1 </Calibrate_FixAspectRatio>
  <!-- If true (non-zero) tangential distortion coefficients  are set to zeros and stay zero.-->
  <Calibrate_AssumeZeroTangentialDistortion>1</Calibrate_AssumeZeroTangentialDistortion>
  <!-- If true (non-zero) the principal point is not changed during the global optimization.-->
  <Calibrate_FixPrincipalPointAtTheCenter> 1 </Calibrate_FixPrincipalPointAtTheCenter>

  <!-- The name of the output log file. -->
  <Write_outputFileName>"out_camera_data.xml"</Write_outputFileName>
  <!-- If true (non-zero) we write to the output file the feature points.-->
  <Write_DetectedFeaturePoints>1</Write_DetectedFeaturePoints>
  <!-- If true (non-zero) we write to the output file the extrinsic camera parameters.-->
  <Write_extrinsicParameters>1</Write_extrinsicParameters>
  <!-- If true (non-zero) we show after calibration the undistorted images.-->
  <Show_UndistortedImage>1</Show_UndistortedImage>
  <!-- If true (non-zero) will be used fisheye camera model.-->
  <Calibrate_UseFisheyeModel>0</Calibrate_UseFisheyeModel>
  <!-- If true (non-zero) distortion coefficient k1 will be equals to zero.-->
  <Fix_K1>0</Fix_K1>
  <!-- If true (non-zero) distortion coefficient k2 will be equals to zero.-->
  <Fix_K2>0</Fix_K2>
  <!-- If true (non-zero) distortion coefficient k3 will be equals to zero.-->
  <Fix_K3>0</Fix_K3>
  <!-- If true (non-zero) distortion coefficient k4 will be equals to zero.-->
  <Fix_K4>1</Fix_K4>
  <!-- If true (non-zero) distortion coefficient k5 will be equals to zero.-->
  <Fix_K5>1</Fix_K5>
</Settings>
</opencv_storage>

官方代码

#include <iostream>
#include <sstream>
#include <string>
#include <ctime>
#include <cstdio>

#include <opencv2/core.hpp>
#include <opencv2/core/utility.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/calib3d.hpp>
#include <opencv2/imgcodecs.hpp>
#include <opencv2/videoio.hpp>
#include <opencv2/highgui.hpp>

using namespace cv;
using namespace std;

static void help()
{
    cout << "This is a camera calibration sample." << endl
        << "Usage: camera_calibration [configuration_file -- default ./default.xml]" << endl
        << "Near the sample file you'll find the configuration file, which has detailed help of "
        "how to edit it.  It may be any OpenCV supported file format XML/YAML." << endl;
}
class Settings
{
public:
    Settings() : goodInput(false) {}
    enum Pattern { NOT_EXISTING, CHESSBOARD, CIRCLES_GRID, ASYMMETRIC_CIRCLES_GRID };
    enum InputType { INVALID, CAMERA, VIDEO_FILE, IMAGE_LIST };

    void write(FileStorage& fs) const                        //Write serialization for this class
    {
        fs << "{"
            << "BoardSize_Width" << boardSize.width
            << "BoardSize_Height" << boardSize.height
            << "Square_Size" << squareSize
            << "Calibrate_Pattern" << patternToUse
            << "Calibrate_NrOfFrameToUse" << nrFrames
            << "Calibrate_FixAspectRatio" << aspectRatio
            << "Calibrate_AssumeZeroTangentialDistortion" << calibZeroTangentDist
            << "Calibrate_FixPrincipalPointAtTheCenter" << calibFixPrincipalPoint

            << "Write_DetectedFeaturePoints" << writePoints
            << "