opencv入门笔记之四 读写视频 捕捉移动点

 

 捕捉移动点时,  我们可以使用一种叫做 光学流动(optical flow) 的算法,  在关键点的周围,  所有点的流动导数都是相同的,  从而我门可以判断出关键点( feature points)

 下面是代码:

classCameraCaliberator

{

vector<vector<Point3f>> objectPoints;

// the real points

vector<vector<Point2f>> imagePoints;

// points found inimage

Mat cameraMatrix;

Mat distCoeffs;

int flag;

Mat map1, map2;

bool mustInitUndistort;

 

public:

CameraCaliberator() :flag(0), mustInitUndistort(true)

{

};

 

int addChessboardPoints(

const vector<string>& filelist, Size &boardSize){

vector<Point2f> imageCorners;

vector<Point3f> objectCorners;

for (int i = 0; i < boardSize.height;i++)

{

for (int j = 0; j < boardSize.width;j++)

{

objectCorners.push_back(Point3f(i, j,0.0f));        

}

}

Mat image;

int successes = 0;

for (int i = 0; i < filelist.size();i++)

{

image = imread(filelist[i], 0);

 

bool found = findChessboardCorners(image, boardSize, imageCorners);

cornerSubPix(image, imageCorners, Size(5, 5), Size(-1, -1),

TermCriteria(TermCriteria::MAX_ITER + TermCriteria::EPS, 30, 0.1));

//used to define when to stop

if (imageCorners.size() == boardSize.area())

{

addPoints(imageCorners, objectCorners);

successes++;

}

}

return successes;

}

double calibrate(Size &imageSize){

mustInitUndistort = true;

vector<Mat> rvecs, tvecs;

return        calibr