开始标定double fisheye::calibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, const Size& image_size, InputOutputArray K, InputOutputArray D, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, int flags=0, TermCriteria criteria=TermCriteria(TermCriteria::COUNT + TermCriteria:: EPS, 100, DBL_EPSILON))注意:K,D 分别表示内参矩阵和畸变系数向量,在定义时要定义为double型,这里推荐使用Matx33d和Vec4d数据类型,更为方便简单。objectPoints,imagePoints可以是float型,也可以是double型,但是再stereorectify中需要时double型。flags的可选项有很多,其中需要注意的是必须要指定CALIB_FIX_SKEW,代表求解时假设内参中fx=fy.4.评定误差(可选项)
for (int i = 0; i != image_count; i++)
{
cout << "Frame #" << i + 1 << "..." << endl;
string image_Name;
stringstream stream;
stream << (i + startNum);
stream >> image_Name;
image_Name