摄像机标定问题遇到的运行问题

Question

摄像机标定的程序 运行的时候老报错（如图所示），翻书和书上的也一样 卡在这两个星期了，望大神帮忙解决。代码附上：
#ifndef CCALIBRATION_H
#define CCALIBRATION_H

#include "stdafx.h"
#include
#include
#include
#include

int n_boards = 0; //Will be set by input list
const int board_dt = 20;// wait 20 frames per chessboard view
int board_w;
int board_h;

int main() {
//int main(4,8,8,10,0){ //如果不用脚本引导main程序执行，则可以像这样自行输入参数。int argc, char* argv[]
//if(argc != 4){
// printf("ERROR:Wrong number of input parametersn");
// system("pause");
// return -1;
//}
board_w = 4;//atoi(argv[1]); //棋盘板的宽度（横向棋盘格数）
board_h = 6;//atoi(argv[2]); //棋盘板的高度（纵向棋盘格数）
n_boards = 10;//atoi(argv[3]);//图像张数
int board_n = board_w * board_h;
CvSize board_sz = cvSize( board_w, board_h );

CvCapture* capture = cvCreateCameraCapture(0);
assert(capture);

cvNamedWindow( "Calibration" );
//ALLOCATE STORAGE 
CvMat* image_points      = cvCreateMat(n_boards*board_n,2,CV_32FC1);  //总的图像点存储
CvMat* object_points     = cvCreateMat(n_boards*board_n,3,CV_32FC1);//总的实物点存储
CvMat* point_counts      = cvCreateMat(n_boards,1,CV_32SC1);  
CvMat* intrinsic_matrix  = cvCreateMat(3,3,CV_32FC1); //内部参数矩阵
CvMat* distortion_coeffs = cvCreateMat(5,1,CV_32FC1); //畸变矩阵

CvPoint2D32f* corners = new CvPoint2D32f[ board_n ];  //角
int corner_count;
int successes = 0;
int step,frame=0;
IplImage *image = cvQueryFrame(capture); //读图像
IplImage *gray_image = cvCreateImage(cvGetSize(image),8,1);
//subpixel
//capture corner views loop until we've got n_boards
//successful captures (all corners on the board are found)
//
while(successes<n_boards){  //每张图循环一次
    //skip every board_dt frames to allow user to move chessboard
    if(frame++ % board_dt==0){  //每20帧取一张
        //Find chessboard corners://寻找棋盘内角点，将个数存入corner_count，将角点像素存入corners。
        int found = cvFindChessboardCorners(image,board_sz,corners,&corner_count,CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS);

        //Get Subpixel accuracy on those corners
        cvCvtColor(image,gray_image,CV_BGR2GRAY); //转换图像类型。
        cvFindCornerSubPix(gray_image,corners,corner_count,cvSize(11,11),cvSize(-1,-1),cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER,30,0.1));//寻找内角点的压像素值。

        //Draw it
        cvDrawChessboardCorners(image,board_sz,corners,corner_count,found);
        cvShowImage("Calibration",image);  //画出角点

        //If we got a good board ,add it to our data
        if(corner_count == board_n){  //角点全部被找出
            step = successes*board_n;
            for(int i=step,j=0;j<board_n;++i,++j){
                CV_MAT_ELEM(*image_points,float,i,0)=corners[j].x;
                CV_MAT_ELEM(*image_points,float,i,1)=corners[j].y;  //将角点坐标存储到图像点当中。
                CV_MAT_ELEM(*object_points,float,i,0)=j/board_w;  
                CV_MAT_ELEM(*object_points,float,i,1)=j%board_w;  //世界坐标，说明设定每个格子的长度为1.
                CV_MAT_ELEM(*object_points,float,i,2)=0.0f;   //Z轴坐标值为0，将棋盘平面设为世界坐标的XOY平面。
            }
            CV_MAT_ELEM(*point_counts,int,successes,0)=board_n;
            successes++;
        }
    }//end skip board_dt between chessboard capture

    //Handle pause/unpause and ESC
    int c =cvWaitKey(15);   //暂停和退出设置。
    if(c=='p'){
        c = 0;
        while(c!='p'&&c!=27){
            c=cvWaitKey(250);
        }
    }
    if(c==27)
        return 0;
    image = cvQueryFrame(capture);//Get next image
}//End collection while loop.

//allocate matrices according to how many chessboards found
CvMat * object_points2 = cvCreateMat(successes*board_n,3,CV_32FC1);
CvMat * image_points2 = cvCreateMat(successes*board_n,2,CV_32FC1);
CvMat * point_counts2 = cvCreateMat(successes,1,CV_32FC1);
//transfer the points into the correct size matrices
//below, we write out the details in the next two loops.we could instead have written:
//image_points->rows=object_points->rows=
//successes*board_n;point_counts->rows = successes;
//
for(int i = 0;i<successes*board_n;++i){
    CV_MAT_ELEM(*image_points2,float,i,0)= CV_MAT_ELEM(*image_points,float,i,0);
    CV_MAT_ELEM(*image_points2,float,i,1)= CV_MAT_ELEM(*image_points,float,i,1);
    CV_MAT_ELEM(*object_points2,float,i,0)= CV_MAT_ELEM(*object_points,float,i,0);
    CV_MAT_ELEM(*object_points2,float,i,1)= CV_MAT_ELEM(*object_points,float,i,1);
    CV_MAT_ELEM(*object_points2,float,i,2)= CV_MAT_ELEM(*object_points,float,i,2);
}
for(int i=0;i<successes;++i){//There are all the same number
    CV_MAT_ELEM(*point_counts2,int,i,0)=CV_MAT_ELEM(
        *point_counts,int,i,0);
}
cvReleaseMat(&object_points);
cvReleaseMat(&image_points);
cvReleaseMat(&point_counts);//搞不懂为什么不直接用point_counts等，而要赋给point_counts2
//at this point we have all of the chessboard corners we need.
//initialize the intrinsic matrix such that the two focal
//lengths have a ratio of 1.0
//
CV_MAT_ELEM(*intrinsic_matrix,float,0,0)=1.0f; //初始化内参矩阵
CV_MAT_ELEM(*intrinsic_matrix,float,1,1)=1.0f;

//calibrate the camera!
cvCalibrateCamera2(
    object_points2,image_points2,
    point_counts2,cvGetSize(image),
    intrinsic_matrix,distortion_coeffs,
    NULL,NULL,0 //CV_CALIB_FIX_ASPECT_RATIO
    );  //定标，校正和旋转平移

//save the intrinsics and distortions
cvSave("Intrinsics.xml",intrinsic_matrix);  //把参数存下来。
cvSave("Distortion.xml",distortion_coeffs);
//example of loading these matrices back in:
CvMat *intrinsic = (CvMat*)cvLoad("Intrinsics.xml");//intrinsic把参数读出来，传给重投影的函数应用的指针。
CvMat *distortion = (CvMat*)cvLoad("Distortion.xml");

//build the undistort map that will use for all
//subsequent frames
//
IplImage* mapx = cvCreateImage(cvGetSize(image),IPL_DEPTH_32F,1);
IplImage* mapy = cvCreateImage(cvGetSize(image),IPL_DEPTH_32F,1);
cvInitUndistortMap(
    intrinsic,
    distortion,
    mapx,
    mapy
    );
//just run the camera to the screen, now showing the raw and the undistorted image.
//
cvNamedWindow("Undistort");
while(image){
    IplImage *t=cvCloneImage(image);
    cvShowImage("Calibration",image);//show raw image
    cvRemap(t,image,mapx,mapy);//undistort image  //重投影图像。
    cvReleaseImage(&t);
    cvShowImage("Undistort",image);//show corrected image

    //handle pause/unpause and ESC
    int c = cvWaitKey(15);
    if(c=='p'){
        c=0;
        while(c!='p'&&c!=27){
            c=cvWaitKey(250);
        }
    }
    if(c==27)
        break;
    image = cvQueryFrame(capture);
}
system("pause");
return 0;
//system("pause");

}

Answer 1

咋报错的？只能一点一点根据错误信息来看。