Question

我该如何解决错误？

我使用为OpenCV 2.x制作的程序，但我在OpenCV 3.0上编译它，并出现错误。我将CvTermCriteria更改为TermCriteria :: TermCriteria，但那不起作用。我怎么能把CvTermCriteria改成int？

希望有人能帮助我。感谢

此部分出现错误：

cvStereoCalibrate( &_objectPoints, &_imagePoints1, &_imagePoints2, &_npoints,&_M1calib, &_D1, &_M2calib, &_D2,imageSize, &_R, &_Tcalib, &_E, &_F, 
    cvTermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS, 100, 1e-5),
    CV_CALIB_FIX_ASPECT_RATIO+CV_CALIB_ZERO_TANGENT_DIST + CV_CALIB_SAME_FOCAL_LENGTH );

这是源代码：

//--------------Compute for calibration-------------------
    N = n_boards*n;
    objectPoints.resize(N);
    for( i = 0; i < ny; i++ )
        for(j = 0; j < nx; j++ )   objectPoints[i*nx + j] = cvPoint3D32f(i*squareSize, j*squareSize, 0);
    for( i = 1; i < n_boards; i++ ) copy( objectPoints.begin(), objectPoints.begin() + n, objectPoints.begin() + i*n );
    npoints.resize(n_boards,n);

    CvMat _objectPoints = cvMat(1, N, CV_32FC3, &objectPoints[0] );
    CvMat _imagePoints1 = cvMat(1, N, CV_32FC2, &points[0][0] );
    CvMat _imagePoints2 = cvMat(1, N, CV_32FC2, &points[1][0] );
    CvMat _npoints = cvMat(1, npoints.size(), CV_32S, &npoints[0] );
    cvSetIdentity(&_M1calib);
    cvSetIdentity(&_M2calib);
    cvZero(&_D1);
    cvZero(&_D2);

    printf("\nRunning stereo calibration ...");
    fflush(stdout);
    cvStereoCalibrate( &_objectPoints, &_imagePoints1, &_imagePoints2, &_npoints,&_M1calib, &_D1, &_M2calib, &_D2,imageSize, &_R, &_Tcalib, &_E, &_F, 
    cvTermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS, 100, 1e-5),
    CV_CALIB_FIX_ASPECT_RATIO+CV_CALIB_ZERO_TANGENT_DIST + CV_CALIB_SAME_FOCAL_LENGTH );


    printf("\nDone Calibration");

    cvUndistortPoints( &_imagePoints1, &_imagePoints1,&_M1calib, &_D1, 0, &_M1calib );
    cvUndistortPoints( &_imagePoints2, &_imagePoints2,&_M2calib, &_D2, 0, &_M2calib );


    CvMat* mx1calib = cvCreateMat( imageSize.height,imageSize.width, CV_32F );
    CvMat* my1calib = cvCreateMat( imageSize.height,imageSize.width, CV_32F );
    CvMat* mx2calib = cvCreateMat( imageSize.height,imageSize.width, CV_32F );
    CvMat* my2calib = cvCreateMat( imageSize.height,imageSize.width, CV_32F );

    double R1[3][3], R2[3][3], P1[3][4], P2[3][4];
    CvMat _R1 = cvMat(3, 3, CV_64F, R1);
    CvMat _R2 = cvMat(3, 3, CV_64F, R2);

        CvMat _P1 = cvMat(3, 4, CV_64F, P1);
        CvMat _P2 = cvMat(3, 4, CV_64F, P2);
        cvStereoRectify( &_M1calib, &_M2calib, &_D1, &_D2, imageSize,&_R, &_Tcalib,&_R1, &_R2, &_P1, &_P2, &_Qcalib,0/*CV_CALIB_ZERO_DISPARITY*/ );

        cvInitUndistortRectifyMap(&_M1calib,&_D1,&_R1,&_P1,mx1calib,my1calib);
        cvInitUndistortRectifyMap(&_M2calib,&_D2,&_R2,&_P2,mx2calib,my2calib);

        printf("\nSaving matries for later use ...\n");
        cvSave("CalibFile//M1.yml",&_M1calib);
    //  cvSave("CalibFile//D1.yml",&_D1);
    //  cvSave("CalibFile//R1.yml",&_R1);
    //  cvSave("CalibFile//P1.yml",&_P1);

        cvSave("CalibFile//M2.yml",&_M2calib);
    //  cvSave("CalibFile//D2.yml",&_D2);
    //  cvSave("CalibFile//R2.yml",&_R2);
    //  cvSave("CalibFile//P2.yml",&_P2);

        cvSave("CalibFile//Q.yml",&_Qcalib);
        cvSave("CalibFile//T.yml",&_Tcalib);
        cvSave("CalibFile//mx1.yml",mx1calib);
        cvSave("CalibFile//my1.yml",my1calib);
        cvSave("CalibFile//mx2.yml",mx2calib);
        cvSave("CalibFile//my2.yml",my2calib);

Answer 1

交换stereoCalibrate

的最后两个参数

在OpenCV＆gt; = 3.0中，stereoCalibrate的签名发生了变化，而则需要简单地交换最后两个参数，flags和criteria。

过时的C版本，OpenCV＆lt; 3.0

C：double cvStereoCalibrate（const CvMat * object_points，const CvMat * image_points1，const CvMat * image_points2，const CvMat * npoints，CvMat * camera_matrix1，CvMat * dist_coeffs1，CvMat * camera_matrix2，CvMat * dist_coeffs2，CvSize image_size，CvMat * R ，CvMat * T，CvMat * E = 0，CvMat * F = 0，CvTermCriteria term_crit = cvTermCriteria（CV_TERMCRIT_ITER + CV_TERMCRIT_EPS，30,1e-6），int flags = CV_CALIB_FIX_INTRINSIC）

C ++版本，OpenCV＆lt; 3.0

C ++：双stereoCalibrate（InputArrayOfArrays objectPoints，InputArrayOfArrays imagePoints1，InputArrayOfArrays imagePoints2，InputOutputArray cameraMatrix1，InputOutputArray distCoeffs1，InputOutputArray cameraMatrix2，InputOutputArray distCoeffs2，尺寸IMAGESIZE，OutputArray R，OutputArray T，OutputArray E，OutputArray楼TermCriteria标准= TermCriteria（TermCriteria :: COUNT + TermCriteria :: EPS，30,1e-6），int flags = CALIB_FIX_INTRINSIC）

C ++版本，OpenCV＆gt; = 3.0

double cv :: stereoCalibrate（InputArrayOfArrays objectPoints，   InputArrayOfArrays imagePoints1，   InputArrayOfArrays imagePoints2，   InputOutputArray cameraMatrix1，   InputOutputArray distCoeffs1，   InputOutputArray cameraMatrix2，   InputOutputArray distCoeffs2，   尺寸imageSize，   OutputArray R，   OutputArray T，   OutputArray E，   OutputArray F，   int flags = CALIB_FIX_INTRINSIC，   TermCriteria criteria = TermCriteria（TermCriteria :: COUNT + TermCriteria :: EPS，30,1e-6）   ）

您的代码使用的是，已过时。你现在应该考虑使用C ++ api。

没有合适的从“CvTermCriteria”到“int”的转换函数

1 个答案: