利用cvFindExtrinsicCameraParams2求取相机外参数

cvFindExtrinsicCameraParams2函数的定义：

 void cvFindExtrinsicCameraParams2( const CvMat* object_points,
                                    const CvMat* image_points,
                                    const CvMat* intrinsic_matrix,
                                    const CvMat* distortion_coeffs,
                                    CvMat* rotation_vector,
                                    CvMat* translation_vector );

 #include <cv.h>
 #include <highgui.h>
 #include <stdio.h>
 #include <stdlib.h>

 int n_boards = ; //Will be set by input list
 const int board_dt = ;
 int board_w;
 int board_h;

 void help()
 {
     printf("Calibration from disk. Call convention:\n\n"
                     "Where: board_{w,h} are the # of internal corners in the checkerboard\n"
             "       width (board_w) and height (board_h)\n"
             "       image_list is space separated list of path/filename of checkerboard\n"
             "       images\n\n"
             "Hit 'p' to pause/unpause, ESC to quit.  After calibration, press any other key to step through the images\n\n");
 }

 int main(int argc, char* argv[])
 {

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

     if(argc != )
     {
         help();
         return -;
     }
     help();
     board_w = atoi(argv[]);
     board_h = atoi(argv[]);
     int board_n  = board_w * board_h;
     CvSize board_sz = cvSize( board_w, board_h );
     FILE *fptr = fopen(argv[],"r");
     char names[];
     //COUNT THE NUMBER OF IMAGES:
     while(fscanf(fptr,"%s ",names)==)
     {
         n_boards++;
     }
     rewind(fptr);

   cvNamedWindow( "Calibration" );
   //ALLOCATE STORAGE
   CvMat* image_points      = cvCreateMat(board_n,,CV_32FC1);
   CvMat* object_points     = cvCreateMat(board_n,,CV_32FC1);
   //CvMat* point_counts      = cvCreateMat(1,CV_32SC1);

   CvMat *intrinsic = (CvMat*)cvLoad("Intrinsicsr.xml");
   CvMat *distortion = (CvMat*)cvLoad("Distortionr.xml");
   CvMat* rotation_vector=cvCreateMat(,,CV_32FC1);
   CvMat* translation_vector=cvCreateMat(,,CV_32FC1);
   CvMat* rotation_mat=cvCreateMat(,,CV_32FC1);
   CvMat* jacobian=cvCreateMat(,,CV_32FC1);

   IplImage* image = ;// = cvQueryFrame( capture );
   IplImage* gray_image = ; //for subpixel
   CvPoint2D32f* corners = new CvPoint2D32f[ board_n ];
   int corner_count;

       fscanf(fptr,"%s ",names);
       image = cvLoadImage( names);
       if(gray_image ==   && image) //We'll need this for subpixel accurate stuff
           gray_image = cvCreateImage(cvGetSize(image),,);

       if(!image)
           printf("null image\n");

       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);
       cvFindCornerSubPix(gray_image, corners, corner_count,
               cvSize(,),cvSize(-,-), cvTermCriteria( CV_TERMCRIT_EPS+CV_TERMCRIT_ITER, , 0.1 ));
       //Draw it

       cvDrawChessboardCorners(image, board_sz, corners, corner_count, found);
       cvShowImage( "Calibration", image );
        if( corner_count == board_n )
           printf("Found = %d for %s\n",found,names);
         for( int i=; i<board_n; ++i )
           {
            CV_MAT_ELEM(*image_points, float,i,) = corners[i].x;
            CV_MAT_ELEM(*image_points, float,i,) = corners[i].y;
            CV_MAT_ELEM(*object_points,float,i,) = i/board_w;
            CV_MAT_ELEM(*object_points,float,i,) = i%board_w;
            CV_MAT_ELEM(*object_points,float,i,) = 0.0f;
           }

         cvFindExtrinsicCameraParams2(
                             object_points,image_points,intrinsic,distortion,rotation_vector,translation_vector
                             );
         cvRodrigues2(
           rotation_vector,rotation_mat,jacobian=NULL
                      );
 cvSave("Rotationr.xml",rotation_mat);
 cvSave("Translationr.xml",translation_vector);
   }