立体相机镜面重建（一）镜面标定

无论是单目、双目或者是多屏幕镜面重建，都需要事先对屏幕和相机的相对位置进行标定，求得相机到屏幕之间的相对变换关系。如果求得屏幕和相机之间的变换关系呢？接下来是标定流程。

（一）准备：

1）生成1920*1080像素的标定板

复制代码

// 生成棋盘格图像
void genChessBoardBmp()
{
    const int perBoardPixel = 70;
    const cv::Size boardSize(11, 9);
    const cv::Size resolution(1920,1080);
    {
        int basisHeight = (resolution.height - perBoardPixel * boardSize.height) / 2;
        int basisWidth = (resolution.width - perBoardPixel * boardSize.width) / 2;
        if (basisHeight < 0 || basisWidth < 0)
        {
            //cout << "Resolution doesn't match!" << endl;
        }
        cv::Mat image(1080,1920, CV_8UC1, cv::Scalar::all(255));
        int flag = 0;
        for (int j = 0; j < boardSize.height; j++)
        {
            for (int i = 0; i < boardSize.width; i++)
            {
                flag = (i + j) % 2;
                if (flag == 0)
                {
                    for (int n = j * perBoardPixel; n < (j + 1) * perBoardPixel; n++)
                        for (int m = i * perBoardPixel; m < (i + 1) * perBoardPixel; m++)
                            image.at<uchar>(n + basisHeight, m + basisWidth) = 0;
                }
            }
        }
        //cv::imshow("haha",image);
        std::string strSavePath = std::string("H") + std::to_string(boardSize.width) + "_V" + std::to_string(boardSize.height) + "_" +
            std::to_string(perBoardPixel) + ".bmp";
        cv::imwrite(strSavePath, image);
        //cv::waitKey(0);
    }
}