opencv棋盘法对齐两个kinect
大家好，我现在正在用opencv2.4.6和kinect sdk开发多个kinect的程序。在用opencv棋盘法做kinect对齐的时候遇到一些问题，以下是核心的代码：
//find the corners
cv::findChessboardCorners(*image, patternSize, corners, CV_CALIB_CB_NORMALIZE_IMAGE|CV_CALIB_CB_ADAPTIVE_THRESH);
cvtColor(*image, gray_image, CV_BGR2GRAY);
cornerSubPix(gray_image, corners, cv::Size(5,5), cv::Size(-1,-1), cvTermCriteria( CV_TERMCRIT_EPS+CV_TERMCRIT_ITER, 30, 0.1 ));
//after I collect 20 sets of corners, do calibration
CalcCameraIntrinsic(corner_src, rgb_intr_src, coeff_src);
CalcCameraIntrinsic(corner_dist, rgb_intr_dist, coeff_dist);
cv::stereoCalibrate(patternPoints, corner_src, corner_dist, rgb_intr_src, coeff_src, rgb_intr_dist, coeff_dist,
cv::Size(width, height), R, T, E, F,
cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 50, 1e-6), cv::CALIB_FIX_INTRINSIC);
