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Delphi-OpenCV/samples/MultiDemo/CameraCalibrate/CameraCalibrate.dpr
Laex a58d5f3056 Fixed issues #3 
Signed-off-by: Laex <laex@bk.ru>
2013-04-18 10:34:16 +04:00

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(* /*****************************************************************
// Delphi-OpenCV Demo
// Copyright (C) 2013 Project Delphi-OpenCV
// ****************************************************************
// Contributor:
// laentir Valetov
// email:laex@bk.ru
// ****************************************************************
// You may retrieve the latest version of this file at the GitHub,
// located at git://github.com/Laex/Delphi-OpenCV.git
// ****************************************************************
// The contents of this file are used with permission, subject to
// the Mozilla Public License Version 1.1 (the "License"); you may
// not use this file except in compliance with the License. You may
// obtain a copy of the License at
// http://www.mozilla.org/MPL/MPL-1_1Final.html
//
// Software distributed under the License is distributed on an
// "AS IS" basis, WITHOUT WARRANTY OF ANY KIND, either express or
// implied. See the License for the specific language governing
// rights and limitations under the License.
******************************************************************* *)
// JCL_DEBUG_EXPERT_GENERATEJDBG OFF
// JCL_DEBUG_EXPERT_INSERTJDBG OFF
// JCL_DEBUG_EXPERT_DELETEMAPFILE OFF
program CameraCalibrate;
{$APPTYPE CONSOLE}
{$POINTERMATH ON}
{$R *.res}
uses
System.SysUtils,
uLibName in '..\..\..\include\uLibName.pas',
highgui_c in '..\..\..\include\highgui\highgui_c.pas',
core_c in '..\..\..\include\core\core_c.pas',
Core.types_c in '..\..\..\include\core\Core.types_c.pas',
imgproc.types_c in '..\..\..\include\imgproc\imgproc.types_c.pas',
imgproc_c in '..\..\..\include\imgproc\imgproc_c.pas',
legacy in '..\..\..\include\legacy\legacy.pas',
calib3d in '..\..\..\include\calib3d\calib3d.pas',
imgproc in '..\..\..\include\imgproc\imgproc.pas',
haar in '..\..\..\include\objdetect\haar.pas',
objdetect in '..\..\..\include\objdetect\objdetect.pas',
tracking in '..\..\..\include\video\tracking.pas',
Core in '..\..\..\include\core\core.pas';
Var
n_boards: Integer = 0; // <20>c<EFBFBD><63><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> c<><63>c<EFBFBD><63>
board_dt: Integer = 20; // <20><><EFBFBD><EFBFBD> 20 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> c <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>c<EFBFBD><63>
board_w: Integer;
board_h: Integer;
board_n: Integer;
board_sz: TCvSize;
capture: pCvCapture = nil;
image_points: pCvMat;
object_points: pCvMat;
point_counts: pCvMat;
intrinsic_matrix: pCvMat;
distortion_coeffs: pCvMat;
corners: pCvPoint2D32f;
corner_count: Integer;
successes: Integer = 0;
step: Integer = 0;
frame: Integer = 0;
image: pIplImage;
gray_image: pIplImage;
found: Integer;
i, j: Integer;
c: Integer;
object_points2: pCvMat;
image_points2: pCvMat;
point_counts2: pCvMat;
intrinsic: pCvMat;
Distortion: pCvMat;
mapx: pIplImage;
mapy: pIplImage;
t: pIplImage;
s: Single;
begin
try
if ParamCount = 3 then
begin
board_w := StrToInt(ParamStr(1));
board_h := StrToInt(ParamStr(2));
n_boards := StrToInt(ParamStr(3));
end
else
begin
board_w := 7;
board_h := 3;
n_boards := 10;
end;
board_n := board_w * board_h;
Writeln('Cells: ', board_n);
board_sz := cvSize(board_w, board_h);
capture := cvCreateCameraCapture(CV_CAP_ANY);
assert(Assigned(capture));
cvNamedWindow('Calibration');
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
image_points := cvCreateMat(n_boards * board_n, 2, CV_32FC1);
object_points := cvCreateMat(n_boards * board_n, 3, CV_32FC1);
point_counts := cvCreateMat(n_boards, 1, CV_32SC1);
intrinsic_matrix := cvCreateMat(3, 3, CV_32FC1);
distortion_coeffs := cvCreateMat(5, 1, CV_32FC1);
corners := AllocMem(SizeOf(TCvPoint2D32f) * board_n);
image := cvQueryFrame(capture);
gray_image := cvCreateImage(cvGetSize(image), 8, 1); // subpixel
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> c <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> n_boards
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> (<28>c<EFBFBD> <20><><EFBFBD><EFBFBD> <20><> <20><>c<EFBFBD><63> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>)
//
while (successes < n_boards) do
begin
// <20><><EFBFBD><EFBFBD><EFBFBD>c<EFBFBD><63><EFBFBD><EFBFBD> board_dt <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD>c<EFBFBD><63><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>c<EFBFBD><63>
if ((frame div board_dt) = 0) then
begin
Writeln('Successes: ', successes);
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>c<EFBFBD><63>:
found := cvFindChessboardCorners(image, board_sz, corners, @corner_count, CV_CALIB_CB_ADAPTIVE_THRESH or
CV_CALIB_CB_FILTER_QUADS);
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> c<><63><EFBFBD><EFBFBD><EFBFBD>c<EFBFBD><63><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>c<EFBFBD><63> <20><> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>
cvCvtColor(image, gray_image, CV_BGR2GRAY);
cvFindCornerSubPix(gray_image, corners, corner_count, cvSize(11, 11), cvSize(-1, -1),
cvTermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));
// <20><><EFBFBD><EFBFBD>c<EFBFBD><63><EFBFBD> <20><><EFBFBD>
cvDrawChessboardCorners(image, board_sz, corners, corner_count, found);
cvShowImage('Calibration', image);
// <20>c<EFBFBD><63> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>c<EFBFBD><63>, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
if (corner_count = board_n) then
begin
step := successes * board_n;
i := step;
j := 0;
while i < board_n do
begin
pSingle(CV_MAT_ELEM(image_points^, SizeOf(Single), i, 0))^ := corners[j].x;
pSingle(CV_MAT_ELEM(image_points^, SizeOf(Single), i, 1))^ := corners[j].y;
pSingle(CV_MAT_ELEM(object_points^, SizeOf(Single), i, 0))^ := j / board_w;
pSingle(CV_MAT_ELEM(object_points^, SizeOf(Single), i, 1))^ := j div board_w;
pSingle(CV_MAT_ELEM(object_points^, SizeOf(Single), i, 2))^ := 0;
Inc(i);
Inc(j);
end;
pInteger(CV_MAT_ELEM(point_counts^, SizeOf(Integer), successes, 0))^ := board_n;
Inc(successes);
end;
end; // end skip board_dt between chessboard capture
// Handle pause/unpause and ESC
c := cvWaitKey(15);
if (c = Ord('p')) then
begin
c := 0;
while (c <> Ord('p')) and (c <> 27) do
begin
c := cvWaitKey(50);
end;
end;
if (c = 27) then
begin
// <20>c<EFBFBD><63><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>c<EFBFBD><63>c<EFBFBD>
// cvReleaseImage(mapx); - <20><><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// cvReleaseImage(mapy); - <20><><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
cvReleaseImage(gray_image);
// cvReleaseImage(image); - <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// c<>. http://docs.opencv.org/modules/highgui/doc/reading_and_writing_images_and_video.html?highlight=cvqueryframe#IplImage*%20cvQueryFrame%28CvCapture*%20capture%29
// Note
// OpenCV 1.x functions cvRetrieveFrame and cv.RetrieveFrame return image
// stored inside the video capturing structure. It is not allowed to modify
// or release the image! You can copy the frame using cvCloneImage()
// and then do whatever you want with the copy.
//
cvReleaseMat(object_points);
cvReleaseMat(image_points);
cvReleaseMat(point_counts);
cvReleaseMat(intrinsic_matrix);
cvReleaseMat(distortion_coeffs);
cvReleaseCapture(capture);
cvDestroyAllWindows;
Halt;
end;
image := cvQueryFrame(capture); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> c<><63><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
end; // <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> WHILE.
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>c<EFBFBD><63><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>c<EFBFBD>, c<><63><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
object_points2 := cvCreateMat(successes * board_n, 3, CV_32FC1);
image_points2 := cvCreateMat(successes * board_n, 2, CV_32FC1);
point_counts2 := cvCreateMat(successes, 1, CV_32SC1);
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> c<><63><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
// <20><> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>c<EFBFBD><63> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>c<EFBFBD><63><EFBFBD>:
// image_points->rows := object_points->rows := \
// successes*board_n; point_counts->rows := successes;
i := 0;
While i < successes * board_n do
begin
pSingle(CV_MAT_ELEM(image_points2^, SizeOf(Single), i, 0))^ :=
pSingle(CV_MAT_ELEM(image_points^, SizeOf(Single), i, 0))^;
pSingle(CV_MAT_ELEM(image_points2^, SizeOf(Single), i, 1))^ :=
pSingle(CV_MAT_ELEM(image_points^, SizeOf(Single), i, 1))^;
pSingle(CV_MAT_ELEM(object_points2^, SizeOf(Single), i, 0))^ :=
pSingle(CV_MAT_ELEM(object_points^, SizeOf(Single), i, 0))^;
pSingle(CV_MAT_ELEM(object_points2^, SizeOf(Single), i, 1))^ :=
pSingle(CV_MAT_ELEM(object_points^, SizeOf(Single), i, 1))^;
pSingle(CV_MAT_ELEM(object_points2^, SizeOf(Single), i, 2))^ :=
pSingle(CV_MAT_ELEM(object_points^, SizeOf(Single), i, 2))^;
Inc(i);
end;
i := 0;
While i < successes do
begin // <20><><EFBFBD>c<EFBFBD> <20>c<EFBFBD> <20><> <20><> <20><>c<EFBFBD><63>
pInteger(CV_MAT_ELEM(point_counts2^, SizeOf(Integer), i, 0))^ :=
pInteger(CV_MAT_ELEM(point_counts^, SizeOf(Integer), i, 0))^;
Inc(i);
end;
cvReleaseMat(object_points);
cvReleaseMat(image_points);
cvReleaseMat(point_counts);
// <20><><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD> <20>c<EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>c<EFBFBD><63>, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>.
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>, <20><><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// <20>ccc<63><63><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> c<><63><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 1.0
cvZero(intrinsic_matrix);
// pSingle(CV_MAT_ELEM(intrinsic_matrix^, CV_32FC1, 0, 0))^ := 1;
// pSingle(CV_MAT_ELEM(intrinsic_matrix^, CV_32FC1, 1, 1))^ := 1;
// pSingle(CV_MAT_ELEM(intrinsic_matrix^, CV_32FC1, 2, 2))^ := 1;
pSingle(CV_MAT_ELEM(intrinsic_matrix^, SizeOf(Single), 0, 0))^ := 520.0;
pSingle(CV_MAT_ELEM(intrinsic_matrix^, SizeOf(Single), 1, 1))^ := 520.0;
pSingle(CV_MAT_ELEM(intrinsic_matrix^, SizeOf(Single), 2, 2))^ := 1;
pSingle(CV_MAT_ELEM(intrinsic_matrix^, SizeOf(Single), 0, 2))^ := 70.0;
pSingle(CV_MAT_ELEM(intrinsic_matrix^, SizeOf(Single), 1, 2))^ := 70.0;
for i := 0 to intrinsic_matrix^.rows - 1 do
begin
for j := 0 to intrinsic_matrix^.cols - 1 do
Write(Format('%.0f ', [pSingle(CV_MAT_ELEM(intrinsic_matrix^, SizeOf(Single), i, j))^]));
Writeln;
end;
Writeln;
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>!
cvCalibrateCamera2(object_points2, image_points2, point_counts2, cvGetSize(image), intrinsic_matrix,
distortion_coeffs, nil, nil,
// {}0,
// {}CV_CALIB_FIX_ASPECT_RATIO,
CV_CALIB_USE_INTRINSIC_GUESS,
{ } cvTermCriteria(CV_TERMCRIT_ITER + CV_TERMCRIT_EPS, 30, DBL_EPSILON));
// c<><63><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><>c<EFBFBD><63>cc<63><63>
cvSave('result\Intrinsics.xml', intrinsic_matrix);
cvSave('result\Distortion.xml', distortion_coeffs);
// -------------------------------------------------------------
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>:
intrinsic := cvLoad('result\Intrinsics.xml');
Distortion := cvLoad('result\Distortion.xml');
// c<><63><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>c<EFBFBD><63><EFBFBD>c<EFBFBD><63>, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD> <20>c<EFBFBD><63><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD> <20>c<EFBFBD><63> <20><>c<EFBFBD><63><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
//
mapx := cvCreateImage(cvGetSize(image), IPL_DEPTH_32F, 1);
mapy := cvCreateImage(cvGetSize(image), IPL_DEPTH_32F, 1);
cvInitUndistortMap(intrinsic, Distortion, mapx, mapy);
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> c<><63><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, c<><63><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> c<><63><EFBFBD><EFBFBD>
// <20> <20><><EFBFBD>c<EFBFBD><63><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
//
cvNamedWindow('Undistort');
while Assigned(image) do
begin
t := cvCloneImage(image);
cvShowImage('Calibration', image); // Show raw image
cvRemap(t, image, mapx, mapy, CV_INTER_LINEAR + CV_WARP_FILL_OUTLIERS, cvScalarAll(0)); // Undistort image
cvReleaseImage(t);
cvShowImage('Undistort', image); // Show corrected image
// Handle pause/unpause and ESC
c := cvWaitKey(15);
if (c = Ord('p')) then
begin
c := 0;
while (c <> Ord('p')) and (c <> 27) do
begin
c := cvWaitKey(250);
end;
end;
if (c = 27) then
break;
image := cvQueryFrame(capture);
end;
// <20>c<EFBFBD><63><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>c<EFBFBD><63>c<EFBFBD>
cvReleaseImage(mapx);
cvReleaseImage(mapy);
cvReleaseImage(gray_image);
cvReleaseMat(intrinsic_matrix);
cvReleaseMat(distortion_coeffs);
cvReleaseMat(object_points2);
cvReleaseMat(image_points2);
cvReleaseMat(point_counts2);
cvReleaseCapture(capture);
cvDestroyAllWindows;
except
on E: Exception do
Writeln(E.ClassName, ': ', E.Message);
end;
end.
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