//?CameraCalibration.cpp?:?定義控制臺應用程序的入口點。
//

#include?“stdafx.h“
#include?
#include?
#include?
#include?

int?n_boards?=?0;?//Will?be?set?by?input?list
int?board_w;
int?board_h;

int?_tmain（int?argc?_TCHAR*?argv[]）
{
	//board_w?=?12;??//水平角點個數(shù)
	//board_h?=?11;??//豎直角點個數(shù)
	board_w?=?9;??//水平角點個數(shù)
	board_h?=?6;??//豎直角點個數(shù)
	int?board_n??=?board_w?*?board_h;??//單張圖片的角點總數(shù)
	CvSize?board_sz?=?cvSize（?board_w?board_h?）;

	//讀取存儲標定圖片名稱的文檔
	FILE?*fptr?=?fopen（“chessboards.txt““r“）;
	char?names[2048];
	//COUNT?THE?NUMBER?OF?IMAGES:
	while（fscanf（fptr“%s?“names）==1）{
		n_boards++;
	}
	rewind（fptr）;

	cvNamedWindow（?“Calibration“?）;

????//ALLOCATE?STORAGE申請存儲空間
????CvMat*?image_points??????=?cvCreateMat（n_boards*board_n2CV_32FC1）;?//存儲角點的像素坐標
????CvMat*?object_points?????=?cvCreateMat（n_boards*board_n3CV_32FC1）;?//存儲角點的世界坐標
????CvMat*?point_counts??????=?cvCreateMat（n_boards1CV_32SC1）;?????????//存儲標定圖片的個數(shù)
????CvMat*?intrinsic_matrix??=?cvCreateMat（33CV_32FC1）;????????????????//存儲內參數(shù)矩陣
????CvMat*?distortion_coeffs?=?cvCreateMat（51CV_32FC1）;????????????????//存儲畸變系數(shù)

????IplImage*?image?=?0;
????IplImage*?gray_image?=?0;?//for?subpixel亞像素標定所需的灰度圖像
????CvPoint2D32f*?corners?=?new?CvPoint2D32f[?board_n?];
????int?corner_count;
????int?successes?=?0;
????int?step;

	//讀取標定圖片
????for（?int?frame=0;?frameame++?）?{
	????fscanf（fptr“%s?“names）;

	????if（image）{
		????cvReleaseImage（&image）;
		????image?=?0;
	????}
	????image?=?cvLoadImage（?names）;

???	????if（gray_image?==?0??&&?image）?//We‘ll?need?this?for?subpixel?accurate?stuff
		????gray_image?=?cvCreateImage（cvGetSize（image）81）;

		if?（!image）
		{
			//printf（“null?image\n“）;
			exit（-1）;
		}
	????
		//查找棋盤角點
????????int?found?=?cvFindChessboardCorners（imageboard_szcorners&corner_count?CV_CALIB_CB_ADAPTIVE_THRESH?|?CV_CALIB_CB_FILTER_QUADS）;
		
		cvCvtColor（image?gray_image?CV_RGB2GRAY）;
	????
		//Get?Subpixel?accuracy?on?those?corners
?	????cvFindCornerSubPix（gray_image?corners?corner_countcvSize（1111）cvSize（-1-1）?cvTermCriteria（?CV_TERMCRIT_EPS+CV_TERMCRIT_ITER?30?0.1?））;
	??

		//Draw?it
	????cvDrawChessboardCorners（image?board_sz?corners?corner_count?found）;

		//Show?it
????????cvShowImage（?“Calibration“?image?）;
	????cvWaitKey（10）;


????????//?If?we?got?a?good?board?add?it?to?our?data
????????if（?corner_count?==?board_n?）?{
		????step?=?successes*board_n;
????????????for（?int?i=step?j=0;?j????????????????CV_MAT_ELEM（*image_points?floati0）?=?corners[j].x;
????????????????CV_MAT_ELEM（*image_points?floati1）?=?corners[j].y;
????????????????CV_MAT_ELEM（*object_pointsfloati0）?=?j/board_w;
????????????????CV_MAT_ELEM（*object_pointsfloati1）?=?j%board_w;
????????????????CV_MAT_ELEM（*object_pointsfloati2）?=?0.0f;
		????}
????????????CV_MAT_ELEM（*point_counts?intsuccesses0）?=?board_n;		
????????????s

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件????3736518??2015-03-19?14:20??CameraCalibration\CameraCalibration\1.bmp

?????文件????3736518??2015-03-19?14:19??CameraCalibration\CameraCalibration\800z.bmp

?????文件????1246566??2018-01-02?10:57??CameraCalibration\CameraCalibration\calibration\1.bmp

?????文件????1246566??2018-01-02?11:00??CameraCalibration\CameraCalibration\calibration\10.bmp

?????文件????1246566??2018-01-02?11:00??CameraCalibration\CameraCalibration\calibration\11.bmp

?????文件????1246566??2018-01-02?11:01??CameraCalibration\CameraCalibration\calibration\12.bmp

?????文件????1246566??2018-01-02?11:01??CameraCalibration\CameraCalibration\calibration\13.bmp

?????文件????1246566??2018-01-02?11:01??CameraCalibration\CameraCalibration\calibration\14.bmp

?????文件????1246566??2018-01-02?11:01??CameraCalibration\CameraCalibration\calibration\15.bmp

?????文件????1246566??2018-01-02?11:01??CameraCalibration\CameraCalibration\calibration\16.bmp

?????文件????1246566??2018-01-02?11:01??CameraCalibration\CameraCalibration\calibration\17.bmp

?????文件????1246566??2018-01-02?11:02??CameraCalibration\CameraCalibration\calibration\18.bmp

?????文件????1246566??2018-01-02?11:02??CameraCalibration\CameraCalibration\calibration\19.bmp

?????文件????1246566??2018-01-02?10:57??CameraCalibration\CameraCalibration\calibration\2.bmp

?????文件????1246566??2018-01-02?11:02??CameraCalibration\CameraCalibration\calibration\20.bmp

?????文件????1246566??2018-01-02?11:02??CameraCalibration\CameraCalibration\calibration\21.bmp

?????文件????1246566??2018-01-02?11:02??CameraCalibration\CameraCalibration\calibration\22.bmp

?????文件????1246566??2018-01-02?10:59??CameraCalibration\CameraCalibration\calibration\3.bmp

?????文件????1246566??2018-01-02?10:59??CameraCalibration\CameraCalibration\calibration\4.bmp

?????文件????1246566??2018-01-02?11:00??CameraCalibration\CameraCalibration\calibration\5.bmp

?????文件????1246566??2018-01-02?11:00??CameraCalibration\CameraCalibration\calibration\6.bmp

?????文件????1246566??2018-01-02?11:00??CameraCalibration\CameraCalibration\calibration\7.bmp

?????文件????1246566??2018-01-02?11:00??CameraCalibration\CameraCalibration\calibration\8.bmp

?????文件????1246566??2018-01-02?11:00??CameraCalibration\CameraCalibration\calibration\9.bmp

?????文件?????921654??2015-04-15?15:56??CameraCalibration\CameraCalibration\calibration2\1.bmp

?????文件?????921654??2015-04-15?15:56??CameraCalibration\CameraCalibration\calibration2\10.bmp

?????文件?????921654??2015-04-15?15:56??CameraCalibration\CameraCalibration\calibration2\11.bmp

?????文件?????921654??2015-04-15?15:56??CameraCalibration\CameraCalibration\calibration2\12.bmp

?????文件?????921654??2015-04-15?15:56??CameraCalibration\CameraCalibration\calibration2\13.bmp

?????文件?????921654??2015-04-15?15:56??CameraCalibration\CameraCalibration\calibration2\14.bmp

............此處省略102個文件信息