#include?
#include?
#include?
#include?
#include?
#include?
#include?
using?namespace?cv;
using?namespace?std;
int?n_boards?=?0;//圖像數目???canshu
const?int?board_dt?=?20;//等20幀每棋盤視圖??xin
						//int?sn_board=0;//成功找到角點的圖像數目
int?board_w;//圖像的角點行列數???canshu
int?board_h;?//canshu
//#pragma?comment（lib?“opencv_core220d.lib“）
//#pragma?comment（lib?“opencv_highgui220d.lib“）
//#pragma?comment（lib?“opencv_imgproc220d.lib“）
void?PrintMat（CvMat*）;
void?FputMat（FILE?*?CvMat?*）;
int?main（int?argc?char*?argv[]）
{
	CvCapture*capture;??//xin
	
	board_w?=?9;//atoi（argv[1]）;??????//canshu
	board_h?=?6;//atoi（argv[2]）;??????//canshu
	n_boards?=5;//?atoi（argv[3]）;?????//canshu
	int?board_n?=?board_h*board_w;//每幅圖像的角點數
	CvSize?board_size?=?cvSize（board_w?board_h）;//每幅圖像的角點數
	capture?=?cvCreateCameraCapture（0）;//xin
									???//assert（capture）;??????????????//xin

	if?（!capture）?{?printf（“\nCouldn‘t?open?the?camera\n“）;?return?-1;?}
	cvNamedWindow（“MyCalib“）;
	cvNamedWindow（“Raw?Video“）;
	
	//allocate?storage
	CvMat*object_points?=?cvCreateMat（board_n*n_boards?3?CV_32FC1）;//世界坐標系
	CvMat*image_points?=?cvCreateMat（board_n*n_boards?2?CV_32FC1）;//圖像坐標系
	CvMat*point_counts?=?cvCreateMat（n_boards?1?CV_32SC1）;

	
	CvPoint2D32f*corners?=?new?CvPoint2D32f[1000];//board_n];//一幅圖像的角點數組
	int?corner_count;
	int?successes?=?0;?????//xin//???本文?successes就是?sn_board
	int?step?frame?=?0;????//xin
	IplImage*image?=?cvQueryframe（capture）;?//圖像的大小???????????????????//??xin
	if（image==NULL）
	{
		printf（“從攝像頭獲取圖片失敗\n“）;
		getchar（）;
		return?0;
	?}
	
	while?（successes	{?????//skip?every?board_dt?frames?to?allow?user?to?move?chessboard
	
		?cvShowImage（“Calibration“?image）;
		?if?（frame++%board_dt?==?0&&?image!=NULL）
		?{	
			int?found?=?cvFindChessboardCorners（image?board_size?corners?&corner_count?CV_CALIB_CB_ADAPTIVE_THRESH?|?CV_CALIB_CB_FILTER_QUADS）;
			if（found==0）
			{
				printf（“幀圖片無法找到棋盤格所有角點!?frame=%dsuccesses=%d\n“?frame?successes）;
			}
			else
			{
				IplImage?*gray_image?=?cvCreateImage（cvGetSize（image）?8?1）;//創建頭并分配數據//tong?SourceImgGray
																			?//亞像素subpixel
																			?//capture?corner?views??loop??until??we‘ve?got?n_boards
																			?//成功捕獲（找到所有角點on?the?board）
				cvCvtColor（image?gray_image?CV_BGR2GRAY）;????????????//xin?
				/*
				const?int?MAX_CORNERS?=?1000;
				CvPoint2D32f*?corners1?=?new?CvPoint2D32f[MAX_CORNERS];
				int?corner_count?=?MAX_CORNERS;
				double?quality_level?=?0.1;?//OR?0.01
				double?min_distance?=?5;
				IplImage*?img_copy?=?cvCloneImage（image）;//a?copy?of?img
				IplImage*?img_gray?=?cvCreateImage（cvGetSize（image）?IPL_DEPTH_8U?1）;
				IplImage*?eig_image?=?cvCreateImage（cvGetSize（image）?IPL_DEPTH_32F?1）;
				IplImage*?temp_image?=?cvCloneImage（eig_image）;
				cvGoodFeaturesToTrack（
					img_gray
					eig_image
					

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

????..A..H.?????35328??2018-03-21?17:15??Calibration11\.vs\Calibration\v14\.suo

?????文件???????5420??2018-03-21?14:17??Calibration11\Calibration\Calibration.vcxproj

?????文件????????945??2018-03-21?14:17??Calibration11\Calibration\Calibration.vcxproj.filters

?????文件????????394??2018-03-20?17:49??Calibration11\Calibration\Calibration.vcxproj.user

?????文件?????????92??2018-03-20?17:15??Calibration11\Calibration\camera_matrix.txt

?????文件????????277??2018-03-20?17:15??Calibration11\Calibration\camera_matrix1111.xml

?????文件???????1416??2018-03-21?14:17??Calibration11\Calibration\Debug\Calibration.Build.CppClean.log

?????文件?????????88??2018-03-21?16:47??Calibration11\Calibration\Debug\Calibration.log

?????文件????????158??2018-03-21?16:47??Calibration11\Calibration\Debug\Calibration.tlog\Calibration.lastbuildstate

?????文件????????796??2018-03-21?16:47??Calibration11\Calibration\Debug\Calibration.tlog\CL.command.1.tlog

?????文件??????26522??2018-03-21?16:47??Calibration11\Calibration\Debug\Calibration.tlog\CL.read.1.tlog

?????文件????????420??2018-03-21?16:47??Calibration11\Calibration\Debug\Calibration.tlog\CL.write.1.tlog

?????文件???????2060??2018-03-21?16:47??Calibration11\Calibration\Debug\Calibration.tlog\link.command.1.tlog

?????文件???????5196??2018-03-21?16:47??Calibration11\Calibration\Debug\Calibration.tlog\link.read.1.tlog

?????文件????????398??2018-03-21?16:47??Calibration11\Calibration\Debug\Calibration.tlog\link.write.1.tlog

?????文件?????379911??2018-03-21?16:47??Calibration11\Calibration\Debug\main.obj

?????文件?????838656??2018-03-21?16:47??Calibration11\Calibration\Debug\vc140.idb

?????文件????1880064??2018-03-21?16:47??Calibration11\Calibration\Debug\vc140.pdb

?????文件?????????39??2018-03-20?17:15??Calibration11\Calibration\distortion_coeffs.txt

?????文件????????259??2018-03-20?17:15??Calibration11\Calibration\distortion_coeffs.xml

?????文件???????1084??2018-03-20?17:15??Calibration11\Calibration\err.txt

?????文件???????1978??2018-03-20?17:15??Calibration11\Calibration\err.xml

?????文件??????27908??2008-10-07?10:00??Calibration11\Calibration\images\1.jpg

?????文件??????27004??2008-10-07?10:00??Calibration11\Calibration\images\10.jpg

?????文件??????27749??2008-10-07?10:00??Calibration11\Calibration\images\11.jpg

?????文件??????25603??2008-10-07?10:00??Calibration11\Calibration\images\12.jpg

?????文件??????28129??2008-10-07?10:00??Calibration11\Calibration\images\13.jpg

?????文件??????27875??2008-10-07?10:00??Calibration11\Calibration\images\14.jpg

?????文件??????27072??2008-10-07?10:00??Calibration11\Calibration\images\15.jpg

?????文件??????27263??2008-10-07?10:00??Calibration11\Calibration\images\16.jpg

............此處省略73個文件信息