/*
?*?3calibration.cpp?--?Calibrate?3?cameras?in?a?horizontal?line?together.
?*/

#include?“opencv2/calib3d.hpp“
#include?“opencv2/imgproc.hpp“
#include?“opencv2/imgcodecs.hpp“
#include?“opencv2/highgui.hpp“
#include?“opencv2/core/utility.hpp“

#include?
#include?
#include?

using?namespace?cv;
using?namespace?std;

enum?{?DETECTION?=?0?CAPTURING?=?1?CALIBRATED?=?2?};

static?void?help（char**?argv）
{
????????printf（?“\nThis?is?a?camera?calibration?sample?that?calibrates?3?horizontally?placed?cameras?together.\n“
???????????????“Usage:?%s\n“
???????????????“?????-w=?????????#?the?number?of?inner?corners?per?one?of?board?dimension\n“
???????????????“?????-h=????????#?the?number?of?inner?corners?per?another?board?dimension\n“
???????????????“?????[-s=]???????#?square?size?in?some?user-defined?units?（1?by?default）\n“
???????????????“?????[-o=]?#?the?output?filename?for?intrinsic?[and?extrinsic]?parameters\n“
???????????????“?????[-zt]????????????????????#?assume?zero?tangential?distortion\n“
???????????????“?????[-a=]??????#?fix?aspect?ratio?（fx/fy）\n“
???????????????“?????[-p]?????????????????????#?fix?the?principal?point?at?the?center\n“
???????????????“?????[input_data]?????????????#?input?data?-?text?file?with?a?list?of?the?images?of?the?board\n“
???????????????“\n“?argv[0]?）;

}

static?void?calcChessboardCorners（Size?boardSize?float?squareSize?vector&?corners）
{
????corners.resize（0）;

????for（?int?i?=?0;?i?????????for（?int?j?=?0;?j?????????????corners.push_back（Point3f（float（j*squareSize）
??????????????????????????????????????float（i*squareSize）?0））;
}

static?bool?run3Calibration（vector?>?imagePoints1
????????????????????????????vector?>?imagePoints2
????????????????????????????vector?>?imagePoints3
????????????????????????????Size?imageSize?Size?boardSize
????????????????????????????float?squareSize?float?aspectRatio
????????????????????????????int?flags
????????????????????????????Mat&?cameraMatrix1?Mat&?distCoeffs1
????????????????????????????Mat&?cameraMatrix2?Mat&?distCoeffs2
????????????????????????????Mat&?cameraMatrix3?Mat&?distCoeffs3
????????????????????????????Mat&?R12?Mat&?T12?Mat&?R13?Mat&?T13）
{
????int?c?i;

????//?step?1:?calibrate?each?camera?individually
????vector?>?objpt（1）;
????vector?>?imgpt;
????calcChessboardCorners（boardSize?squareSize?objpt[0]）;
????vector?rvecs?tvecs;

????for（?c?=?1;?c?<=?3;?c++?）
????{
????????const?vector?>&?imgpt0?=?c?==?1???imagePoints1?:?c?==?2???imagePoints2?:?imagePoints3;
????????imgpt.clear（）;
????????int?N?=?0;
????????for（?i?=?0;?i?????????????if（?!imgpt0[i].empty（）?）
????????????{
????????????????imgpt.push