#include?
#include?
#include?

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

int?main（）
{
	ifstream?fin（“phonecamera_data/calibdata.txt“）;?/*?標定所用圖像文件的路徑?*/
	ofstream?fout（“phonecamera_data/caliberation_result.txt“）;??/*?保存標定結果的文件?*/

	if?（!fin）?{
		cout?<		return?0;
	}

	//讀取每一幅圖像，從中提取出角點，然后對角點進行亞像素精確化?
	cout?<	int?image_count?=?0;??/*?圖像數量?*/
	Size?patternSize?=?Size（8?6）;????/*?標定板上每行、列的角點數，注意8和6的順序?*/
	int?corner_count?=?patternSize.height?*?patternSize.width;
	Size?imageSize;
	vector?corners;??/*?緩存每幅圖像上檢測到的角點?*/
	vector>?cornersList;?/*?保存檢測到的所有角點?*/
	string?filename;
	vector?filenameList;

	while?（getline（fin?filename））?
	{
		image_count++;
		
		filenameList.push_back（filename）;
		Mat?img?=?imread（filename）;
		if?（img.empty（））?{
			cout?<		}
		if?（image_count?==?1）?{
			imageSize.height?=?img.rows;
			imageSize.width?=?img.cols;
			cout?<		}
		cout?<
		//?提取角點
		if?（findChessboardCorners（img?patternSize?corners）?==?0）{
			cout?<			exit（1）;
		}
		else
		{?
			//?亞像素精確化
			Mat?gray;
			cvtColor（img?gray?COLOR_BGR2GRAY）;
			find4QuadCornerSubpix（gray?corners?Size（5?5））;?//對粗提取的角點進行精確化													
			cornersList.push_back（corners）;??//保存亞像素角點

			cout?<
			//?在圖像上顯示角點位置
			drawChessboardCorners（img?patternSize?corners?true）;?//用于在圖片中標記角點
			namedWindow（“image“?0）;
			imshow（“image“?img）;//顯示圖片
			waitKey（500）;//暫停0.5s?????
		}
	}
	cout?<
	//?以下是攝像機標定
	cout?<	//?棋盤三維信息
	Size?squareSize?=?Size（28?28）;??/*?實際測量得到的標定板上每個棋盤格的大小，單位mm?*/
	vector>?objectPoints;?/*?保存標定板上角點的三維坐標?*/
	//?內外參數
	Mat?cameraMatrix?=?Mat（3?3?CV_32FC1?Scalar::all（0））;?/*?攝像機內參數矩陣?*/
	Mat?distCoeffs?=?Mat（1?5?CV_32FC1?Scalar::all（0））;?/*?攝像機的5個畸變系數：k1k2p1p2k3?*/
	vector?tvecsMat;?/*?每幅圖像的平移向量?*/
	vector?rvecsMat;?/*?每幅圖像的旋轉向量?*/
	//?初始化標定板上角點的三維坐標?
	for?（int?t?=?0;?t	{
		vector?tempPointSet;
		for?（int?i?=?0;?i		{
			for?（int?j?=?0;?j			{
				Point3f?realPoint;
				/*?假設標定板放在世界坐標系中z=0的平面上?*/
				realPoint.x?=?j?*?squareSize.width;
				realPoint.y?=?i?*?squareSize.height;
				realPoint.z?=?0;
				tempPointSet.push_back（realPoint）;
			}
		}
		objectPoints.push_back（tempPointSet）;
	}

	//?開始標定?
	calibrateCamera（objectPoints?cornersList?imageSize?cameraMatrix?distCoeffs?rvecsMat?tvecsMat?0）;
	cout?<
	//?對標定結果進行評價
	cout?<	double?total_err?=?0.0;?/*?所有圖像的平均誤差的總和?*/
	double?

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

????..A..H.?????29184??2019-03-01?11:35??camera_calibration\.vs\camera_calibration\v14\.suo

?????文件?????????63??2019-02-28?19:53??camera_calibration\camera_calibration\calibdata.bat

?????文件???????1411??2019-02-28?19:53??camera_calibration\camera_calibration\calibdata.txt

?????文件???????4040??2019-02-28?19:40??camera_calibration\camera_calibration\caliberation_result.txt

?????文件???????7388??2019-02-26?16:30??camera_calibration\camera_calibration\camera_calibration.vcxproj

?????文件????????945??2019-02-26?16:30??camera_calibration\camera_calibration\camera_calibration.vcxproj.filters

?????文件?????????51??2019-02-28?19:54??camera_calibration\camera_calibration\camera_data\calibdata.bat

?????文件???????1411??2019-02-28?19:54??camera_calibration\camera_calibration\camera_data\calibdata.txt

?????文件???????7892??2019-02-28?20:10??camera_calibration\camera_calibration\camera_data\caliberation_result.txt

?????文件??????60191??2019-02-27?19:58??camera_calibration\camera_calibration\camera_data\IMG1.jpg

?????文件??????63339??2019-02-27?20:00??camera_calibration\camera_calibration\camera_data\IMG10.jpg

?????文件??????69560??2019-02-27?20:00??camera_calibration\camera_calibration\camera_data\IMG11.jpg

?????文件??????69602??2019-02-27?20:00??camera_calibration\camera_calibration\camera_data\IMG12.jpg

?????文件??????60973??2019-02-27?20:00??camera_calibration\camera_calibration\camera_data\IMG13.jpg

?????文件??????62529??2019-02-27?20:00??camera_calibration\camera_calibration\camera_data\IMG14.jpg

?????文件??????66670??2019-02-27?20:00??camera_calibration\camera_calibration\camera_data\IMG15.jpg

?????文件??????64175??2019-02-27?20:00??camera_calibration\camera_calibration\camera_data\IMG16.jpg

?????文件??????62403??2019-02-27?20:00??camera_calibration\camera_calibration\camera_data\IMG17.jpg

?????文件??????65308??2019-02-27?20:00??camera_calibration\camera_calibration\camera_data\IMG18.jpg

?????文件??????65156??2019-02-27?20:00??camera_calibration\camera_calibration\camera_data\IMG19.jpg

?????文件??????56360??2019-02-27?19:59??camera_calibration\camera_calibration\camera_data\IMG2.jpg

?????文件??????63058??2019-02-27?20:00??camera_calibration\camera_calibration\camera_data\IMG20.jpg

?????文件??????68349??2019-02-27?19:59??camera_calibration\camera_calibration\camera_data\IMG3.jpg

?????文件??????68312??2019-02-27?19:59??camera_calibration\camera_calibration\camera_data\IMG4.jpg

?????文件??????60664??2019-02-27?19:59??camera_calibration\camera_calibration\camera_data\IMG5.jpg

?????文件??????67381??2019-02-27?19:59??camera_calibration\camera_calibration\camera_data\IMG6.jpg

?????文件??????69387??2019-02-27?19:59??camera_calibration\camera_calibration\camera_data\IMG7.jpg

?????文件??????67035??2019-02-27?19:59??camera_calibration\camera_calibration\camera_data\IMG8.jpg

?????文件??????66476??2019-02-27?19:59??camera_calibration\camera_calibration\camera_data\IMG9.jpg

?????文件??????54535??2019-02-28?20:10??camera_calibration\camera_calibration\camera_data\ud_IMG1.jpg

............此處省略96個文件信息