//?Given?a?view?of?a?checkerboard?on?a?plane?view?that?image?and?a?
//?list?of?others?frontal?parallel?to?that?plane
//
//?This?presumes?that?you?have?previously?callibrated?your?camera?and?stored
//?an?instrinics?and?distortion?model?for?your?camera.
//
//?console?application.
//?Gary?Bradski?Oct?3?2008
//
/*?***************?License:**************************
???Oct.?3?2008
???Right?to?use?this?code?in?any?way?you?want?without?warrenty?support?or?any?guarentee?of?it?working.

???BOOK:?It?would?be?nice?if?you?cited?it:
???Learning?OpenCV:?Computer?Vision?with?the?OpenCV?Library
?????by?Gary?Bradski?and?Adrian?Kaehler
?????Published?by?O‘Reilly?Media?October?3?2008
?
???AVAILABLE?AT:?
?????http://www.amazon.com/Learning-OpenCV-Computer-Vision-Library/dp/0596516134
?????Or:?http://oreilly.com/catalog/9780596516130/
?????ISBN-10:?0596516134?or:?ISBN-13:?978-0596516130????

???OTHER?OPENCV?SITES:
???*?The?source?code?is?on?sourceforge?at:
?????http://sourceforge.net/projects/opencvlibrary/
???*?The?OpenCV?wiki?page?（As?of?Oct?1?2008?this?is?down?for?changing?over?servers?but?should?come?back）:
?????http://opencvlibrary.sourceforge.net/
???*?An?active?user?group?is?at:
?????http://tech.groups.yahoo.com/group/OpenCV/
???*?The?minutes?of?weekly?OpenCV?development?meetings?are?at:
?????http://pr.willowgarage.com/wiki/OpenCV
???**************************************************?*/

#include?
#include?
#include?
#include?

void?help（）{
	printf（“Birds?eye?view\n\n“
			“??birdseye?board_w?board_h?intrinsics_mat.xml?distortion_mat.xml?checker_image?\n\n“
			“Where:?board_{wh}????are?the?#?of?internal?corners?in?the?checkerboard\n“
			“???????intrinsic??????intrinsic?path/name?of?matrix?from?prior?calibration\n“
			“???????distortion?????distortion?path/name?of?matrix?from?pror?calibration\n“
			“???????checker_image??is?the?path/name?of?image?of?checkerboard?on?the?plane?\n“
			“??????????????????????Frontal?view?of?this?will?be?shown.\n\n“
			“?ADJUST?VIEW?HEIGHT?using?keys?‘u‘?up?‘d‘?down.?ESC?to?quit.\n\n“）;
}

int?main（int?argc?char*?argv[]）?{
	if（argc!=6）
		return?-1;
	help（）;
	//INPUT?PARAMETERS:
	int?board_w?=?atoi（argv[1]）;
	int?board_h?=?atoi（argv[2]）;
	int?board_n??=?board_w?*?board_h;
	CvSize?board_sz?=?cvSize（?board_w?board_h?）;
	CvMat?*intrinsic?=?（CvMat*）cvLoad（argv[3]）;
????CvMat?*distortion?=?（CvMat*）cvLoad（argv[4]）;
	IplImage?*image?=?0?*gray_image?=?0;
	if（（image?=?cvLoadImage（argv[5]））==?0）{
		printf（“Error:?Couldn‘t?load?%s\n“argv[5]）;
		return?-1;
	}
	gray_image?=?cvCreateImage（cvGetSize（image）81）;
????cvCvtColor（image?gray_image?CV_BGR2GRAY）;

	//UNDISTORT?OUR?IMAGE
????IplImage*?mapx?=?cvCreateImage（?cvGetSize（image）?IPL_DEPTH_32F?1?）;
????IplImage*?mapy?=?cvCreateImage（?cvGetSize（image）?IPL_DEPTH_32F?1?）;
????cvInitUndistortMap（
??????intrinsic
??????distortion
??????mapx
??????mapy
????）;
	IplImage?*t?=?cvCloneImage（image）;
????cvRemap（?t?image?mapx?mapy?）;

	//GET?THE?CH

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

?????文件?????318467??2016-01-14?13:18??鳥瞰圖變換\鳥瞰圖變換\0.jpg

?????文件????????636??2016-01-14?13:28??鳥瞰圖變換\鳥瞰圖變換\Debug\cl.command.1.tlog

?????文件??????16168??2016-01-14?13:28??鳥瞰圖變換\鳥瞰圖變換\Debug\CL.read.1.tlog

?????文件????????408??2016-01-14?13:28??鳥瞰圖變換\鳥瞰圖變換\Debug\CL.write.1.tlog

?????文件???????2984??2016-01-14?15:24??鳥瞰圖變換\鳥瞰圖變換\Debug\link.command.1.tlog

?????文件???????6758??2016-01-14?15:24??鳥瞰圖變換\鳥瞰圖變換\Debug\link.read.1.tlog

?????文件????????710??2016-01-14?15:24??鳥瞰圖變換\鳥瞰圖變換\Debug\link.write.1.tlog

?????文件?????107765??2016-01-14?13:28??鳥瞰圖變換\鳥瞰圖變換\Debug\main.obj

?????文件????????492??2016-01-14?15:24??鳥瞰圖變換\鳥瞰圖變換\Debug\mt.command.1.tlog

?????文件????????788??2016-01-14?15:24??鳥瞰圖變換\鳥瞰圖變換\Debug\mt.read.1.tlog

?????文件???????7862??2016-01-14?15:24??鳥瞰圖變換\鳥瞰圖變換\Debug\mt.read.2.tlog

?????文件????????316??2016-01-14?15:24??鳥瞰圖變換\鳥瞰圖變換\Debug\mt.write.1.tlog

?????文件?????543744??2016-01-14?13:28??鳥瞰圖變換\鳥瞰圖變換\Debug\vc100.idb

?????文件?????929792??2016-01-14?13:28??鳥瞰圖變換\鳥瞰圖變換\Debug\vc100.pdb

?????文件????????381??2016-01-14?15:24??鳥瞰圖變換\鳥瞰圖變換\Debug\鳥瞰圖變換.exe.intermediate.manifest

?????文件?????????84??2016-01-14?15:24??鳥瞰圖變換\鳥瞰圖變換\Debug\鳥瞰圖變換.lastbuildstate

?????文件???????2873??2016-01-14?15:24??鳥瞰圖變換\鳥瞰圖變換\Debug\鳥瞰圖變換.log

?????文件????????248??2016-01-14?11:00??鳥瞰圖變換\鳥瞰圖變換\Distortion.xml

?????文件????????267??2016-01-14?11:00??鳥瞰圖變換\鳥瞰圖變換\Intrinsics.xml

?????文件???????6604??2016-01-14?13:28??鳥瞰圖變換\鳥瞰圖變換\main.cpp

?????文件???????3361??2016-01-13?15:29??鳥瞰圖變換\鳥瞰圖變換\鳥瞰圖變換.vcxproj

?????文件???????1126??2016-01-13?15:29??鳥瞰圖變換\鳥瞰圖變換\鳥瞰圖變換.vcxproj.filters

?????文件????????409??2016-01-14?11:23??鳥瞰圖變換\鳥瞰圖變換\鳥瞰圖變換.vcxproj.user

?????文件????????912??2016-01-13?15:27??鳥瞰圖變換\鳥瞰圖變換.sln

????..A..H.?????15872??2016-01-14?15:25??鳥瞰圖變換\鳥瞰圖變換.suo

?????目錄??????????0??2016-01-14?15:24??鳥瞰圖變換\鳥瞰圖變換\Debug

?????目錄??????????0??2016-01-14?13:18??鳥瞰圖變換\鳥瞰圖變換

?????目錄??????????0??2016-01-14?15:25??鳥瞰圖變換

-----------?---------??----------?-----??----

??????????????1969027????????????????????28

............此處省略1個文件信息