#include?“calibration.h“
#include?“utils.h“
#include?“global.h“
#include?
#include?

void?loadCameraParams（cv::Mat?&cameraMatrix?cv::Mat?&distCoeffs）
{
	cv::FileStorage?fs（“..\\build\\camera.yaml“?cv::FileStorage::READ）;

????fs?[“camera_matrix“]?>>?cameraMatrix;
????fs?[“distortion_coefficients“]?>>?distCoeffs;
}

cv::Mat?calibrator（cv::Mat?&view）
{

#if?1
	vector?imageList;
	/*static?*/bool?bLoadCameraParams?=?false;
	static?bool?bInitMap?=?false;
	static?cv::Mat?cameraMatrix?distCoeffs?map1?map2;
	static?cv::Mat?newCameraMatrix;

	cv::Mat?rview;
	cv::Size?imageSizenewImageSize;
	/*static?*/double?cameraMatrix_1?=?0cameraMatrix_2?=?0cameraMatrix_3?=?0cameraMatrix_4?=?0;
	/*static?*/double?distCoeffs_1?=?0?distCoeffs_2?=?0?distCoeffs_3?=?0?distCoeffs_4?=?0?distCoeffs_5?=?0;

	if（view.empty（）?||?view.cols?==?0?||?view.rows?==?0）
		return?cv::Mat（）;

	imageSize.width?=?view.cols;
	imageSize.height?=?view.rows;

//?	newImageSize.width?=?1.5*imageSize.width;
//?	newImageSize.height?=?1.5*imageSize.height;

	newImageSize.width?=?imageSize.width;
	newImageSize.height?=?imageSize.height;

	if（bLoadCameraParams?==?false）
	{
		loadCameraParams（cameraMatrix?distCoeffs）;
		bLoadCameraParams?=?true;
		cameraMatrix_1?=?cameraMatrix.at（00）;
		cameraMatrix_2?=?cameraMatrix.at（02）;
		cameraMatrix_3?=?cameraMatrix.at（11）;
		cameraMatrix_4?=?cameraMatrix.at（12）;

		distCoeffs_1?=?distCoeffs.at（00）;
		distCoeffs_2?=?distCoeffs.at（10）;
		distCoeffs_3?=?distCoeffs.at（20）;
		distCoeffs_4?=?distCoeffs.at（30）;
		distCoeffs_5?=?distCoeffs.at（40）;
	}

	int?middleValue?=?100;?//?100;

	if（bLoadCameraParams?==?true）
	{
		cameraMatrix.at（0?0）?=?（camera_matrix_1_MIN?-?middleValue）?*?1.0?/?middleValue?*?cameraMatrix_1;
		cameraMatrix.at（0?2）?=?（camera_matrix_2_MIN?-?middleValue）?*?1.0?/?middleValue?*?cameraMatrix_2;
		cameraMatrix.at（1?1）?=?（camera_matrix_3_MIN?-?middleValue）?*?1.0?/?middleValue?*?cameraMatrix_3;
		cameraMatrix.at（1?2）?=?（camera_matrix_4_MIN?-?middleValue）?*?1.0?/?middleValue?*?cameraMatrix_4;

		distCoeffs.at（0?0）?=?（distortion_coeff_1_MIN?-?middleValue）?*?1.0?/?middleValue?*?distCoeffs_1;
		distCoeffs.at（1?0）?=?（distortion_coeff_1_MIN?-?middleValue）?*?1.0?/?middleValue?*?distCoeffs_2;
		distCoeffs.at（2?0）?=?（distortion_coeff_1_MIN?-?middleValue）?*?1.0?/?middleValue?*?distCoeffs_3;
		distCoeffs.at（3?0）?=?（distortion_coeff_1_MIN?-?middleValue）?*?1.0?/?middleValue?*?distCoeffs_4;
		distCoeffs.at（4?0）?=?（distortion_coeff_1_MIN?-?middleValue）?*?1.0?/?middleValue?*?distCoeffs_5;
	}

//	SHOW_TICK（）;

	//?省了15ms左右的消耗
	//?if?（bInitMap?==?false）
	{
		newCameraMatrix?=?cv::getOptimalNewCameraMatrix（cameraMatrix?distCoeffs?imageSize
			1?newImageSize?0）;
		cv::initUndi

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2018-03-31?12:54??calibrationRT\
?????目錄???????????0??2018-03-31?12:56??calibrationRT\Debug\
?????目錄???????????0??2018-03-21?19:24??calibrationRT\build\
?????文件?????????791??2015-12-18?16:49??calibrationRT\build\HKVISION_DEBUG_32.props
?????文件?????????791??2015-12-17?14:53??calibrationRT\build\HKVISION_DEBUG_64.props
?????文件???????19522??2016-02-24?18:29??calibrationRT\build\camera.yaml
?????文件???????19530??2016-01-27?23:35??calibrationRT\build\camera_nofisheye.yaml
?????文件???????19523??2016-01-03?15:32??calibrationRT\build\camerabk.yaml
?????文件????????1540??2016-01-05?16:46??calibrationRT\build\opencv3_32.props
?????文件????????1559??2015-12-17?14:53??calibrationRT\build\opencv3_64.props
?????文件????????1559??2015-12-17?14:53??calibrationRT\build\opencv3_debug_32.props
?????文件????????1559??2018-03-22?22:21??calibrationRT\build\opencv3_x86.props
?????文件???????18513??2015-12-17?14:53??calibrationRT\build\param.png
?????目錄???????????0??2018-03-25?12:29??calibrationRT\caliRt\
?????目錄???????????0??2018-03-22?21:48??calibrationRT\caliRt\Debug\
?????文件????????2221??2016-02-24?16:18??calibrationRT\caliRt\Debug\caliRt.Build.CppClean.log
?????文件??????????15??2018-03-22?21:48??calibrationRT\caliRt\Debug\caliRt.log
?????目錄???????????0??2018-03-21?21:28??calibrationRT\caliRt\Debug\caliRt.tlog\
?????文件??????355336??2018-03-22?21:48??calibrationRT\caliRt\Debug\caliRt.tlog\CL.read.1.tlog
?????文件???????11566??2018-03-22?21:48??calibrationRT\caliRt\Debug\caliRt.tlog\CL.write.1.tlog
?????文件?????????214??2018-03-21?21:29??calibrationRT\caliRt\Debug\caliRt.tlog\caliRt.lastbuildstate
?????文件????????9146??2018-03-22?21:48??calibrationRT\caliRt\Debug\caliRt.tlog\cl.command.1.tlog
?????文件????????4770??2018-03-21?21:30??calibrationRT\caliRt\Debug\caliRt.tlog\link.command.1.tlog
?????文件???????10252??2018-03-21?21:30??calibrationRT\caliRt\Debug\caliRt.tlog\link.read.1.tlog
?????文件????????2094??2018-03-21?21:30??calibrationRT\caliRt\Debug\caliRt.tlog\link.write.1.tlog
?????文件???????????0??2018-03-21?21:29??calibrationRT\caliRt\Debug\caliRt.tlog\unsuccessfulbuild
?????文件??????276613??2018-03-21?21:30??calibrationRT\caliRt\Debug\calibration.obj
?????文件??????260176??2018-03-21?21:30??calibrationRT\caliRt\Debug\global.obj
?????文件??????532674??2018-03-22?21:48??calibrationRT\caliRt\Debug\main.obj
?????文件??????746040??2018-03-21?21:30??calibrationRT\caliRt\Debug\readCamera.obj
?????文件??????201857??2018-03-21?21:30??calibrationRT\caliRt\Debug\utils.obj
............此處省略47個文件信息