#include?
#include?
using?namespace?std;
using?namespace?cv;

int?main（）
{
	ofstream?fout（“caliberation_result.txt“）;??/**????保存定標結果的文件?????**/
	
	/************************************************************************??
???????????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<<“開始提取角點………………“<????int?image_count=??4;????????????????????/****????圖像數量?????****/???
????Size?image_size;?????????????????????????/****?????圖像的尺寸??????****/???
????Size?board_size?=?Size（69）;????????????/****????定標板上每行、列的角點數???????****/??
	vector?corners;??????????????????/****????緩存每幅圖像上檢測到的角點???????****/
	vector>??corners_Seq;????/****??保存檢測到的所有角點???????****/???
	vector??image_Seq;


	int?count?=?0;
	for（?int?i?=?0;??i?!=?image_count?;?i++）
	{
		cout<<“frame?#“<		string?imageFileName;
		std::stringstream?StrStm;
		StrStm<		StrStm>>imageFileName;
		imageFileName?+=?“.jpg“;
????????cv::Mat?image?=?imread（“img“+imageFileName）;?
		image_size?=?image.size（）;
		//image_size?=?Size（image.cols??image.rows）;
????????/*?提取角點?*/???
		Mat?imageGray;
		cvtColor（image?imageGray??CV_RGB2GRAY）;
		bool?patternfound?=?findChessboardCorners（image?board_size?cornersCALIB_CB_ADAPTIVE_THRESH?+?CALIB_CB_NORMALIZE_IMAGE+?
			CALIB_CB_FAST_CHECK?）;
????????if?（!patternfound）???
????????{???
????????????cout<<“can?not?find?chessboard?corners!\n“;???
????????????exit（1）;???
????????}?
		else
		{???
????????????/*?亞像素精確化?*/
			cornerSubPix（imageGray?corners?Size（11?11）?Size（-1?-1）?TermCriteria（CV_TERMCRIT_EPS?+?CV_TERMCRIT_ITER?30?0.1））;
			count?=?count?+?corners.size（）;
????????????corners_Seq.push_back（corners）;
????????}???
		image_Seq.push_back（image）;
????}???
????cout<<“角點提取完成！\n“;?
????/************************************************************************??
???????????攝像機定標??
????*************************************************************************/???
????cout<<“開始定標………………“<????Size?square_size?=?Size（2020）;??????????????????????????????????????/****?實際測量得到的定標板上每個棋盤格的大小???****/??
	vector>??object_Points;??????????????????????????????????????/****??保存定標板上角點的三維坐標???****/


????Mat?image_points?=?Mat（1?count??CV_32FC2?Scalar::all（0））;??????????/*****???保存提取的所有角點???*****/???
	vector??point_counts;??????????????????????????????????????????/*****????每幅圖像中角點的數量????****/???
	Mat?intrinsic_matrix?=?Mat（33?CV_32FC1?Scalar::all（0））;????????????????/*****????攝像機內參數矩陣????****/???
????Mat?distortion_coeffs?=?Mat（14?CV_32FC1?Scalar::all（0））;????????????/*?攝像機的4個畸變系數：k1k2p1p2?*/?
????vector?rotation_vectors;??????????????????????????????????????/*?每幅圖像的旋轉向量?*/??
	vector?translation_vectors;??????????????????????????????????/*?每幅圖像的平移向量?*/??
?????
????/*?初始化定標板上角點的三維坐標?*/?????
????for?（i

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

?????文件????2098615??2016-05-17?22:45??魚眼標定\ConsoleApplication1\ConsoleApplication1\1_d.jpg

?????文件????1046300??2016-05-17?22:45??魚眼標定\ConsoleApplication1\ConsoleApplication1\2_d.jpg

?????文件?????929969??2016-05-17?22:45??魚眼標定\ConsoleApplication1\ConsoleApplication1\3_d.jpg

?????文件????1003446??2016-05-17?22:45??魚眼標定\ConsoleApplication1\ConsoleApplication1\4_d.jpg

?????文件???????1992??2016-05-17?22:45??魚眼標定\ConsoleApplication1\ConsoleApplication1\caliberation_result.txt

?????文件???????7858??2016-05-17?17:16??魚眼標定\ConsoleApplication1\ConsoleApplication1\ConsoleApplication1.vcxproj

?????文件????????941??2016-05-17?17:16??魚眼標定\ConsoleApplication1\ConsoleApplication1\ConsoleApplication1.vcxproj.filters

?????文件????1502939??2016-05-17?16:17??魚眼標定\ConsoleApplication1\ConsoleApplication1\img1.jpg

?????文件????1436127??2016-05-17?20:59??魚眼標定\ConsoleApplication1\ConsoleApplication1\img2.jpg

?????文件????1311878??2016-05-17?20:59??魚眼標定\ConsoleApplication1\ConsoleApplication1\img3.jpg

?????文件????1390039??2016-05-17?20:59??魚眼標定\ConsoleApplication1\ConsoleApplication1\img4.jpg

?????文件????1343139??2016-05-17?16:17??魚眼標定\ConsoleApplication1\ConsoleApplication1\test.jpg

?????文件?????968935??2016-05-17?22:45??魚眼標定\ConsoleApplication1\ConsoleApplication1\TestOutput.jpg

?????文件????????684??2016-05-17?22:44??魚眼標定\ConsoleApplication1\ConsoleApplication1\x64\Debug\cl.command.1.tlog

?????文件??????13198??2016-05-17?22:44??魚眼標定\ConsoleApplication1\ConsoleApplication1\x64\Debug\CL.read.1.tlog

?????文件????????490??2016-05-17?22:44??魚眼標定\ConsoleApplication1\ConsoleApplication1\x64\Debug\CL.write.1.tlog

?????文件?????????93??2016-05-17?22:44??魚眼標定\ConsoleApplication1\ConsoleApplication1\x64\Debug\ConsoleApplication1.lastbuildstate

?????文件???????3455??2016-05-17?22:44??魚眼標定\ConsoleApplication1\ConsoleApplication1\x64\Debug\ConsoleApplication1.log

?????文件??????????2??2016-05-17?22:44??魚眼標定\ConsoleApplication1\ConsoleApplication1\x64\Debug\link-cvtres.read.1.tlog

?????文件??????????2??2016-05-17?22:44??魚眼標定\ConsoleApplication1\ConsoleApplication1\x64\Debug\link-cvtres.write.1.tlog

?????文件??????????2??2016-05-17?22:44??魚眼標定\ConsoleApplication1\ConsoleApplication1\x64\Debug\link-rc.read.1.tlog

?????文件??????????2??2016-05-17?22:44??魚眼標定\ConsoleApplication1\ConsoleApplication1\x64\Debug\link-rc.write.1.tlog

?????文件??????????2??2016-05-17?22:44??魚眼標定\ConsoleApplication1\ConsoleApplication1\x64\Debug\link.11460-cvtres.read.1.tlog

?????文件??????????2??2016-05-17?22:44??魚眼標定\ConsoleApplication1\ConsoleApplication1\x64\Debug\link.11460-cvtres.write.1.tlog

?????文件??????????2??2016-05-17?22:44??魚眼標定\ConsoleApplication1\ConsoleApplication1\x64\Debug\link.11460-rc.read.1.tlog

?????文件??????????2??2016-05-17?22:44??魚眼標定\ConsoleApplication1\ConsoleApplication1\x64\Debug\link.11460-rc.write.1.tlog

?????文件??????????2??2016-05-17?22:44??魚眼標定\ConsoleApplication1\ConsoleApplication1\x64\Debug\link.11460.read.1.tlog

?????文件??????????2??2016-05-17?22:44??魚眼標定\ConsoleApplication1\ConsoleApplication1\x64\Debug\link.11460.write.1.tlog

?????文件??????????2??2016-05-17?22:44??魚眼標定\ConsoleApplication1\ConsoleApplication1\x64\Debug\link.1564-cvtres.read.1.tlog

?????文件??????????2??2016-05-17?22:44??魚眼標定\ConsoleApplication1\ConsoleApplication1\x64\Debug\link.1564-cvtres.write.1.tlog

............此處省略28個文件信息