//運行環境?VS2012+opencv3.0
#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=??12;????????????????????/****????圖像數量?????****/????
????Size?board_size?=?Size（96）;????????????/****????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?successImageNum?=?0;				/****	成功提取角點的棋盤圖數量	****/

????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）;?
????????/*?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“;??
????????????continue;
????????????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））;
????????????/*?繪制檢測到的角點并保存?*/
????????????Mat?imageTemp?=?image.clone（）;
????????????for?（int?j?=?0;?j?????????????{
????????????????circle（?imageTemp?corners[j]?10?Scalar（00255）?2?8?0）;
????????????}
????????????string?imageFileName;
????????????std::stringstream?StrStm;
????????????StrStm<????????????StrStm>>imageFileName;
????????????imageFileName?+=?“_corner.jpg“;
????????????imwrite（imageFileNameimageTemp）;
????????????cout<<“frame?corner#“<
????????????count?=?count?+?corners.size（）;
			successImageNum?=?successImageNum?+?1;
????????????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）;?????
	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_coun

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

?????文件?????272123??2016-12-02?21:47??3.0魚眼標定校正\ConsoleApplication1\ConsoleApplication1\10_corner.jpg

?????文件?????234879??2016-12-02?21:47??3.0魚眼標定校正\ConsoleApplication1\ConsoleApplication1\10_d.jpg

?????文件?????283137??2016-12-02?21:47??3.0魚眼標定校正\ConsoleApplication1\ConsoleApplication1\11_corner.jpg

?????文件?????229531??2016-12-02?21:47??3.0魚眼標定校正\ConsoleApplication1\ConsoleApplication1\11_d.jpg

?????文件?????277407??2016-12-02?21:47??3.0魚眼標定校正\ConsoleApplication1\ConsoleApplication1\12_corner.jpg

?????文件?????237454??2016-12-02?21:48??3.0魚眼標定校正\ConsoleApplication1\ConsoleApplication1\12_d.jpg

?????文件?????272237??2016-12-02?21:47??3.0魚眼標定校正\ConsoleApplication1\ConsoleApplication1\1_corner.jpg

?????文件?????215057??2016-12-02?21:47??3.0魚眼標定校正\ConsoleApplication1\ConsoleApplication1\1_d.jpg

?????文件?????272727??2016-12-02?21:47??3.0魚眼標定校正\ConsoleApplication1\ConsoleApplication1\2_corner.jpg

?????文件?????237377??2016-12-02?21:47??3.0魚眼標定校正\ConsoleApplication1\ConsoleApplication1\2_d.jpg

?????文件?????281331??2016-12-02?21:47??3.0魚眼標定校正\ConsoleApplication1\ConsoleApplication1\3_corner.jpg

?????文件?????238317??2016-12-02?21:47??3.0魚眼標定校正\ConsoleApplication1\ConsoleApplication1\3_d.jpg

?????文件?????285018??2016-12-02?21:47??3.0魚眼標定校正\ConsoleApplication1\ConsoleApplication1\4_corner.jpg

?????文件?????255614??2016-12-02?21:47??3.0魚眼標定校正\ConsoleApplication1\ConsoleApplication1\4_d.jpg

?????文件?????264594??2016-12-02?21:47??3.0魚眼標定校正\ConsoleApplication1\ConsoleApplication1\5_corner.jpg

?????文件?????224656??2016-12-02?21:47??3.0魚眼標定校正\ConsoleApplication1\ConsoleApplication1\5_d.jpg

?????文件?????283855??2016-12-02?21:47??3.0魚眼標定校正\ConsoleApplication1\ConsoleApplication1\6_corner.jpg

?????文件?????255666??2016-12-02?21:47??3.0魚眼標定校正\ConsoleApplication1\ConsoleApplication1\6_d.jpg

?????文件?????292579??2016-12-02?21:47??3.0魚眼標定校正\ConsoleApplication1\ConsoleApplication1\7_corner.jpg

?????文件?????267760??2016-12-02?21:47??3.0魚眼標定校正\ConsoleApplication1\ConsoleApplication1\7_d.jpg

?????文件?????264245??2016-12-02?21:47??3.0魚眼標定校正\ConsoleApplication1\ConsoleApplication1\8_corner.jpg

?????文件?????215486??2016-12-02?21:47??3.0魚眼標定校正\ConsoleApplication1\ConsoleApplication1\8_d.jpg

?????文件?????282667??2016-12-02?21:47??3.0魚眼標定校正\ConsoleApplication1\ConsoleApplication1\9_corner.jpg

?????文件?????235064??2016-12-02?21:47??3.0魚眼標定校正\ConsoleApplication1\ConsoleApplication1\9_d.jpg

?????文件?????130403??2016-05-19?09:12??3.0魚眼標定校正\ConsoleApplication1\ConsoleApplication1\a.jpg

?????文件???????4529??2016-12-02?21:48??3.0魚眼標定校正\ConsoleApplication1\ConsoleApplication1\caliberation_result.txt

?????文件???????7712??2016-12-02?19:36??3.0魚眼標定校正\ConsoleApplication1\ConsoleApplication1\ConsoleApplication1.vcxproj

?????文件????????941??2016-05-21?18:06??3.0魚眼標定校正\ConsoleApplication1\ConsoleApplication1\ConsoleApplication1.vcxproj.filters

?????文件?????171355??2016-05-19?09:04??3.0魚眼標定校正\ConsoleApplication1\ConsoleApplication1\img1.jpg

?????文件?????169629??2016-05-19?09:04??3.0魚眼標定校正\ConsoleApplication1\ConsoleApplication1\img10.jpg

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