//#include???
//#include???
//#include?“cv.h“??
//#include???
//#include???
//#include??
//#include?“atlstr.h“?

#include?“opencv2/core/core.hpp“
#include?“opencv2/imgproc/imgproc.hpp“
#include?“opencv2/calib3d/calib3d.hpp“
#include?“opencv2/highgui/highgui.hpp“
#include?
#include?

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

const?int?imageWidth?=?1600;?????????????????????????????//攝像頭的分辨率??
const?int?imageHeight?=?1200;
const?int?boardWidth?=?7;???????????????????????????????//橫向的角點(diǎn)數(shù)目??
const?int?boardHeight?=?7;??????????????????????????????//縱向的角點(diǎn)數(shù)據(jù)??
const?int?boardCorner?=?boardWidth?*?boardHeight;???????//總的角點(diǎn)數(shù)據(jù)??
const?int?frameNumber?=13;?????????????????????????????//相機(jī)標(biāo)定時(shí)需要采用的圖像幀數(shù)??
const?int?squareSize?=?20;??????????????????????????????//標(biāo)定板黑白格子的大小?單位mm??
const?Size?boardSize?=?Size（boardWidth?boardHeight）;???//??

Mat?intrinsic;??????????????????????????????????????????//相機(jī)內(nèi)參數(shù)??
Mat?distortion_coeff;???????????????????????????????????//相機(jī)畸變參數(shù)??
vector?rvecs;????????????????????????????????????????//旋轉(zhuǎn)向量??
vector?tvecs;????????????????????????????????????????//平移向量??
vector>?corners;????????????????????????//各個(gè)圖像找到的角點(diǎn)的集合?和objRealPoint?一一對(duì)應(yīng)??
vector>?objRealPoint;???????????????????//各副圖像的角點(diǎn)的實(shí)際物理坐標(biāo)集合??


vector?corner;???????????????????????????????????//某一副圖像找到的角點(diǎn)??

Mat?rgbImage?grayImage;

/*計(jì)算標(biāo)定板上模塊的實(shí)際物理坐標(biāo)*/
void?calRealPoint（vector>&?obj?int?boardwidth?int?boardheight?int?imgNumber?int?squaresize）
{
	//??Mat?imgpoint（boardheight?boardwidth?CV_32FC3Scalar（000））;??
	vector?imgpoint;
	for?（int?rowIndex?=?0;?rowIndex?	{
		for?（int?colIndex?=?0;?colIndex?		{
			//??imgpoint.at（rowIndex?colIndex）?=?Vec3f（rowIndex?*?squaresize?colIndex*squaresize?0）;??
			imgpoint.push_back（Point3f（colIndex?*?squaresize?rowIndex?*?squaresize?0））;
		}
	}
	for?（int?imgIndex?=?0;?imgIndex?	{
		obj.push_back（imgpoint）;
	}
}

/*設(shè)置相機(jī)的初始參數(shù)?也可以不估計(jì)*/

void?CalibrationEvaluate（void）//標(biāo)定結(jié)束后進(jìn)行評(píng)價(jià)
{
	double?err=0;
	double?total_err=0;
	//calibrateCamera（objRealPoint?corners?Size（imageWidth?imageHeight）?intrinsic?distortion_coeff?rvecs?tvecs?0）;
	cout?<	for?（int?i?=?0;?i?	{
		vector?image_points2;
		vector?tempPointSet?=?objRealPoint[i];
		projectPoints（tempPointSet?rvecs[i]?tvecs[i]?intrinsic?distortion_coeff?image_points2）;




		vector?tempImagePoint?=?corners[i];
		Mat?tempImagePointMat?=?Mat（1?tempImagePoint.size（）?CV_32FC2）;
		Mat?image_points2Mat?=?Mat（1?image_points2.size（）?CV_32FC2）;
		for?（int?j?=?0;?j?		{
			image_points2Mat.at（0?j）?=?Vec2f（image_points2[j].x?image_points2[j].y）;
			tempImagePointM