//?cvCalib.cpp?:?Defines?the?entry?point?for?the?console?application.
//

#include?“stdafx.h“
#include?
#include?
#include?
#include?

void?InitCorners3D（CvMat?*Corners3D?CvSize?ChessBoardSize?int?Nimages?float?SquareSize）;

int?image_width?=?768;
int?image_height?=?576;//待標定圖片的大小
const?int?ChessBoardSize_w?=?7;
const?int?ChessBoardSize_h?=?7;//圖片中可標定的角數
const?CvSize??ChessBoardSize?=?cvSize（ChessBoardSize_wChessBoardSize_h）;
const?int?NPoints?=?ChessBoardSize_w*ChessBoardSize_h;//角點個數
const?int?NImages=6;//待標定的圖片數
int?corner_count[NImages]?=?{0};
float????SquareWidth?=?10;?//棋盤格子的邊長，可任意設定，不影響內參數

CvMat?*intrinsics;
CvMat?*distortion_coeff;
CvMat?*rotation_vectors;
CvMat?*translation_vectors;
CvMat?*object_points;
CvMat?*point_counts;
CvMat?*image_points;

void?main（）
{
	IplImage?????*current_frame_rgb;?
	IplImage?????*current_frame_gray;
	IplImage?????*chessBoard_Img;
	CvPoint2D32f?corners[NPoints*NImages];
	
	chessBoard_Img?=cvCreateImage（cvSize（image_width?image_height）?IPL_DEPTH_8U?3）;
	current_frame_gray?=?cvCreateImage（cvSize（image_width?image_height）?IPL_DEPTH_8U?1）;
	current_frame_rgb?=?cvCreateImage（cvSize（image_width?image_height）?IPL_DEPTH_8U?3）;
	
	int?captured_frames=0;
	for（captured_frames=0;captured_framesames++）
	{
		char?filename[]=“cal20Img00.bmp“;???//說明：我把待標定的圖片的名子依次命名為：01.jpg?02.jpg?03.jpg?04.jpg……
		if（captured_frames<9）
			filename[9]=（char）（captured_frames+49）;
		else?if（captured_frames>=9&&captured_frames<=99）
		{
			int?jjj;
			jj=（captured_frames+1）/10;
			j=（captured_frames+1）%10;
			filename[8]=jj+48;
			filename[9]=j+48;
		}
		else?
			printf（“error?too?many?images.......\n“）;?//load?images?end
		
		chessBoard_Img=cvLoadImage（?filename?CV_LOAD_IMAGE_COLOR?）;
		cvCvtColor（chessBoard_Img?current_frame_gray?CV_BGR2GRAY）;
????????cvCopy（chessBoard_Imgcurrent_frame_rgb）;
		
		int?find_corners_result;
		find_corners_result?=?cvFindChessboardCorners（current_frame_gray
			ChessBoardSize
			&corners[captured_frames*NPoints]
			&corner_count[captured_frames]//int?corner_count[NImages]?=?{0};
			CV_CALIB_CB_ADAPTIVE_THRESH?）;
		cvFindCornerSubPix（?current_frame_gray?
			&corners[captured_frames*NPoints]
			NPoints?cvSize（22）cvSize（-1-1）?
			cvTermCriteria（CV_TERMCRIT_ITER|CV_TERMCRIT_EPS200.03）?）;
		cvDrawChessboardCorners（current_frame_rgb?ChessBoardSize?//繪制檢測到的棋盤角點
			&corners[captured_frames*NPoints]?
			NPoints?
			find_corners_result）;


		cvNamedWindow（“Window?0“?1）;
		cvNamedWindow（“result“?1）;?
		cvShowImage（“Window?0“chessBoard_Img）;
		cvShowImage（“result“current_frame_rgb）;
		cvWaitKey（0）;
	}
	
	intrinsics?????????=?cvCreateMat（33CV_32FC1）;
	distortion_coeff?????=?cvCreateMat（14CV_32FC1）;
	rotation_vectors?????=?cvCreateMat（NImages3CV_32FC1）;
	translation_vectors?????=?cvCreateMat（NImages3CV_32FC1）;
	point_counts?????????=?c

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

?????文件?????130381??2005-11-17?13:58??cvCalibaa\01.JPG

?????文件?????109360??2005-11-17?13:58??cvCalibaa\02.JPG

?????文件?????125663??2005-11-17?13:58??cvCalibaa\03.JPG

?????文件?????128246??2005-11-17?13:58??cvCalibaa\04.JPG

?????文件?????112619??2005-11-17?13:58??cvCalibaa\05.JPG

?????文件?????111641??2005-11-17?13:58??cvCalibaa\06.JPG

?????文件??????96272??2005-11-17?13:58??cvCalibaa\07.JPG

?????文件?????112094??2005-11-17?13:58??cvCalibaa\08.JPG

?????文件?????116816??2005-11-17?13:58??cvCalibaa\09.JPG

?????文件?????124167??2005-11-17?13:58??cvCalibaa\10.JPG

?????文件?????110629??2005-11-17?13:58??cvCalibaa\11.JPG

?????文件?????123652??2005-11-17?13:58??cvCalibaa\12.JPG

?????文件?????104432??2005-11-17?13:58??cvCalibaa\13.JPG

?????文件?????125925??2005-11-17?13:59??cvCalibaa\14.JPG

?????文件?????110361??2005-11-17?13:59??cvCalibaa\15.JPG

?????文件?????109461??2005-11-17?13:59??cvCalibaa\16.JPG

?????文件?????110558??2005-11-17?13:59??cvCalibaa\17.JPG

?????文件?????111244??2005-11-17?13:59??cvCalibaa\18.JPG

?????文件?????126039??2005-11-17?13:59??cvCalibaa\19.JPG

?????文件?????443446??2008-10-13?14:14??cvCalibaa\cal20Img00.bmp

?????文件?????443446??2008-10-13?14:14??cvCalibaa\cal20Img01.bmp

?????文件?????443446??2008-10-13?14:14??cvCalibaa\cal20Img02.bmp

?????文件?????443446??2008-10-13?14:15??cvCalibaa\cal20Img03.bmp

?????文件?????443446??2008-10-13?14:15??cvCalibaa\cal20Img04.bmp

?????文件?????443446??2008-10-13?14:15??cvCalibaa\cal20Img05.bmp

?????文件?????443446??2008-10-13?14:15??cvCalibaa\cal20Img06.bmp

?????文件?????843824??2006-10-18?21:49??cvCalibaa\cv100.dll

?????文件???????6840??2008-12-09?11:22??cvCalibaa\cvCalib.cpp

?????文件???????3975??2008-11-28?16:39??cvCalibaa\cvCalib.dsp

?????文件????????539??2007-10-20?15:56??cvCalibaa\cvCalib.dsw

............此處省略29個文件信息