//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………………“<	//以下三行為需要手動修改的參數
????int?image_count=??14;???????????????????//圖像數量
????Size?board_size?=?Size（96）;????????????//定標板上每行、列的角點數
	int?x_expand?=?0y_expand?=?200;		//xy方向的擴展（x橫向，y縱向），適當增大可以不損失原圖像信息

????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	
	bool?conner_flag?=?true;				//所有圖像角點提取成功為true，其余為false
????for（?int?i?=?0;??i?!=?image_count?;?i++）
????{
????????cout<<“img“<????????string?imageFileName;
????????std::stringstream?StrStm;
????????StrStm<????????StrStm>>imageFileName;
????????imageFileName?+=?“.jpg“;
????????cv::Mat?imageSrc?=?imread（“img“+imageFileName）;?
		Mat?image;//邊界擴展后的圖片
		copyMakeBorder（imageSrcimage（int）（y_expand/2）（int）（y_expand/2）（int）（x_expand/2）（int）（x_expand/2）BORDER_CONSTANT）;
????????/*?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<<“img“<????????????conner_flag?=?false;
			break;
????????}?
????????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<<“img“<
			successImageNum?=?successImageNum?+?1;
????????????corners_Seq.push_back（corners）;
????????}???
????????image_Seq.push_back（image）;
????}???
	if?（!conner_flag）//如果有提取失敗的標定圖，退出程序
	{
		system（“pause“）;
		return?0;
	}
????cout<<“角點提取完成！“<????/************************************************************************??
???????????攝像機定標??
????*************************************************************************/???
????cout<<“開始定標………………“<	Size?square_size?=?Size（2020

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

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

?????文件???????5249??2016-10-24?23:29??3.0魚眼標定校正?改進\ConsoleApplication1\ConsoleApplication1\caliberation_result.txt

?????文件???????7712??2016-10-24?22:07??3.0魚眼標定校正?改進\ConsoleApplication1\ConsoleApplication1\ConsoleApplication1.vcxproj

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

?????文件????????164??2016-10-24?22:07??3.0魚眼標定校正?改進\ConsoleApplication1\ConsoleApplication1\ConsoleApplication1.vcxproj.user

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

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

?????文件?????163033??2016-05-19?09:04??3.0魚眼標定校正?改進\ConsoleApplication1\ConsoleApplication1\img11.jpg

?????文件?????175824??2016-05-19?09:04??3.0魚眼標定校正?改進\ConsoleApplication1\ConsoleApplication1\img12.jpg

?????文件?????179415??2016-05-19?09:04??3.0魚眼標定校正?改進\ConsoleApplication1\ConsoleApplication1\img13.jpg

?????文件?????181908??2016-05-19?09:04??3.0魚眼標定校正?改進\ConsoleApplication1\ConsoleApplication1\img14.jpg

?????文件?????179746??2016-05-19?09:04??3.0魚眼標定校正?改進\ConsoleApplication1\ConsoleApplication1\img2.jpg

?????文件?????177284??2016-05-19?09:04??3.0魚眼標定校正?改進\ConsoleApplication1\ConsoleApplication1\img3.jpg

?????文件?????179744??2016-05-19?09:04??3.0魚眼標定校正?改進\ConsoleApplication1\ConsoleApplication1\img4.jpg

?????文件?????177735??2016-05-19?09:04??3.0魚眼標定校正?改進\ConsoleApplication1\ConsoleApplication1\img5.jpg

?????文件?????184323??2016-05-19?09:04??3.0魚眼標定校正?改進\ConsoleApplication1\ConsoleApplication1\img6.jpg

?????文件?????188708??2016-05-19?09:04??3.0魚眼標定校正?改進\ConsoleApplication1\ConsoleApplication1\img7.jpg

?????文件?????164818??2016-05-19?09:04??3.0魚眼標定校正?改進\ConsoleApplication1\ConsoleApplication1\img8.jpg

?????文件?????170484??2016-05-19?09:04??3.0魚眼標定校正?改進\ConsoleApplication1\ConsoleApplication1\img9.jpg

?????文件?????342231??2016-10-24?23:29??3.0魚眼標定校正?改進\ConsoleApplication1\ConsoleApplication1\TestOutput1?y=0.jpg

?????文件?????392961??2016-10-24?23:29??3.0魚眼標定校正?改進\ConsoleApplication1\ConsoleApplication1\TestOutput2?y=200.jpg

?????文件???????2108??2016-10-24?23:29??3.0魚眼標定校正?改進\ConsoleApplication1\ConsoleApplication1\x64\Debug\cl.command.1.tlog

?????文件??????11310??2016-10-24?23:29??3.0魚眼標定校正?改進\ConsoleApplication1\ConsoleApplication1\x64\Debug\CL.read.1.tlog

?????文件????????592??2016-10-24?23:29??3.0魚眼標定校正?改進\ConsoleApplication1\ConsoleApplication1\x64\Debug\CL.write.1.tlog

?????文件????????130??2016-10-24?23:29??3.0魚眼標定校正?改進\ConsoleApplication1\ConsoleApplication1\x64\Debug\ConsoleApplication1.lastbuildstate

?????文件???????3768??2016-10-24?23:29??3.0魚眼標定校正?改進\ConsoleApplication1\ConsoleApplication1\x64\Debug\ConsoleApplication1.log

?????文件??????????2??2016-10-24?23:29??3.0魚眼標定校正?改進\ConsoleApplication1\ConsoleApplication1\x64\Debug\link-cvtres.read.1.tlog

?????文件??????????2??2016-10-24?23:29??3.0魚眼標定校正?改進\ConsoleApplication1\ConsoleApplication1\x64\Debug\link-cvtres.write.1.tlog

?????文件??????????2??2016-10-24?23:29??3.0魚眼標定校正?改進\ConsoleApplication1\ConsoleApplication1\x64\Debug\link-rc.read.1.tlog

?????文件??????????2??2016-10-24?23:29??3.0魚眼標定校正?改進\ConsoleApplication1\ConsoleApplication1\x64\Debug\link-rc.write.1.tlog

............此處省略53個文件信息