using?System;
using?System.Collections.Generic;
using?System.ComponentModel;
using?System.Data;
using?System.Drawing;
using?System.Linq;
using?System.Text;
using?System.Windows.Forms;
using?System.Threading;
using?System.xml;

using?Emgu.CV;
using?Emgu.CV.CvEnum;
using?Emgu.CV.Structure;
using?Emgu.Util;

namespace?Camera_Calibration_EmguCV
{
????public?partial?class?Form1?:?Form
????{
????????private?delegate?void?SetTextCallback?（Control?control?string?text）;????//delegate?declaration

????????#region?declaring?global?variables
????????private?MCvPoint3D32f[][]?object_corner;????????????????????????????????//points?in?world?coordinate
????????private?PointF[][]?corner_count;????????????????????????????????????????//points?in?image?coordinate

????????private?IntrinsicCameraParameters?intrinsicParam?=?new?IntrinsicCameraParameters（5）;????????//camera?intrinsic???????
????????private?ExtrinsicCameraParameters[]?extrinsicParams;????????????????????????????????????????//camera?extrinsic
????????private?Matrix?mapx?=?new?Matrix（height?width）;??????????????????????//mapping?matrix
????????private?Matrix?mapy?=?new?Matrix（height?width）;
????????private?MCvTermCriteria?criteria=new?MCvTermCriteria?（1001e-5）;

????????private?Capture?capture1;
????????private?const?int?width?=?640;??????//camera?resolution
????????private?const?int?height?=?480;
????????private?Size?imageSize?=?new?Size（width?height）;
????????private?Size?patternSize;???????????//corner?pattern
????????private?int?nPoints;????????????????//number?of?corners
????????private?int?nImage;?????????????????//number?of?images?which?use?to?calibrate
????????private?float?square;???????????????//the?actual?size?of?square?（mm）
????????private?bool?captureInProcess;??????//the?process?sign?of?camera
????????private?bool?isCalibrating;?????????//the?sign?of?calibrating
????????private?bool?isCalibrated;??????????//the?sign?of?calibrated
????????Image?imageframe1;
????????Image?grayframe1;
????????private?bool?isCorners;?????????????//the?var?is?ture?when?there?is?corners?file?in?local

????????Thread?newThread;???????????????????//thread?of?calibrating
????????#endregion

????????public?Form1（）
????????{
????????????InitializeComponent（）;
????????????controlsInit（）;
????????}

????????private?void?controlsInit（）
????????{
????????????Corners_Nx.Text?=?“12“;
????????????Corners_Ny.Text?=?“8“;
????????????Square_Size.Text?=?“20“;
????????????Image_Count.Text?=?“20“;
????????????radio_camera.Checked?=?true;

????????????isCalibrating?=?false;
????????????isCalibrated?=?false;
????????????captureInProcess?=?false;
????????????isCorners?=?false;

????????????Start_Calibrate.Enabled?=?false;
????????????Exit_Calibrate.Enabled?=?false;
????????}

????????private?void?Processframe（object?sender?EventArgs?arg）
????????{
????????????imageframe1?=?capture1.Queryframe（）;
????????????grayframe1?=?imageframe1.Convert（）;
????????????if?（!isCalib

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2015-08-27?07:43??Camera-Calibration-by-EmguCV-master\
?????目錄???????????0??2015-08-27?07:43??Camera-Calibration-by-EmguCV-master\Camera?Calibration?EmguCV\
?????文件?????????897??2015-08-27?07:43??Camera-Calibration-by-EmguCV-master\Camera?Calibration?EmguCV\Camera?Calibration?EmguCV.sln
?????文件???????50688??2015-08-27?07:43??Camera-Calibration-by-EmguCV-master\Camera?Calibration?EmguCV\Camera?Calibration?EmguCV.suo
?????目錄???????????0??2015-08-27?07:43??Camera-Calibration-by-EmguCV-master\Camera?Calibration?EmguCV\Camera?Calibration?EmguCV\
?????文件????????4113??2015-08-27?07:43??Camera-Calibration-by-EmguCV-master\Camera?Calibration?EmguCV\Camera?Calibration?EmguCV\Camera?Calibration?EmguCV.csproj
?????文件?????????222??2015-08-27?07:43??Camera-Calibration-by-EmguCV-master\Camera?Calibration?EmguCV\Camera?Calibration?EmguCV\Camera?Calibration?EmguCV.csproj.user
?????文件???????22113??2015-08-27?07:43??Camera-Calibration-by-EmguCV-master\Camera?Calibration?EmguCV\Camera?Calibration?EmguCV\Form1.Designer.cs
?????文件???????25903??2015-08-27?07:43??Camera-Calibration-by-EmguCV-master\Camera?Calibration?EmguCV\Camera?Calibration?EmguCV\Form1.cs
?????文件????????5698??2015-08-27?07:43??Camera-Calibration-by-EmguCV-master\Camera?Calibration?EmguCV\Camera?Calibration?EmguCV\Form1.resx
?????文件?????????485??2015-08-27?07:43??Camera-Calibration-by-EmguCV-master\Camera?Calibration?EmguCV\Camera?Calibration?EmguCV\Program.cs
?????目錄???????????0??2015-08-27?07:43??Camera-Calibration-by-EmguCV-master\Camera?Calibration?EmguCV\Camera?Calibration?EmguCV\Properties\
?????文件????????1364??2015-08-27?07:43??Camera-Calibration-by-EmguCV-master\Camera?Calibration?EmguCV\Camera?Calibration?EmguCV\Properties\AssemblyInfo.cs
?????文件????????2830??2015-08-27?07:43??Camera-Calibration-by-EmguCV-master\Camera?Calibration?EmguCV\Camera?Calibration?EmguCV\Properties\Resources.Designer.cs
?????文件????????5496??2015-08-27?07:43??Camera-Calibration-by-EmguCV-master\Camera?Calibration?EmguCV\Camera?Calibration?EmguCV\Properties\Resources.resx
?????文件????????1081??2015-08-27?07:43??Camera-Calibration-by-EmguCV-master\Camera?Calibration?EmguCV\Camera?Calibration?EmguCV\Properties\Settings.Designer.cs
?????文件?????????242??2015-08-27?07:43??Camera-Calibration-by-EmguCV-master\Camera?Calibration?EmguCV\Camera?Calibration?EmguCV\Properties\Settings.settings
?????目錄???????????0??2015-08-27?07:43??Camera-Calibration-by-EmguCV-master\Camera?Calibration?EmguCV\Camera?Calibration?EmguCV\bin\
?????目錄???????????0??2015-08-27?07:43??Camera-Calibration-by-EmguCV-master\Camera?Calibration?EmguCV\Camera?Calibration?EmguCV\bin\Debug\
?????文件???????48640??2015-08-27?07:43??Camera-Calibration-by-EmguCV-master\Camera?Calibration?EmguCV\Camera?Calibration?EmguCV\bin\Debug\Camera?Calibration?EmguCV.pdb
?????文件?????????479??2015-08-27?07:43??Camera-Calibration-by-EmguCV-master\Camera?Calibration?EmguCV\Camera?Calibration?EmguCV\bin\Debug\Camera?Calibration?EmguCV.vshost.exe.manifest
?????文件??????126976??2015-08-27?07:43??Camera-Calibration-by-EmguCV-master\Camera?Calibration?EmguCV\Camera?Calibration?EmguCV\bin\Debug\Emgu.CV.UI.dll
?????文件??????331776??2015-08-27?07:43??Camera-Calibration-by-EmguCV-master\Camera?Calibration?EmguCV\Camera?Calibration?EmguCV\bin\Debug\Emgu.CV.dll
?????文件???????32768??2015-08-27?07:43??Camera-Calibration-by-EmguCV-master\Camera?Calibration?EmguCV\Camera?Calibration?EmguCV\bin\Debug\Emgu.Util.dll
?????文件??????307200??2015-08-27?07:43??Camera-Calibration-by-EmguCV-master\Camera?Calibration?EmguCV\Camera?Calibration?EmguCV\bin\Debug\ZedGraph.dll
?????文件??????256840??2015-08-27?07:43??Camera-Calibration-by-EmguCV-master\Camera?Calibration?EmguCV\Camera?Calibration?EmguCV\bin\Debug\cudart32_65.dll
?????文件?????1012224??2015-08-27?07:43??Camera-Calibration-by-EmguCV-master\Camera?Calibration?EmguCV\Camera?Calibration?EmguCV\bin\Debug\opencv_calib3d2410.dll
?????文件?????4245504??2015-08-27?07:43??Camera-Calibration-by-EmguCV-master\Camera?Calibration?EmguCV\Camera?Calibration?EmguCV\bin\Debug\opencv_core2410.dll
?????文件??????741376??2015-08-27?07:43??Camera-Calibration-by-EmguCV-master\Camera?Calibration?EmguCV\Camera?Calibration?EmguCV\bin\Debug\opencv_features2d2410.dll
?????文件??????526848??2015-08-27?07:43??Camera-Calibration-by-EmguCV-master\Camera?Calibration?EmguCV\Camera?Calibration?EmguCV\bin\Debug\opencv_flann2410.dll
?????文件?????2160640??2015-08-27?07:43??Camera-Calibration-by-EmguCV-master\Camera?Calibration?EmguCV\Camera?Calibration?EmguCV\bin\Debug\opencv_highgui2410.dll
............此處省略17個文件信息