#include?
#include?
#include?“cv.h“
#include?“highgui.h“
#include?“Capture/Capture.h“

#define?NUM_CHESS_POINT?48
#define?NUM_CHESS_ROW???6
#define?NUM_CHESS_COL???8
#define?CHESS_CORNER_SIZE_MM????28.8
#define?MAX_CALIBRATION_POINT???1000

Capture?????gCapture;
IplImage?*??frame?=?0;
IplImage?*??gray?=?0;

bool????fChessboardFound?=?false;

//?Camera?Calibration?Data
int?????calib_frame_count?=?0;
float???calib_obj_pt[MAX_CALIBRATION_POINT][3];
float???calib_img_pt[MAX_CALIBRATION_POINT][2];
int?????chess_count?=?0;
CvPoint2D32f?chess_pt[NUM_CHESS_POINT];

//?Camera?Calibration?Matrix
float???camera_intrinsic[3][3];
float???camera_distortion[4];

void?TakeCalibrationframe（）
{
????if?（?fChessboardFound?）
????{
????????int?k?=?NUM_CHESS_POINT?*?calib_frame_count;

????????for?（?int?i?=?0?;?i?????????{
????????????for?（?int?j?=?0?;?j?????????????{
????????????????//?object?coordinates
????????????????calib_obj_pt[k][0]?=?（float）CHESS_CORNER_SIZE_MM?*?j;
????????????????calib_obj_pt[k][1]?=?（float）CHESS_CORNER_SIZE_MM?*?i;
????????????????calib_obj_pt[k][2]?=?1;

????????????????//?image?coordinates
????????????????calib_img_pt[k][0]?=?chess_pt[NUM_CHESS_COL?*?i?+?j].x;
????????????????calib_img_pt[k][1]?=?chess_pt[NUM_CHESS_COL?*?i?+?j].y;

????????????????k?++;
????????????}
????????}

????????calib_frame_count?++;

????????printf（?“#?calibration?frame:?%d\n“?calib_frame_count?）;
????}
}

void?SaveCalibration（）
{
????FILE?*fp?=?fopen（“calibration.txt“?“wt“）;
????if?（fp?==?NULL）?return;

????fprintf（fp?“%f?“?camera_intrinsic[0][0]）;
????fprintf（fp?“%f?“?camera_intrinsic[1][1]）;
????fprintf（fp?“%f?“?camera_intrinsic[0][2]）;
????fprintf（fp?“%f?“?camera_intrinsic[1][2]）;
????fprintf（fp?“\n“）;

????for?（int?i=0;?i<4;?i++）
????????fprintf（fp?“%f?“?camera_distortion[i]）;
????fprintf（fp?“\n“）;

????fclose（fp）;

????printf（“fx=%.5f?fy=%.5f?cx=%.5f?cy=%.5f\n“?camera_intrinsic[0][0]?camera_intrinsic[1][1]?camera_intrinsic[0][2]?camera_intrinsic[1][2]）;
????printf（“k1=%.5f?k2=%.5f?p1=%.5f?p2=%.5f\n“?camera_distortion[0]?camera_distortion[1]?camera_distortion[2]?camera_distortion[3]）;
}

void?Calibration（）
{
????CvMat?obj_pt?=?cvMat（?NUM_CHESS_POINT?*?calib_frame_count?3?CV_32FC1?calib_obj_pt?）;
????CvMat?img_pt?=?cvMat（?NUM_CHESS_POINT?*?calib_frame_count?2?CV_32FC1?calib_img_pt?）;
????int?*?pt_count?=?（int?*）malloc（?sizeof（int）?*?calib_frame_count?）;
????for?（?int?i?=?0?;?i?ame_count?;?i?++?）
????{
????????pt_count[?i?]?=?NUM_CHESS_POINT;
????}
????CvMat?pt_counts?=?cvMat（?calib_frame_count?1?CV_32SC1?pt_count?）;

????CvMat?intrinsic?=?cvMat（?3?3?CV_32FC1?camera_intrinsic?）;
????CvMat?distortion?=?cvMat（?4?1?CV_32FC1?camera_distortion?）;

????cvCalibrateCamera2（
????????&obj_pt
????????&img_pt
????????&pt_counts
????????cvGetSize（?gCapture.QueryF

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----
?????文件??????501306??2007-10-09?21:38??DemoHandyAR?Documentation.pdf
?????文件?????????242??2007-04-01?19:56??bin\artag_1023.cf
?????文件???????57344??2007-10-05?23:38??bin\Calibrate.exe
?????文件??????????86??2007-02-20?13:50??bin\calibration.txt
?????文件??????843824??2006-10-18?21:49??bin\cv100.dll
?????文件?????1011764??2006-10-18?21:49??bin\cxcore100.dll
?????文件?????1761280??2007-10-09?21:34??bin\DemoHandyAR.exe
?????文件?????1884160??2007-10-09?21:30??bin\DemoHandyAR_ARTag.exe
?????文件???????66159??2007-04-23?18:09??bin\earthTexture.jpg
?????文件?????????152??2007-04-23?14:57??bin\fingertip_320x240.dat
?????文件??????237568??2001-11-07?18:27??bin\glut32.dll
?????文件??????626741??2006-10-18?21:50??bin\highgui100.dll
?????文件??????196608??2006-02-28?18:04??bin\libguide40.dll
?????文件?????????776??2007-01-17?15:19??bin\nonskin.mgm
?????文件???????41088??2007-04-04?13:46??bin\panel_set.cf
?????文件?????????779??2007-01-17?15:19??bin\skin.mgm
?????文件?????????892??2007-10-05?16:42??Calibrate\Calibrate.sln
?????文件???????10240??2007-10-09?11:08??Calibrate\Calibrate.suo
?????文件????????4481??2007-10-05?16:50??Calibrate\Calibrate\Calibrate.vcproj
?????文件????????1417??2007-10-09?11:08??Calibrate\Calibrate\Calibrate.vcproj.TAEHEE.Taehee?Lee.user
?????文件??????????87??2007-10-05?23:39??Calibrate\Calibrate\calibration.txt
?????文件????????5922??2007-10-05?23:38??Calibrate\Calibrate\main.cpp
?????文件????????2539??2007-09-05?10:03??Calibrate\Calibrate\Capture\Capture.cpp
?????文件?????????994??2007-10-05?16:46??Calibrate\Calibrate\Capture\Capture.h
?????文件????????4232??2007-10-05?16:46??Calibrate\Calibrate\Capture\FlyCap.cpp
?????文件?????????849??2007-02-24?13:36??Calibrate\Calibrate\Capture\FlyCap.h
?????文件?????????898??2007-09-05?09:49??DemoHandyAR\DemoHandyAR.sln
?????文件???????29184??2007-10-09?21:34??DemoHandyAR\DemoHandyAR.suo
?????文件?????????242??2007-04-01?19:56??DemoHandyAR\DemoHandyAR\artag_1023.cf
?????文件??????????86??2007-02-20?13:50??DemoHandyAR\DemoHandyAR\calibration.txt
?????文件???????11477??2007-09-05?10:02??DemoHandyAR\DemoHandyAR\cvFindExtrinsicCameraParams3.cpp
............此處省略38個(gè)文件信息