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

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

enum?{?DETECTION?=?0?CAPTURING?=?1?CALIBRATED?=?2?};
int?main（）
{?
????/************************************************************************??
???????????從攝像機(jī)中讀取多幅圖像從中提取出角點(diǎn)，然后對(duì)角點(diǎn)進(jìn)行亞像素精確化?
????*************************************************************************/?
	int?image_count=??10;????????????????????/****????圖像數(shù)量?????****/??
	Mat?frame;
	Size?image_size;?????????????????????????/****?????圖像的尺寸??????****/???
	Size?board_size?=?Size（96）;????????????/****????定標(biāo)板上每行、列的角點(diǎn)數(shù)???????****/??
	vector?corners;??????????????????/****????緩存每幅圖像上檢測(cè)到的角點(diǎn)???????****/
	vector>??corners_Seq;????/****??保存檢測(cè)到的所有角點(diǎn)???????****/???
	ofstream?fout（“calibration_result.txt“）;??/**????保存定標(biāo)結(jié)果的文件?????**/
	int?mode?=?DETECTION;

	VideoCapture?cap（1）;
	cap.set（CV_CAP_PROP_frame_WIDTH640）;
	cap.set（CV_CAP_PROP_frame_HEIGHT480）;
	if（!cap.isOpened（））{
		std::cout<<“打開攝像頭失敗，退出“;
		exit（-1）;
	}
	namedWindow（“Calibration“）;
????std::cout<<“Press?‘g‘?to?start?capturing?images!“<
	int?count?=?0n=0;
	stringstream?tempname;
	string?filename;
	int?key;
	string?msg;
	int?baseLine;
	Size?textSize;
	while（n?	{
		frame.setTo（0）;
		cap>>frame;
		if（mode?==?DETECTION）
		{
			key?=?0xff?&?waitKey（30）;
			if（?（key?&?255）?==?27?）
				break;

			if（?cap.isOpened（）?&&?key?==?‘g‘?）
			{
				mode?=?CAPTURING;
			}
		}

		if（mode?==?CAPTURING）
		{
			key?=?0xff?&?waitKey（30）;
			if（?（key?&?255）?==?32?）
			{
				image_size?=?frame.size（）;
				/*?提取角點(diǎn)?*/???
				Mat?imageGray;
				cvtColor（frame?imageGray??CV_RGB2GRAY）;
				bool?patternfound?=?findChessboardCorners（frame?board_size?cornersCALIB_CB_ADAPTIVE_THRESH?+?CALIB_CB_NORMALIZE_IMAGE?+?CALIB_CB_FAST_CHECK?）;
				if?（patternfound）???
				{????
					n++;
					tempname<					tempname>>filename;
					filename+=“.jpg“;
					/*?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））;
					count?+=?corners.size（）;
					corners_Seq.push_back（corners）;
					imwrite（filenameframe）;
					tempname.clear（）;
					filename.clear（）;
				}
				else
				{
					std::cout<<“Detect?Failed.\n“;
				}
			}			
		}
		msg?=?mode?==?CAPTURING???“100/100/s“?:?mode?==?CALIBRATED???“Calibrated“?:?“Press?‘g‘?to?start“;
		baseLine?=?0;
		textSize?=?getTextSize（msg?1?1?1?&baseLine）;
		Point?textOrigin（frame.cols?-?2*textSize.width?-?10?frame.rows?-?2*baseLine?-?10）;

		if（?mode?==?CAPTURING?）
		{
			msg?=?format（?“%d/%d“nimage_count）;
		}

		putText（?frame?msg?textOrigin?1?1mode?!=?CALIBRATED???Scalar（00255）?:?Scalar（02550））;

		imshow（“Calibration“frame）;
		key?=?0xff?&?waitKey（1）;

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----

?????文件??????60360??2015-07-30?11:09??calibration\calibration\1.jpg

?????文件??????61121??2015-07-30?11:11??calibration\calibration\10.jpg

?????文件??????61229??2015-07-30?11:10??calibration\calibration\2.jpg

?????文件??????61537??2015-07-30?11:10??calibration\calibration\3.jpg

?????文件??????64177??2015-07-30?11:10??calibration\calibration\4.jpg

?????文件??????59513??2015-07-30?11:10??calibration\calibration\5.jpg

?????文件??????62833??2015-07-30?11:11??calibration\calibration\6.jpg

?????文件??????77115??2015-07-30?11:11??calibration\calibration\7.jpg

?????文件??????66128??2015-07-30?11:11??calibration\calibration\8.jpg

?????文件??????59704??2015-07-30?11:11??calibration\calibration\9.jpg

?????文件???????4449??2015-07-27?15:06??calibration\calibration\calibration.vcxproj

?????文件????????941??2015-07-27?14:44??calibration\calibration\calibration.vcxproj.filters

?????文件????????410??2015-07-27?18:06??calibration\calibration\calibration.vcxproj.user

?????文件??????????0??2015-08-31?11:53??calibration\calibration\calibration_result.txt

?????文件?????????96??2015-07-30?00:33??calibration\calibration\Debug\calibration.lastbuildstate

?????文件???????2230??2015-07-30?00:33??calibration\calibration\Debug\calibration.log

?????文件????????736??2015-07-30?00:33??calibration\calibration\Debug\cl.command.1.tlog

?????文件??????15812??2015-07-30?00:33??calibration\calibration\Debug\CL.read.1.tlog

?????文件????????516??2015-07-30?00:33??calibration\calibration\Debug\CL.write.1.tlog

?????文件??????????2??2015-07-30?00:33??calibration\calibration\Debug\link-cvtres.read.1.tlog

?????文件??????????2??2015-07-30?00:33??calibration\calibration\Debug\link-cvtres.write.1.tlog

?????文件??????????2??2015-07-30?00:33??calibration\calibration\Debug\link-rc.read.1.tlog

?????文件??????????2??2015-07-30?00:33??calibration\calibration\Debug\link-rc.write.1.tlog

?????文件??????????2??2015-07-30?00:33??calibration\calibration\Debug\link.10904-cvtres.read.1.tlog

?????文件??????????2??2015-07-30?00:33??calibration\calibration\Debug\link.10904-cvtres.write.1.tlog

?????文件??????????2??2015-07-30?00:33??calibration\calibration\Debug\link.10904-rc.read.1.tlog

?????文件??????????2??2015-07-30?00:33??calibration\calibration\Debug\link.10904-rc.write.1.tlog

?????文件??????????2??2015-07-30?00:33??calibration\calibration\Debug\link.10904.read.1.tlog

?????文件??????????2??2015-07-30?00:33??calibration\calibration\Debug\link.10904.write.1.tlog

?????文件??????????2??2015-07-30?00:33??calibration\calibration\Debug\link.11096-cvtres.read.1.tlog

............此處省略134個(gè)文件信息