#include?
#include?
#include?
#include?
#include?
#include?

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

int?main（int?argcchar*?argv[]）
{
	ifstream?fin（“calibdata.txt“）;//標定所用圖文件路徑
	ofstream?fout（“caliberation_result.txt“）;//保存標定結果的文件

	//讀取每一幅圖像，從中提取角點，然后對角點進行亞像素精確化
	cout<<“開始提取角點......“;//圖片數量
	int?image_count?=?0;
	Size?image_size;//圖片尺寸
	Size?board_size?=?Size（46）;//標定板上每行、每列的角點數
	vector?image_points_buf;//緩存每幅圖像上檢測到的角點
	vector>?image_points_seq;//保存檢測到的所有角點
	string?filename;
	int?count?=?-1;//用于存儲角點數
	
	while（getline（finfilename））
	{
		image_count++;
		//用于觀察檢測輸出
		cout<<“image_count?=?“<		//輸出檢驗
		cout<<“-->count?==?1“<		Mat?imageInput?=?imread（filename）;
		if（image_count?==?1）
		{
			image_size.width?=?imageInput.cols;
			image_size.height?=?imageInput.rows;
			cout<<“image_size.width?=?“<			cout<<“image_size.height?=?“<		}

		//提取角點
		if（0?==?findChessboardCorners（imageInputboard_sizeimage_points_buf））
		{
			cout<<“can?not?find?chessboard?corners!\n“;
			exit（1）;
		}
		else
		{
			Mat?view_gray;
			cvtColor（imageInputview_grayCV_BGR2GRAY）;
			find4QuadCornerSubpix（view_grayimage_points_bufSize（55））;//亞像素精確化
			image_points_seq.push_back（image_points_buf）;//保存亞像素點

			//圖像上顯示角點位置
			drawChessboardCorners（view_grayboard_sizeimage_points_buffalse）;
			imshow（“Canmera?Calibration“view_gray）;
			waitKey（500）;
		}
	}

	int?total?=?image_points_seq.size（）;
	cout<<“total?=?“<	int?CornerNum?=?board_size.width*board_size.height;//每張圖片上總的角點數
	for（int?ii=0;ii	{
		if（0?==?ii%CornerNum）
		{
			int?i?=?-1;
			i?=?ii?/?CornerNum;
			int?j?=?i?+?i;
			cout<<“-->第“<:?“<		}
		if（0?==?ii?%?3）
		{
			cout<		}
		else
		{
			cout.width（10）;
		}
		cout<<“?-->“<		cout<<“?-->“<	}
	cout<<“\n角點提取完成!\n“;

	//以下是攝像機標定
	cout<<“開始標定.....“<	//棋盤三維信息
	Size?square_size?=?Size（1010）;//實際測量得到的標定板上每個棋盤格的大小
	vector>?object_points;
	//內外參數
	Mat?cameraMatrix?=?Mat（33CV_32FC1Scalar::all（0））;//相機內參
	vector?point_counts;//每幅圖像中角點的數量
	Mat?distCoeffs?=?Mat（15CV_32FC1Scalar::all（0））;//攝像機的5個畸變系數k1k2p1p2k3
	vector?tvecsMat;//每幅圖像的旋轉向量
	vector?rvecsMat;//每幅圖像的平移向量

	//初始化標定板上角點的三維坐標
	int?ijt;
	for（t=0;t	{
		vector?tempPointSet;
		for（i=0;i		{
			for（j=0;j			{
				Point3f?realPoint;
				//假設標定板放在世界坐標系中Z=0的平面上
				realPoint.x?=?i*square_size.width;
				realPoint.y?=?j*square_size.height;
				realPoint.z?=?0;
				tempPointSet.push_back（realPoint）;
			}
		}
		object_points.push_back（tempPointSet）;
	}
	

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

?????文件??????89499??2018-08-09?17:10??CameraCalibration\CameraCalibration\10_d.jpg

?????文件??????99662??2018-08-09?17:10??CameraCalibration\CameraCalibration\11_d.jpg

?????文件?????119179??2018-08-09?17:10??CameraCalibration\CameraCalibration\12_d.jpg

?????文件?????112344??2018-08-09?17:10??CameraCalibration\CameraCalibration\13_d.jpg

?????文件?????121183??2018-08-09?17:10??CameraCalibration\CameraCalibration\14_d.jpg

?????文件??????98952??2018-08-09?17:10??CameraCalibration\CameraCalibration\1_d.jpg

?????文件??????99438??2018-08-09?17:10??CameraCalibration\CameraCalibration\2_d.jpg

?????文件?????108344??2018-08-09?17:10??CameraCalibration\CameraCalibration\3_d.jpg

?????文件?????113297??2018-08-09?17:10??CameraCalibration\CameraCalibration\4_d.jpg

?????文件?????114645??2018-08-09?17:10??CameraCalibration\CameraCalibration\5_d.jpg

?????文件?????119171??2018-08-09?17:10??CameraCalibration\CameraCalibration\6_d.jpg

?????文件?????101709??2018-08-09?17:10??CameraCalibration\CameraCalibration\7_d.jpg

?????文件?????107642??2018-08-09?17:10??CameraCalibration\CameraCalibration\8_d.jpg

?????文件??????89253??2018-08-09?17:10??CameraCalibration\CameraCalibration\9_d.jpg

?????文件????????171??2016-10-26?00:26??CameraCalibration\CameraCalibration\calibdata.txt

?????文件???????6416??2018-08-09?17:10??CameraCalibration\CameraCalibration\caliberation_result.txt

?????文件???????6583??2018-08-09?17:09??CameraCalibration\CameraCalibration\Calibration.cpp

?????文件???????3934??2018-08-08?19:14??CameraCalibration\CameraCalibration\CameraCalibration.vcxproj

?????文件????????949??2018-08-08?19:14??CameraCalibration\CameraCalibration\CameraCalibration.vcxproj.filters

?????文件????????143??2018-08-08?16:38??CameraCalibration\CameraCalibration\CameraCalibration.vcxproj.user

?????文件?????921654??2009-12-31?16:23??CameraCalibration\CameraCalibration\chess1.bmp

?????文件?????921654??2009-12-31?16:21??CameraCalibration\CameraCalibration\chess10.bmp

?????文件?????921654??2009-12-31?16:22??CameraCalibration\CameraCalibration\chess11.bmp

?????文件?????921654??2009-12-31?16:22??CameraCalibration\CameraCalibration\chess12.bmp

?????文件?????921654??2009-12-31?16:22??CameraCalibration\CameraCalibration\chess13.bmp

?????文件?????921654??2009-12-31?16:22??CameraCalibration\CameraCalibration\chess14.bmp

?????文件?????921654??2009-12-31?16:24??CameraCalibration\CameraCalibration\chess2.bmp

?????文件?????921654??2009-12-31?16:24??CameraCalibration\CameraCalibration\chess3.bmp

?????文件?????921654??2009-12-31?16:24??CameraCalibration\CameraCalibration\chess4.bmp

?????文件?????921654??2009-12-31?16:23??CameraCalibration\CameraCalibration\chess5.bmp

............此處省略40個文件信息