#include <cv.h>
#include <highgui.h>
#include <iostream>
#include <stdio.h>
#include <stdlib.h>
 
using namespace std;
 
 int n_boards=0;//图像数目  
 const int board_dt=20;//等20帧每棋盘视图 //int sn_board=0;//成功找到角点的图像数目
 int board_w;//图像的角点行列数   canshu
 int board_h; //canshu
int main(int argc ,char * argv[])
{
 /*读入图像*/ 
board_w=7;      //canshu
board_h=7;      //canshu
n_boards=20;     //canshu
 
int board_n=board_h*board_w;//每幅图像的角点数
CvSize board_size=cvSize(board_w,board_h);//每幅图像的角点数
CvCapture*capture;  
capture=cvCreateCameraCapture(0);
//assert(capture);              
 
if(!capture) { printf("\nCouldn‘t open the camera\n"); return -1;}
cvNamedWindow("MyCalib");
cvNamedWindow("Raw Video");
 
 //allocate storage
 CvMat*object_points     = cvCreateMat(board_n*n_boards,3,CV_32FC1);
 CvMat*image_points      =cvCreateMat(board_n*n_boards,2,CV_32FC1);
 CvMat*point_counts      =cvCreateMat(n_boards,1,CV_32SC1);
 CvMat * camera_matrix   =cvCreateMat(3,3,CV_32FC1);//摄像机矩阵（内参数矩阵） 
 CvMat * distortion_coeffs=cvCreateMat(4,1,CV_32FC1);//畸变系数
 CvPoint2D32f*corners=new CvPoint2D32f[board_n];//一幅图像的角点数组
 int corner_count;
 int successes=0;     //   本文 successes就是 sn_board
 int step,frame=0;    
 
 IplImage*image=cvQueryFrame(capture);              
 IplImage *gray_image=cvCreateImage(cvGetSize(image),8,1);//创建头并分配数据
  
 //亚像素subpixel
 //capture corner views  loop  until  we‘ve got n_boards
 //成功捕获（找到所有角点on the board）
 
 while (successes<n_boards)
 {   //skip every board_dt frames to allow user to move chessboard
    if(frame++%board_dt==0)
    {
        int found=cvFindChessboardCorners(image,board_size,corners,&corner_count,CV_CALIB_CB_ADAPTIVE_THRESH|CV_CALIB_CB_FILTER_QUADS);
 
        //精确到亚像素,绘制棋盘角点
        cvCvtColor(image,gray_image,CV_BGR2GRAY);           
        cvFindCornerSubPix(gray_image,corners,corner_count,cvSize(15,15),cvSize(-1,-1),cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER,30,0.1));
        cvDrawChessboardCorners(image,board_size,corners,corner_count,found); 
        //cvShowImage("MyCalib",image);
 
        //如果得到一个好板，则把把它加入到我们的数据中
        if(corner_count==board_n){   //xin
             cvShowImage( "Calibration", image ); //show in color if we did collect the image
            step=successes*board_n;   //xin
            for(int i=step,j=0;j<board_n;++i,++j){  
                CV_MAT_ELEM(*image_points,float,i,0)  =corners[j].x;//CV_MAT_ELEM用来访问矩阵每个元素的宏，这个宏只对单通道矩阵有效，多通道会报错
                CV_MAT_ELEM(*image_points,float,i,1)  =corners[j].y;//(要访问的矩阵，矩阵元素的类型，所要访问元素的行数，列数)
                                         //上两句是将检测到的点以坐标形式存储
                CV_MAT_ELEM(*object_points,float,i,0) =float(j/board_w);
                CV_MAT_ELEM(*object_points,float,i,1) =float(j%board_w);
                                        //上两句是将检测到的点的数目，以行列形式存储
                CV_MAT_ELEM(*object_points,float,i,2) =0.0f;
            }
             CV_MAT_ELEM(*point_counts,int,successes,0)=board_n;
             successes++;
             printf("Collected our %d of %d needed chessboard images\n",successes,n_boards);
       }
       else
         cvShowImage( "Calibration", gray_image );//Show Gray if we didn‘t collect the image
      }//end skip board_dt between chessboard capture
     
    //暂停模块
     int c = cvWaitKey(15);
     if(c == ‘p‘){ 
       c = 0;
       while(c != ‘p‘ && c != 27){
            c = cvWaitKey(250);
       }
     }
     if(c == 27)
        return 0;
    image = cvQueryFrame( capture ); //Get next image
    cvShowImage("Raw Video", image);
  } //END COLLECTION WHILE LOOP.
   cvDestroyWindow("Calibration");
    printf("\n\n*** CALLIBRATING THE CAMERA...");
 
 
     //重新赋值，又重新分配了矩阵空间
  CvMat * object_points0= cvCreateMat(board_n*successes,3,CV_32FC1);
  CvMat * image_points0=cvCreateMat(board_n*successes,2,CV_32FC1);
  CvMat * point_counts0=cvCreateMat(successes,1,CV_32SC1);    
  //transfer THE points INTO THE correct size matrices
   for (int i=0;i<successes*board_n;i++)//board_n为每幅图像的角点数*sn_board为成功找到角点的图像数目
    {
    CV_MAT_ELEM(*image_points0,float,i,0)=CV_MAT_ELEM(*image_points,float,i,0);
    CV_MAT_ELEM(*image_points0,float,i,1)=CV_MAT_ELEM(*image_points,float,i,1);
    CV_MAT_ELEM(*object_points0,float,i,0)=CV_MAT_ELEM(*object_points,float,i,0);
    CV_MAT_ELEM(*object_points0,float,i,1)=CV_MAT_ELEM(*object_points,float,i,1);
    CV_MAT_ELEM(*object_points0,float,i,2)=0.0f;
    }
  for (int i=0;i<successes;i++)
   {
    CV_MAT_ELEM(*point_counts0,int,i,0)=CV_MAT_ELEM(*point_counts,int,i,0);
   }
   cvReleaseMat(&object_points);//世界坐标点
   cvReleaseMat(&point_counts); //每张图像中的角点数
   cvReleaseMat(&image_points); //图像坐标点
   //使用cvReleaseMat函数之后，系统将释放刚才载入矩阵的内存空间（也即这个矩阵已经不在内存中了）

   // At this point we have all of the chessboard corners we need 
   // Initialize the intrinsic matrix such that the two focal
  // lengths have a ratio of 1.0
    CV_MAT_ELEM( *camera_matrix, float, 0, 0 ) = 1.0f;  
    CV_MAT_ELEM( *camera_matrix, float, 1, 1 ) = 1.0f;  
  //CALIBRATE THE CAMERA!
  cvCalibrateCamera2(                                 
      object_points0, image_points0,               
      point_counts0,  cvGetSize( image ),              
      camera_matrix, distortion_coeffs,
      NULL, NULL,0  //CV_CALIB_FIX_ASPECT_RATIO
  );
 
   // SAVE THE INTRINSICS AND DISTORTIONS     xin
   printf("......保存内部参数与畸变参数\n");
   cvSave("camera_matrix1111.xml",camera_matrix);
   cvSave("distortion_coeffs.xml",distortion_coeffs);
 
   // EXAMPLE OF LOADING THESE MATRICES BACK IN:      xin
  CvMat *intrinsic = (CvMat*)cvLoad("Intrinsics.xml");
  CvMat *distortion = (CvMat*)cvLoad("Distortion.xml");
 
 
  // Build the undistort map which we will use for all
  // subsequent frames.建立不失真的图map
  //
  IplImage* mapx = cvCreateImage( cvGetSize(image), IPL_DEPTH_32F, 1 );
  IplImage* mapy = cvCreateImage( cvGetSize(image), IPL_DEPTH_32F, 1 );
  cvInitUndistortMap(intrinsic,distortion,mapx, mapy);
 
  // Just run the camera to the screen, now showing the raw and
  // the undistorted image.
  //
  cvNamedWindow( "Undistort" );
  while(image) {
    IplImage *t = cvCloneImage(image);
    cvShowImage( "Raw Video", image ); // Show raw image
    cvRemap( t, image, mapx, mapy );     // Undistort image
    cvReleaseImage(&t);
    cvShowImage("Undistort", image);     // Show corrected image
 
  //Handle pause/unpause and ESC
    int c = cvWaitKey(15);
    if(c == ‘p‘){
       c = 0;
       while(c != ‘p‘ && c != 27){
            c = cvWaitKey(250);
       }
    }
     if(c == 27)
        break;
    image = cvQueryFrame( capture );
  }
 
  return 0;
}