OpenCV Calibration Camera

The code for the

use OPENCV to calibrate camera is as follows:

void Help (char *argv[]) {} int calib_camera (int argc, char* argv[]) {int n_boards = 0;//is set by input list
    float IMAGE_SF = 1.0f;//0.5f;
    float delay = 1.f;
    int board_w = 0;
    int board_h = 0;
        if (argc < 4 | | argc > 6) {cout << "\nerror:wrong number of input parameters";
        Help (argv);
    return-1;
    } Board_w = Atoi (argv[1]);
    Board_h = Atoi (argv[2]);
    N_boards = Atoi (argv[3]);
    if (argc > 4) delay = Atof (argv[4));
    if (argc > 5) image_sf = Atof (argv[5));
    int board_n = Board_w * BOARD_H;
    Cv::size BOARD_SZ = cv::size (Board_w, Board_h);
    Cv::videocapture Capture (0);
        if (!capture.isopened ()) {cout << "\ncouldn ' t open the camera\n";
        Help (argv);
    return-1;
    }//ALLOCATE STORAGE//vector< VECTOR&LT;CV::P oint2f> > image_points;
    vector< VECTOR&LT;CV::P oint3f> > object_points; Capture Corner Views:loop until we ' veGot n_boards Successful//captures (all corners on the board are).
    Double last_captured_timestamp = 0;
    Cv::size image_size;
        while (Image_points.size () < (size_t) n_boards) {Cv::mat image0, image;
        Capture >> Image0;
        Image_size = Image0.size ();
        Cv::resize (IMAGE0, Image, Cv::size (), IMAGE_SF, IMAGE_SF, cv::inter_linear);
        Find the board//VECTOR&LT;CV::P oint2f> Corners;
        BOOL found = cv::findchessboardcorners (image, BOARD_SZ, corners);
        Draw IT//drawchessboardcorners (image, BOARD_SZ, corners, found);
        If We got a good board, add it to We data//double timestamp = (double) clock ()/clocks_per_sec;
            if (found && timestamp-last_captured_timestamp > 1) {last_captured_timestamp = timestamp;
            Image ^= Cv::scalar::all (255); Cv::mat mcorners (corners);
     Does not copy the data       Mcorners *= (1/IMAGE_SF);
            Scale the corner coordinates image_points.push_back (corners);
            Object_points.push_back (vector<point3f> ());
            VECTOR&LT;CV::P oint3f>& opts = Object_points.back ();
            Opts.resize (Board_n); 
            for (int j = 0; j<board_n; j + +) {Opts[j] = CV::P oint3f (float) (J/board_w), (float) (j%board_w), 0.F); } cout << "Collected our" << (int) image_points.size () << "
        "<< n_boards <<" needed chessboard images\n "<< Endl; } cv::imshow ("calibration", image);
    Show in color if we did collect the image if (Cv::waitkey & 255) = =) return-1;
    }//End COLLECTION while loop.
    CV::d Estroywindow ("calibration");
    cout << "\n\n*** calibrating the camera...\n" << Endl;
    Calibrate the camera! Cv::mat Intrinsic_matrix, Distortion_coeffs; Double err = Cv::calibratecamera (object_points, image_points, Image_size, Intrinsic_matri X, Distortion_coeffs, Cv::noarray (), Cv::noarray (), Cv::calib_zero_tangent_dist |
    Cv::calib_fix_principal_point);
        SAVE the intrinsics and distortions cout << "* * done!\n\nreprojection error is" << err <<
    "\nstoring Intrinsics.xml and Distortions.xml files\n\n";
    Cv::filestorage FS ("Intrinsics.xml", filestorage::write); FS << "Image_width" << image_size.width << "image_height" << image_size.height << "c
    Amera_matrix "<< intrinsic_matrix <<" distortion_coefficients "<< distortion_coeffs;
    Fs.release ();
    EXAMPLE of LOADING matrices back IN:fs.open ("Intrinsics.xml", Cv::filestorage::read);
    cout << "\nimage width:" << (int) fs["image_width"]; cout << "\nimage Height: "<< (int) fs[" Image_height "];
    Cv::mat intrinsic_matrix_loaded, distortion_coeffs_loaded;
    fs["Camera_matrix"] >> intrinsic_matrix_loaded;
    fs["Distortion_coefficients"] >> distortion_coeffs_loaded;
    cout << "\nintrinsic matrix:" << intrinsic_matrix_loaded;

    cout << "\ndistortion coefficients:" << distortion_coeffs_loaded << Endl;
    Build the Undistort map which we'll use for all//subsequent frames.
    Cv::mat Map1, MAP2;
        Cv::initundistortrectifymap (intrinsic_matrix_loaded, distortion_coeffs_loaded, Cv::mat (),
    intrinsic_matrix_loaded, Image_size, CV_16SC2, Map1, MAP2);
    Just run the camera to the screens, now showing the raw and//the undistorted image. for (;;)
        {Cv::mat image, image0;
        Capture >> Image0;
        if (Image0.empty ()) break;
       Cv::remap (IMAGE0,     Image, Map1, MAP2, Cv::inter_linear, Cv::border_constant,
        Cv::scalar ());
        Cv::imshow ("undistorted", image);
    if (Cv::waitkey & 255) =) break;
return 0; }