void cvFindExtrinsicCameraParams2( const CvMat* object_points,

                                    const CvMat* image_points,

                                    const CvMat* intrinsic_matrix,

                                    const CvMat* distortion_coeffs,

                                    CvMat* rotation_vector,

                                    CvMat* translation_vector );

 #include <cv.h>

 #include <highgui.h>

 #include <stdio.h>

 #include <stdlib.h>

 int n_boards = ; //Will be set by input list

 const int board_dt = ;

 int board_w;

 int board_h;

 void help()

 {

     printf("Calibration from disk. Call convention:\n\n"

                     "Where: board_{w,h} are the # of internal corners in the checkerboard\n"

             "       width (board_w) and height (board_h)\n"

             "       image_list is space separated list of path/filename of checkerboard\n"

             "       images\n\n"

             "Hit 'p' to pause/unpause, ESC to quit.  After calibration, press any other key to step through the images\n\n");

 }

 int main(int argc, char* argv[])

 {

   CvCapture* capture;// = cvCreateCameraCapture( 0 );

  // assert( capture );

     if(argc != )

     {

         help();

         return -;

     }

     help();

     board_w = atoi(argv[]);

     board_h = atoi(argv[]);

     int board_n  = board_w * board_h;

     CvSize board_sz = cvSize( board_w, board_h );

     FILE *fptr = fopen(argv[],"r");

     char names[];

     //COUNT THE NUMBER OF IMAGES:

     while(fscanf(fptr,"%s ",names)==)

     {

         n_boards++;

     }

     rewind(fptr);

   cvNamedWindow( "Calibration" );

   //ALLOCATE STORAGE

   CvMat* image_points      = cvCreateMat(board_n,,CV_32FC1);

   CvMat* object_points     = cvCreateMat(board_n,,CV_32FC1);

   //CvMat* point_counts      = cvCreateMat(1,CV_32SC1);

   CvMat *intrinsic = (CvMat*)cvLoad("Intrinsicsr.xml");

   CvMat *distortion = (CvMat*)cvLoad("Distortionr.xml");

   CvMat* rotation_vector=cvCreateMat(,,CV_32FC1);

   CvMat* translation_vector=cvCreateMat(,,CV_32FC1);

   CvMat* rotation_mat=cvCreateMat(,,CV_32FC1);

   CvMat* jacobian=cvCreateMat(,,CV_32FC1);

   IplImage* image = ;// = cvQueryFrame( capture );

   IplImage* gray_image = ; //for subpixel

   CvPoint2D32f* corners = new CvPoint2D32f[ board_n ];

   int corner_count;

       fscanf(fptr,"%s ",names);

       image = cvLoadImage( names);

       if(gray_image ==   && image) //We'll need this for subpixel accurate stuff

           gray_image = cvCreateImage(cvGetSize(image),,);

       if(!image)

           printf("null image\n");

       int found = cvFindChessboardCorners(

         image,

         board_sz,

         corners,

         &corner_count,

         CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS

               );

       //Get Subpixel accuracy on those corners

       cvCvtColor(image, gray_image, CV_BGR2GRAY);

       cvFindCornerSubPix(gray_image, corners, corner_count,

               cvSize(,),cvSize(-,-), cvTermCriteria( CV_TERMCRIT_EPS+CV_TERMCRIT_ITER, , 0.1 ));

       //Draw it

       cvDrawChessboardCorners(image, board_sz, corners, corner_count, found);

       cvShowImage( "Calibration", image );

        if( corner_count == board_n )

           printf("Found = %d for %s\n",found,names);

         for( int i=; i<board_n; ++i )

           {

            CV_MAT_ELEM(*image_points, float,i,) = corners[i].x;

            CV_MAT_ELEM(*image_points, float,i,) = corners[i].y;

            CV_MAT_ELEM(*object_points,float,i,) = i/board_w;

            CV_MAT_ELEM(*object_points,float,i,) = i%board_w;

            CV_MAT_ELEM(*object_points,float,i,) = 0.0f;

           }

         cvFindExtrinsicCameraParams2(

                             object_points,image_points,intrinsic,distortion,rotation_vector,translation_vector

                             );

         cvRodrigues2(

           rotation_vector,rotation_mat,jacobian=NULL

                      );

 cvSave("Rotationr.xml",rotation_mat);

 cvSave("Translationr.xml",translation_vector);

   }