vs2015+opencv3.4.6：ChArUco相机标定示例

参考：https://docs.opencv.org/master/da/d13/tutorial_aruco_calibration.html 

说明：从视频中挑选标定样本，键盘输入“c”：选择该帧作为样本；键盘输入“d”：不选择该帧作为样本，进行下一帧挑选；键盘输入“esc”：样本挑选完毕；

#include <opencv2/highgui.hpp>
#include <opencv2/calib3d.hpp>
#include <opencv2/aruco/charuco.hpp>
#include <opencv2/imgproc.hpp>
#include <vector>
#include <iostream>
#include <ctime>

using namespace std;
using namespace cv;

namespace {
	const char* about =
		"Calibration using a ChArUco board\n"
		"  To capture a frame for calibration, press 'c',\n"
		"  If input comes from video, press any key for next frame\n"
		"  To finish capturing, press 'ESC' key and calibration starts.\n";
	const char* keys =
		"{w