for (int i = 0; i < NUM_OF_PICS; i++) {
    printf("FileName : %sn", filefinder.name);
    string img_path = path + "CameraCalibration/" + filefinder.name;

    images_color[i] = imread(img_path);


    images[i] = imread(img_path, 0);
    images_copy[i] = images_color[i].clone();
    cp_img = images[i].clone();
    bool patternfound = findChessboardCorners(images[i], patternsize, edges,
        CALIB_CB_ADAPTIVE_THRESH + CALIB_CB_NORMALIZE_IMAGE
        + CALIB_CB_FAST_CHECK);
    if (patternfound) {
        cornerSubPix(images[i], edges, Size(11,  11), Size(-1, -1), TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 50, 0.0001));
        edge_points.push_back(edges);
        drawChessboardCorners(images_copy[i], patternsize, Mat(edges), patternfound);
        points_vector_pile.push_back(points_vector);
    }



    cout << "Pic_" + to_string(i) << ": "<< patternfound << endl;

    nExistNext = _findnext(handle, &filefinder);
}

calibrateCamera(points_vector_pile, edge_points, patternsize, camera_matrix, dist_coeffs, rvecs, tvecs);

for (int i = 0; i < 10; i++) {
        Mat ouputImage;
        undistort(images[i], ouputImage, camera_matrix, dist_coeffs);
        namedWindow("Undistorted_" + to_string(i), WINDOW_NORMAL);
        resizeWindow("Undistorted_" + to_string(i), ouputImage.cols / 2, ouputImage.rows / 2);
        imshow("Undistorted_" + to_string(i), ouputImage);

    }