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| 3 | PointedEar | 1 | /*------------------------------------------------------------------------------------------*\ |
| 2 | This file contains material supporting chapter 9 of the cookbook: |
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| 5 | PointedEar | 3 | Computer Vision Programming using the OpenCV Library. |
| 4 | by Robert Laganiere, Packt Publishing, 2011. |
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| 3 | PointedEar | 5 | |
| 5 | PointedEar | 6 | This program is free software; permission is hereby granted to use, copy, modify, |
| 7 | and distribute this source code, or portions thereof, for any purpose, without fee, |
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| 8 | subject to the restriction that the copyright notice may not be removed |
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| 9 | or altered from any source or altered source distribution. |
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| 10 | The software is released on an as-is basis and without any warranties of any kind. |
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| 11 | In particular, the software is not guaranteed to be fault-tolerant or free from failure. |
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| 12 | The author disclaims all warranties with regard to this software, any use, |
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| 13 | and any consequent failure, is purely the responsibility of the user. |
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| 3 | PointedEar | 14 | |
| 5 | PointedEar | 15 | Copyright (C) 2010-2011 Robert Laganiere, www.laganiere.name |
| 16 | \*------------------------------------------------------------------------------------------*/ |
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| 3 | PointedEar | 17 | |
| 18 | #ifndef CAMERACALIBRATOR_H |
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| 19 | #define CAMERACALIBRATOR_H |
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| 20 | |||
| 21 | #include <vector> |
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| 22 | #include <iostream> |
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| 23 | |||
| 24 | #include <opencv2/core/core.hpp> |
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| 25 | #include "opencv2/imgproc/imgproc.hpp" |
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| 26 | #include "opencv2/calib3d/calib3d.hpp" |
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| 27 | #include <opencv2/highgui/highgui.hpp> |
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| 28 | |||
| 5 | PointedEar | 29 | class CameraCalibrator |
| 30 | { |
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| 3 | PointedEar | 31 | |
| 5 | PointedEar | 32 | // input points |
| 33 | std::vector<std::vector<cv::Point3f> > objectPoints; |
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| 34 | std::vector<std::vector<cv::Point2f> > imagePoints; |
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| 35 | // output Matrices |
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| 36 | cv::Mat cameraMatrix; |
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| 37 | cv::Mat distCoeffs; |
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| 38 | // flag to specify how calibration is done |
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| 39 | int flag; |
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| 40 | // used in image undistortion |
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| 41 | cv::Mat map1, map2; |
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| 42 | bool mustInitUndistort; |
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| 3 | PointedEar | 43 | |
| 5 | PointedEar | 44 | public: |
| 45 | CameraCalibrator() : |
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| 46 | flag(0), mustInitUndistort(true) |
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| 47 | { |
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| 48 | } |
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| 49 | ; |
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| 3 | PointedEar | 50 | |
| 5 | PointedEar | 51 | // Open the chessboard images and extract corner points |
| 52 | int |
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| 53 | addChessboardPoints(const std::vector<std::string>& filelist, |
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| 54 | cv::Size & boardSize); |
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| 55 | // Add scene points and corresponding image points |
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| 56 | void |
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| 57 | addPoints(const std::vector<cv::Point2f>& imageCorners, |
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| 58 | const std::vector<cv::Point3f>& objectCorners); |
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| 59 | // Calibrate the camera |
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| 60 | double |
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| 61 | calibrate(cv::Size imageSize); |
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| 62 | // Set the calibration flag |
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| 63 | void |
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| 64 | setCalibrationFlag(bool radial8CoeffEnabled = false, |
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| 65 | bool tangentialParamEnabled = false); |
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| 66 | // Remove distortion in an image (after calibration) |
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| 67 | cv::Mat |
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| 68 | remap(const cv::Mat &image); |
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| 3 | PointedEar | 69 | |
| 5 | PointedEar | 70 | // Getters |
| 71 | cv::Mat |
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| 72 | getCameraMatrix() |
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| 73 | { |
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| 74 | return cameraMatrix; |
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| 75 | } |
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| 76 | cv::Mat |
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| 77 | getDistCoeffs() |
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| 78 | { |
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| 79 | return distCoeffs; |
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| 80 | } |
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| 3 | PointedEar | 81 | }; |
| 82 | |||
| 83 | #endif // CAMERACALIBRATOR_H |