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3 | PointedEar | 1 | /*------------------------------------------------------------------------------------------*\ |
2 | This file contains material supporting chapter 9 of the cookbook: |
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3 | Computer Vision Programming using the OpenCV Library. |
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4 | by Robert Laganiere, Packt Publishing, 2011. |
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5 | |||
6 | This program is free software; permission is hereby granted to use, copy, modify, |
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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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14 | |||
15 | Copyright (C) 2010-2011 Robert Laganiere, www.laganiere.name |
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16 | \*------------------------------------------------------------------------------------------*/ |
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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 | |||
29 | class CameraCalibrator { |
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30 | |||
31 | // input points |
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32 | std::vector<std::vector<cv::Point3f>> objectPoints; |
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33 | std::vector<std::vector<cv::Point2f>> imagePoints; |
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34 | // output Matrices |
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35 | cv::Mat cameraMatrix; |
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36 | cv::Mat distCoeffs; |
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37 | // flag to specify how calibration is done |
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38 | int flag; |
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39 | // used in image undistortion |
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40 | cv::Mat map1,map2; |
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41 | bool mustInitUndistort; |
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42 | |||
43 | public: |
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44 | CameraCalibrator() : flag(0), mustInitUndistort(true) {}; |
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45 | |||
46 | // Open the chessboard images and extract corner points |
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47 | int addChessboardPoints(const std::vector<std::string>& filelist, cv::Size & boardSize); |
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48 | // Add scene points and corresponding image points |
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49 | void addPoints(const std::vector<cv::Point2f>& imageCorners, const std::vector<cv::Point3f>& objectCorners); |
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50 | // Calibrate the camera |
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51 | double calibrate(cv::Size &imageSize); |
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52 | // Set the calibration flag |
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53 | void setCalibrationFlag(bool radial8CoeffEnabled=false, bool tangentialParamEnabled=false); |
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54 | // Remove distortion in an image (after calibration) |
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55 | cv::Mat CameraCalibrator::remap(const cv::Mat &image); |
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56 | |||
57 | // Getters |
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58 | cv::Mat getCameraMatrix() { return cameraMatrix; } |
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59 | cv::Mat getDistCoeffs() { return distCoeffs; } |
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60 | }; |
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61 | |||
62 | #endif // CAMERACALIBRATOR_H |