Subversion Repositories OpenCV2-Cookbook

   Computer Vision Programming using the OpenCV Library.

 Computer Vision Programming using the OpenCV Library.

   by Robert Laganiere, Packt Publishing, 2011.

 by Robert Laganiere, Packt Publishing, 2011.

   This program is free software; permission is hereby granted to use, copy, modify,

 This program is free software; permission is hereby granted to use, copy, modify,

   and distribute this source code, or portions thereof, for any purpose, without fee,

 and distribute this source code, or portions thereof, for any purpose, without fee,

   subject to the restriction that the copyright notice may not be removed

 subject to the restriction that the copyright notice may not be removed

   or altered from any source or altered source distribution.

 or altered from any source or altered source distribution.

   The software is released on an as-is basis and without any warranties of any kind.

 The software is released on an as-is basis and without any warranties of any kind.

   In particular, the software is not guaranteed to be fault-tolerant or free from failure.

 In particular, the software is not guaranteed to be fault-tolerant or free from failure.

   The author disclaims all warranties with regard to this software, any use,

 The author disclaims all warranties with regard to this software, any use,

   and any consequent failure, is purely the responsibility of the user.

 and any consequent failure, is purely the responsibility of the user.

   Copyright (C) 2010-2011 Robert Laganiere, www.laganiere.name

 Copyright (C) 2010-2011 Robert Laganiere, www.laganiere.name

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class CameraCalibrator {

class CameraCalibrator

        // input points

  // input points

    std::vector<std::vector<cv::Point3f>> objectPoints;

  std::vector<std::vector<cv::Point3f> > objectPoints;

    std::vector<std::vector<cv::Point2f>> imagePoints;

  std::vector<std::vector<cv::Point2f> > imagePoints;

    // output Matrices

  // output Matrices

    cv::Mat cameraMatrix;

  cv::Mat cameraMatrix;

    cv::Mat distCoeffs;

  cv::Mat distCoeffs;

        // flag to specify how calibration is done

  // flag to specify how calibration is done

        int flag;

  int flag;

        // used in image undistortion 

  // used in image undistortion

    cv::Mat map1,map2;

  cv::Mat map1, map2;

        bool mustInitUndistort;

  bool mustInitUndistort;

  public:

public:

        CameraCalibrator() : flag(0), mustInitUndistort(true) {};

      flag(0), mustInitUndistort(true)

        // Open the chessboard images and extract corner points

  // Open the chessboard images and extract corner points

        int addChessboardPoints(const std::vector<std::string>& filelist, cv::Size & boardSize);

  addChessboardPoints(const std::vector<std::string>& filelist,

        // Add scene points and corresponding image points

  // Add scene points and corresponding image points

    void addPoints(const std::vector<cv::Point2f>& imageCorners, const std::vector<cv::Point3f>& objectCorners);

  addPoints(const std::vector<cv::Point2f>& imageCorners,

        // Calibrate the camera

  // Calibrate the camera

        double calibrate(cv::Size &imageSize);

  calibrate(cv::Size imageSize);

    // Set the calibration flag

  // Set the calibration flag

    void setCalibrationFlag(bool radial8CoeffEnabled=false, bool tangentialParamEnabled=false);

  setCalibrationFlag(bool radial8CoeffEnabled = false,

        // Remove distortion in an image (after calibration)

  // Remove distortion in an image (after calibration)

        cv::Mat CameraCalibrator::remap(const cv::Mat &image);

  remap(const cv::Mat &image);

    // Getters

  // Getters

    cv::Mat getCameraMatrix() { return cameraMatrix; }

    return cameraMatrix;

    cv::Mat getDistCoeffs()   { return distCoeffs; }

    return distCoeffs;