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| 1 | /*------------------------------------------------------------------------------------------*\
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1 | /*------------------------------------------------------------------------------------------*\
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| 2 | This file contains material supporting chapter 9 of the cookbook:
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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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3 | Computer Vision Programming using the OpenCV Library.
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| 4 | by Robert Laganiere, Packt Publishing, 2011.
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4 | by Robert Laganiere, Packt Publishing, 2011.
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| 5 | 5 | ||
| 6 | This program is free software; permission is hereby granted to use, copy, modify,
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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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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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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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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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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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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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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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13 | and any consequent failure, is purely the responsibility of the user.
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| 14 |
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14 |
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| 15 | Copyright (C) 2010-2011 Robert Laganiere, www.laganiere.name
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15 | Copyright (C) 2010-2011 Robert Laganiere, www.laganiere.name
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| 16 | \*------------------------------------------------------------------------------------------*/
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16 | \*------------------------------------------------------------------------------------------*/
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| 17 | 17 | ||
| 18 | #include <iostream>
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18 | #include <iostream>
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| 19 | #include <iomanip>
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19 | #include <iomanip>
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| 20 | #include <vector>
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20 | #include <vector>
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| 21 | #include <opencv2/core/core.hpp>
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21 | #include <opencv2/core/core.hpp>
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| 22 | #include <opencv2/imgproc/imgproc.hpp>
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22 | #include <opencv2/imgproc/imgproc.hpp>
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| 23 | #include <opencv2/highgui/highgui.hpp>
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23 | #include <opencv2/highgui/highgui.hpp>
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| 24 | #include <opencv2/features2d/features2d.hpp>
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24 | #include <opencv2/features2d/features2d.hpp>
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| 25 | 25 | ||
| 26 | #include "CameraCalibrator.h"
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26 | #include "CameraCalibrator.h"
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| 27 | 27 | ||
| - | 28 | int
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| 28 | int main() |
29 | main() |
| 29 | {
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30 | {
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| 30 | 31 | ||
| 31 | cv::namedWindow("Image"); |
32 | cv::namedWindow("Image"); |
| 32 | cv::Mat image; |
33 | cv::Mat image; |
| 33 | std::vector<std::string> filelist; |
34 | std::vector<std::string> filelist; |
| 34 | 35 | ||
| 35 | // generate list of chessboard image filename
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36 | // generate list of chessboard image filename
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| 36 | for (int i=1; i<=20; i++) { |
37 | for (int i = 1; i <= 20; i++) |
| - | 38 | {
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| 37 | 39 | ||
| 38 | std::stringstream str; |
40 | std::stringstream str; |
| 39 | str << "../chessboards/chessboard" << std::setw(2) << std::setfill('0') << i << ".jpg"; |
41 | str << "../chessboards/chessboard" << std::setw(2) << std::setfill('0') |
| - | 42 | << i << ".jpg"; |
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| 40 | std::cout << str.str() << std::endl; |
43 | std::cout << str.str() << std::endl; |
| 41 | 44 | ||
| 42 | filelist.push_back(str.str()); |
45 | filelist.push_back(str.str()); |
| 43 | image= cv::imread(str.str(),0); |
46 | image = cv::imread(str.str(), 0); |
| 44 | cv::imshow("Image",image); |
47 | cv::imshow("Image", image); |
| 45 | 48 | ||
| 46 | cv::waitKey(100); |
49 | cv::waitKey(100); |
| 47 | }
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50 | }
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| 48 | 51 | ||
| 49 | // Create calibrator object
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52 | // Create calibrator object
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| 50 | CameraCalibrator cameraCalibrator;
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53 | CameraCalibrator cameraCalibrator;
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| 51 | // add the corners from the chessboard
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54 | // add the corners from the chessboard
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| 52 | cv::Size boardSize(6,4); |
55 | cv::Size boardSize(6, 4); |
| 53 | cameraCalibrator.addChessboardPoints( |
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| 54 | filelist, // filenames of chessboard image
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56 | cameraCalibrator.addChessboardPoints(filelist, // filenames of chessboard image |
| 55 | boardSize); // size of chessboard |
57 | boardSize); // size of chessboard |
| 56 | // calibrate the camera
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58 | // calibrate the camera
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| 57 | // cameraCalibrator.setCalibrationFlag(true,true);
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59 | // cameraCalibrator.setCalibrationFlag(true,true);
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| 58 | cameraCalibrator.calibrate(image.size()); |
60 | cameraCalibrator.calibrate(image.size()); |
| 59 | 61 | ||
| 60 | // Image Undistortion
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62 | // Image Undistortion
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| 61 | image = cv::imread(filelist[6]); |
63 | image = cv::imread(filelist[6]); |
| 62 | cv::Mat uImage= cameraCalibrator.remap(image); |
64 | cv::Mat uImage = cameraCalibrator.remap(image); |
| 63 | 65 | ||
| 64 | // display camera matrix
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66 | // display camera matrix
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| 65 | cv::Mat cameraMatrix= cameraCalibrator.getCameraMatrix(); |
67 | cv::Mat cameraMatrix = cameraCalibrator.getCameraMatrix(); |
| 66 | std::cout << " Camera intrinsic: " << cameraMatrix.rows << "x" << cameraMatrix.cols << std::endl; |
68 | std::cout << " Camera intrinsic: " << cameraMatrix.rows << "x" |
| - | 69 | << cameraMatrix.cols << std::endl; |
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| - | 70 | std::cout << cameraMatrix.at<double>(0, 0) << " " |
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| 67 | std::cout << cameraMatrix.at<double>(0,0) << " " << cameraMatrix.at<double>(0,1) << " " << cameraMatrix.at<double>(0,2) << std::endl; |
71 | << cameraMatrix.at<double>(0, 1) << " " << cameraMatrix.at<double>(0, 2) |
| - | 72 | << std::endl; |
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| - | 73 | std::cout << cameraMatrix.at<double>(1, 0) << " " |
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| 68 | std::cout << cameraMatrix.at<double>(1,0) << " " << cameraMatrix.at<double>(1,1) << " " << cameraMatrix.at<double>(1,2) << std::endl; |
74 | << cameraMatrix.at<double>(1, 1) << " " << cameraMatrix.at<double>(1, 2) |
| - | 75 | << std::endl; |
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| - | 76 | std::cout << cameraMatrix.at<double>(2, 0) << " " |
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| 69 | std::cout << cameraMatrix.at<double>(2,0) << " " << cameraMatrix.at<double>(2,1) << " " << cameraMatrix.at<double>(2,2) << std::endl; |
77 | << cameraMatrix.at<double>(2, 1) << " " << cameraMatrix.at<double>(2, 2) |
| - | 78 | << std::endl; |
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| 70 | 79 | ||
| 71 | imshow("Original Image", image); |
80 | imshow("Original Image", image); |
| 72 | imshow("Undistorted Image", uImage); |
81 | imshow("Undistorted Image", uImage); |
| 73 | 82 | ||
| 74 | cv::waitKey(); |
83 | cv::waitKey(); |
| 75 | return 0; |
84 | return 0; |
| 76 | }
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85 | }
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| - | 86 | ||