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| Line 23... | Line 23... | ||
| 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); |
| Line 48... | Line 51... | ||
| 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( |
- | |
| 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 | ||
| Line 61... | Line 63... | ||
| 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(); |