Subversion Repositories OpenCV2-Cookbook

/*------------------------------------------------------------------------------------------*\

   This file contains material supporting chapter 9 of the cookbook:  

 Computer Vision Programming using the OpenCV Library.

 by Robert Laganiere, Packt Publishing, 2011.

 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,

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

 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.

 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,

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

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

 \*------------------------------------------------------------------------------------------*/

#include <iostream>

#include <iomanip>

#include <vector>

#include <opencv2/core/core.hpp>

#include <opencv2/imgproc/imgproc.hpp>

#include <opencv2/highgui/highgui.hpp>

#include <opencv2/features2d/features2d.hpp>

#include "CameraCalibrator.h"

int

main()

{

  cv::namedWindow("Image");

  cv::Mat image;

  std::vector<std::string> filelist;

  // generate list of chessboard image filename

  for (int i = 1; i <= 20; i++)

    {

      std::stringstream str;

      str << "../chessboards/chessboard" << std::setw(2) << std::setfill('0')

          << i << ".jpg";

      std::cout << str.str() << std::endl;

      filelist.push_back(str.str());

      image = cv::imread(str.str(), 0);

      cv::imshow("Image", image);

      cv::waitKey(100);

    }

  // Create calibrator object

  CameraCalibrator cameraCalibrator;

  // add the corners from the chessboard

  cv::Size boardSize(6, 4);

  cameraCalibrator.addChessboardPoints(filelist, // filenames of chessboard image

      boardSize); // size of chessboard

  // calibrate the camera

  //    cameraCalibrator.setCalibrationFlag(true,true);

  cameraCalibrator.calibrate(image.size());

  // Image Undistortion

  image = cv::imread(filelist[6]);

  cv::Mat uImage = cameraCalibrator.remap(image);

  // display camera matrix

  cv::Mat cameraMatrix = cameraCalibrator.getCameraMatrix();

  std::cout << " Camera intrinsic: " << cameraMatrix.rows << "x"

      << cameraMatrix.cols << std::endl;

  std::cout << cameraMatrix.at<double>(0, 0) << " "

      << cameraMatrix.at<double>(0, 1) << " " << cameraMatrix.at<double>(0, 2)

      << std::endl;

  std::cout << cameraMatrix.at<double>(1, 0) << " "

      << cameraMatrix.at<double>(1, 1) << " " << cameraMatrix.at<double>(1, 2)

      << std::endl;

  std::cout << cameraMatrix.at<double>(2, 0) << " "

      << cameraMatrix.at<double>(2, 1) << " " << cameraMatrix.at<double>(2, 2)

      << std::endl;

  imshow("Original Image", image);

  imshow("Undistorted Image", uImage);

  cv::waitKey();

  return 0;

}