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/*------------------------------------------------------------------------------------------*\
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/*------------------------------------------------------------------------------------------*\
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   This file contains material supporting chapter 9 of the cookbook:  
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   This file contains material supporting chapter 9 of the cookbook:  
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   Computer Vision Programming using the OpenCV Library.
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 Computer Vision Programming using the OpenCV Library.
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   by Robert Laganiere, Packt Publishing, 2011.
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 by Robert Laganiere, Packt Publishing, 2011.
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   This program is free software; permission is hereby granted to use, copy, modify,
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 This program is free software; permission is hereby granted to use, copy, modify,
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   and distribute this source code, or portions thereof, for any purpose, without fee,
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 and distribute this source code, or portions thereof, for any purpose, without fee,
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   subject to the restriction that the copyright notice may not be removed
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 subject to the restriction that the copyright notice may not be removed
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   or altered from any source or altered source distribution.
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 or altered from any source or altered source distribution.
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   The software is released on an as-is basis and without any warranties of any kind.
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 The software is released on an as-is basis and without any warranties of any kind.
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   In particular, the software is not guaranteed to be fault-tolerant or free from failure.
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 In particular, the software is not guaranteed to be fault-tolerant or free from failure.
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   The author disclaims all warranties with regard to this software, any use,
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 The author disclaims all warranties with regard to this software, any use,
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   and any consequent failure, is purely the responsibility of the user.
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 and any consequent failure, is purely the responsibility of the user.
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   Copyright (C) 2010-2011 Robert Laganiere, www.laganiere.name
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 Copyright (C) 2010-2011 Robert Laganiere, www.laganiere.name
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\*------------------------------------------------------------------------------------------*/
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 \*------------------------------------------------------------------------------------------*/
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#include <iostream>
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#include <iostream>
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#include <iomanip>
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#include <iomanip>
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#include <vector>
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#include <vector>
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#include <opencv2/core/core.hpp>
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#include <opencv2/core/core.hpp>
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#include <opencv2/highgui/highgui.hpp>
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#include <opencv2/highgui/highgui.hpp>
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#include <opencv2/features2d/features2d.hpp>
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#include <opencv2/features2d/features2d.hpp>
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#include "CameraCalibrator.h"
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#include "CameraCalibrator.h"
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int
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int main()
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main()
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{
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{
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        cv::namedWindow("Image");
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        cv::Mat image;
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        std::vector<std::string> filelist;
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        // generate list of chessboard image filename
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        for (int i=1; i<=20; i++) {
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                std::stringstream str;
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                str << "../chessboards/chessboard" << std::setw(2) << std::setfill('0') << i << ".jpg";
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                std::cout << str.str() << std::endl;
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                filelist.push_back(str.str());
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                image= cv::imread(str.str(),0);
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                cv::imshow("Image",image);
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                 cv::waitKey(100);
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        }
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        // Create calibrator object
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    CameraCalibrator cameraCalibrator;
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        // add the corners from the chessboard
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        cv::Size boardSize(6,4);
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        cameraCalibrator.addChessboardPoints(
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                filelist,       // filenames of chessboard image
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                boardSize);     // size of chessboard
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                // calibrate the camera
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    //  cameraCalibrator.setCalibrationFlag(true,true);
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        cameraCalibrator.calibrate(image.size());
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    // Image Undistortion
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    image = cv::imread(filelist[6]);
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        cv::Mat uImage= cameraCalibrator.remap(image);
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        // display camera matrix
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        cv::Mat cameraMatrix= cameraCalibrator.getCameraMatrix();
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        std::cout << " Camera intrinsic: " << cameraMatrix.rows << "x" << cameraMatrix.cols << std::endl;
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        std::cout << cameraMatrix.at<double>(0,0) << " " << cameraMatrix.at<double>(0,1) << " " << cameraMatrix.at<double>(0,2) << std::endl;
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        std::cout << cameraMatrix.at<double>(1,0) << " " << cameraMatrix.at<double>(1,1) << " " << cameraMatrix.at<double>(1,2) << std::endl;
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        std::cout << cameraMatrix.at<double>(2,0) << " " << cameraMatrix.at<double>(2,1) << " " << cameraMatrix.at<double>(2,2) << std::endl;
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    imshow("Original Image", image);
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    imshow("Undistorted Image", uImage);
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        cv::waitKey();
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        return 0;
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}
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  cv::namedWindow("Image");
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  cv::Mat image;
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  std::vector<std::string> filelist;
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  // generate list of chessboard image filename
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  for (int i = 1; i <= 20; i++)
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    {
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      std::stringstream str;
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      str << "../chessboards/chessboard" << std::setw(2) << std::setfill('0')
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          << i << ".jpg";
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      std::cout << str.str() << std::endl;
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      filelist.push_back(str.str());
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      image = cv::imread(str.str(), 0);
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      cv::imshow("Image", image);
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      cv::waitKey(100);
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    }
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  // Create calibrator object
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  CameraCalibrator cameraCalibrator;
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  // add the corners from the chessboard
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  cv::Size boardSize(6, 4);
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  cameraCalibrator.addChessboardPoints(filelist, // filenames of chessboard image
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      boardSize); // size of chessboard
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  // calibrate the camera
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  //    cameraCalibrator.setCalibrationFlag(true,true);
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  cameraCalibrator.calibrate(image.size());
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  // Image Undistortion
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  image = cv::imread(filelist[6]);
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  cv::Mat uImage = cameraCalibrator.remap(image);
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  // display camera matrix
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  cv::Mat cameraMatrix = cameraCalibrator.getCameraMatrix();
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  std::cout << " Camera intrinsic: " << cameraMatrix.rows << "x"
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      << cameraMatrix.cols << std::endl;
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  std::cout << cameraMatrix.at<double>(0, 0) << " "
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      << cameraMatrix.at<double>(0, 1) << " " << cameraMatrix.at<double>(0, 2)
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      << std::endl;
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  std::cout << cameraMatrix.at<double>(1, 0) << " "
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      << cameraMatrix.at<double>(1, 1) << " " << cameraMatrix.at<double>(1, 2)
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      << std::endl;
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  std::cout << cameraMatrix.at<double>(2, 0) << " "
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      << cameraMatrix.at<double>(2, 1) << " " << cameraMatrix.at<double>(2, 2)
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      << std::endl;
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  imshow("Original Image", image);
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  imshow("Undistorted Image", uImage);
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  cv::waitKey();
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  return 0;
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}
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