25,7 → 25,8 |
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#include "CameraCalibrator.h" |
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int main() |
int |
main() |
{ |
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cv::namedWindow("Image"); |
33,10 → 34,12 |
std::vector<std::string> filelist; |
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// generate list of chessboard image filename |
for (int i=1; i<=20; i++) { |
for (int i = 1; i <= 20; i++) |
{ |
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std::stringstream str; |
str << "../chessboards/chessboard" << std::setw(2) << std::setfill('0') << i << ".jpg"; |
str << "../chessboards/chessboard" << std::setw(2) << std::setfill('0') |
<< i << ".jpg"; |
std::cout << str.str() << std::endl; |
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filelist.push_back(str.str()); |
50,8 → 53,7 |
CameraCalibrator cameraCalibrator; |
// add the corners from the chessboard |
cv::Size boardSize(6,4); |
cameraCalibrator.addChessboardPoints( |
filelist, // filenames of chessboard image |
cameraCalibrator.addChessboardPoints(filelist, // filenames of chessboard image |
boardSize); // size of chessboard |
// calibrate the camera |
// cameraCalibrator.setCalibrationFlag(true,true); |
63,10 → 65,17 |
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// 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; |
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; |
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imshow("Original Image", image); |
imshow("Undistorted Image", uImage); |