| 18,9 → 18,10 |
|---|
| #include "CameraCalibrator.h" |
| |
| // Open chessboard images and extract corner points |
| int CameraCalibrator::addChessboardPoints( |
| const std::vector<std::string>& filelist, |
| cv::Size & boardSize) { |
| int |
| CameraCalibrator::addChessboardPoints(const std::vector<std::string>& filelist, |
| cv::Size & boardSize) |
| { |
| |
| // the points on the chessboard |
| std::vector<cv::Point2f> imageCorners; |
| 30,8 → 31,10 |
|---|
| // Initialize the chessboard corners |
| // in the chessboard reference frame |
| // The corners are at 3D location (X,Y,Z)= (i,j,0) |
| for (int i=0; i<boardSize.height; i++) { |
| for (int j=0; j<boardSize.width; j++) { |
| for (int i = 0; i < boardSize.height; i++) |
| { |
| for (int j = 0; j < boardSize.width; j++) |
| { |
| |
| objectCorners.push_back(cv::Point3f(i, j, 0.0f)); |
| } |
| 41,26 → 44,24 |
|---|
| cv::Mat image; // to contain chessboard image |
| int successes = 0; |
| // for all viewpoints |
| for (int i=0; i<filelist.size(); i++) { |
| for (unsigned int i = 0; i < filelist.size(); i++) |
| { |
| |
| // Open the image |
| image = cv::imread(filelist[i],0); |
| |
| // Get the chessboard corners |
| bool found = cv::findChessboardCorners( |
| image, boardSize, imageCorners); |
| bool found = cv::findChessboardCorners(image, boardSize, imageCorners); |
| |
| // Get subpixel accuracy on the corners |
| cv::cornerSubPix(image, imageCorners, |
| cv::Size(5,5), |
| cv::Size(-1,-1), |
| cv::TermCriteria(cv::TermCriteria::MAX_ITER + |
| cv::TermCriteria::EPS, |
| cv::cornerSubPix(image, imageCorners, cv::Size(5, 5), cv::Size(-1, -1), |
| cv::TermCriteria(cv::TermCriteria::MAX_ITER + cv::TermCriteria::EPS, |
| 30, // max number of iterations |
| 0.1)); // min accuracy |
| |
| // If we have a good board, add it to our data |
| if (imageCorners.size() == boardSize.area()) { |
| if (imageCorners.size() == (unsigned int) boardSize.area()) |
| { |
| |
| // Add image and scene points from one view |
| addPoints(imageCorners, objectCorners); |
| 77,7 → 78,10 |
|---|
| } |
| |
| // Add scene points and corresponding image points |
| void CameraCalibrator::addPoints(const std::vector<cv::Point2f>& imageCorners, const std::vector<cv::Point3f>& objectCorners) { |
| void |
| CameraCalibrator::addPoints(const std::vector<cv::Point2f>& imageCorners, |
| const std::vector<cv::Point3f>& objectCorners) |
| { |
| |
| // 2D image points from one view |
| imagePoints.push_back(imageCorners); |
| 87,7 → 91,8 |
|---|
| |
| // Calibrate the camera |
| // returns the re-projection error |
| double CameraCalibrator::calibrate(cv::Size &imageSize) |
| double |
| CameraCalibrator::calibrate(cv::Size imageSize) |
| { |
| // undistorter must be reinitialized |
| mustInitUndistort= true; |
| 96,8 → 101,7 |
|---|
| std::vector<cv::Mat> rvecs, tvecs; |
| |
| // start calibration |
| return |
| calibrateCamera(objectPoints, // the 3D points |
| return calibrateCamera(objectPoints, // the 3D points |
| imagePoints, // the image points |
| imageSize, // image size |
| cameraMatrix, // output camera matrix |
| 109,14 → 113,16 |
|---|
| } |
| |
| // remove distortion in an image (after calibration) |
| cv::Mat CameraCalibrator::remap(const cv::Mat &image) { |
| cv::Mat |
| CameraCalibrator::remap(const cv::Mat &image) |
| { |
| |
| cv::Mat undistorted; |
| |
| if (mustInitUndistort) { // called once per calibration |
| if (mustInitUndistort) |
| { // called once per calibration |
| |
| cv::initUndistortRectifyMap( |
| cameraMatrix, // computed camera matrix |
| cv::initUndistortRectifyMap(cameraMatrix, // computed camera matrix |
| distCoeffs, // computed distortion matrix |
| cv::Mat(), // optional rectification (none) |
| cv::Mat(), // camera matrix to generate undistorted |
| 129,21 → 135,24 |
|---|
| } |
| |
| // Apply mapping functions |
| cv::remap(image, undistorted, map1, map2, |
| cv::INTER_LINEAR); // interpolation type |
| cv::remap(image, undistorted, map1, map2, cv::INTER_LINEAR); // interpolation type |
| |
| return undistorted; |
| } |
| |
| |
| // Set the calibration options |
| // 8radialCoeffEnabled should be true if 8 radial coefficients are required (5 is default) |
| // tangentialParamEnabled should be true if tangeantial distortion is present |
| void CameraCalibrator::setCalibrationFlag(bool radial8CoeffEnabled, bool tangentialParamEnabled) { |
| void |
| CameraCalibrator::setCalibrationFlag(bool radial8CoeffEnabled, |
| bool tangentialParamEnabled) |
| { |
| |
| // Set the flag used in cv::calibrateCamera() |
| flag = 0; |
| if (!tangentialParamEnabled) flag += CV_CALIB_ZERO_TANGENT_DIST; |
| if (radial8CoeffEnabled) flag += CV_CALIB_RATIONAL_MODEL; |
| if (!tangentialParamEnabled) |
| flag += CV_CALIB_ZERO_TANGENT_DIST; |
| if (radial8CoeffEnabled) |
| flag += CV_CALIB_RATIONAL_MODEL; |
| } |
| |