| 26,7 → 26,8 |
|---|
| #include "opencv2/calib3d/calib3d.hpp" |
| #include <opencv2/highgui/highgui.hpp> |
| |
| class CameraCalibrator { |
| class CameraCalibrator |
| { |
| |
| // input points |
| std::vector<std::vector<cv::Point3f>> objectPoints; |
| 41,22 → 42,42 |
|---|
| bool mustInitUndistort; |
| |
| public: |
| CameraCalibrator() : flag(0), mustInitUndistort(true) {}; |
| CameraCalibrator() : |
| flag(0), mustInitUndistort(true) |
| { |
| } |
| ; |
| |
| // Open the chessboard images and extract corner points |
| int addChessboardPoints(const std::vector<std::string>& filelist, cv::Size & boardSize); |
| int |
| addChessboardPoints(const std::vector<std::string>& filelist, |
| cv::Size & boardSize); |
| // Add scene points and corresponding image points |
| void addPoints(const std::vector<cv::Point2f>& imageCorners, const std::vector<cv::Point3f>& objectCorners); |
| void |
| addPoints(const std::vector<cv::Point2f>& imageCorners, |
| const std::vector<cv::Point3f>& objectCorners); |
| // Calibrate the camera |
| double calibrate(cv::Size &imageSize); |
| double |
| calibrate(cv::Size imageSize); |
| // Set the calibration flag |
| void setCalibrationFlag(bool radial8CoeffEnabled=false, bool tangentialParamEnabled=false); |
| void |
| setCalibrationFlag(bool radial8CoeffEnabled = false, |
| bool tangentialParamEnabled = false); |
| // Remove distortion in an image (after calibration) |
| cv::Mat CameraCalibrator::remap(const cv::Mat &image); |
| cv::Mat |
| remap(const cv::Mat &image); |
| |
| // Getters |
| cv::Mat getCameraMatrix() { return cameraMatrix; } |
| cv::Mat getDistCoeffs() { return distCoeffs; } |
| cv::Mat |
| getCameraMatrix() |
| { |
| return cameraMatrix; |
| } |
| cv::Mat |
| getDistCoeffs() |
| { |
| return distCoeffs; |
| } |
| }; |
| |
| #endif // CAMERACALIBRATOR_H |