| 1,19 → 1,19 |
|---|
| /*------------------------------------------------------------------------------------------*\ |
| This file contains material supporting chapter 9 of the cookbook: |
| Computer Vision Programming using the OpenCV Library. |
| by Robert Laganiere, Packt Publishing, 2011. |
| 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. |
| 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 |
| \*------------------------------------------------------------------------------------------*/ |
| Copyright (C) 2010-2011 Robert Laganiere, www.laganiere.name |
| \*------------------------------------------------------------------------------------------*/ |
| |
| #ifndef CAMERACALIBRATOR_H |
| #define CAMERACALIBRATOR_H |
| 26,37 → 26,58 |
|---|
| #include "opencv2/calib3d/calib3d.hpp" |
| #include <opencv2/highgui/highgui.hpp> |
| |
| class CameraCalibrator { |
| class CameraCalibrator |
| { |
| |
| // input points |
| std::vector<std::vector<cv::Point3f>> objectPoints; |
| std::vector<std::vector<cv::Point2f>> imagePoints; |
| // output Matrices |
| cv::Mat cameraMatrix; |
| cv::Mat distCoeffs; |
| // flag to specify how calibration is done |
| int flag; |
| // used in image undistortion |
| cv::Mat map1,map2; |
| bool mustInitUndistort; |
| // input points |
| std::vector<std::vector<cv::Point3f> > objectPoints; |
| std::vector<std::vector<cv::Point2f> > imagePoints; |
| // output Matrices |
| cv::Mat cameraMatrix; |
| cv::Mat distCoeffs; |
| // flag to specify how calibration is done |
| int flag; |
| // used in image undistortion |
| cv::Mat map1, map2; |
| bool mustInitUndistort; |
| |
| public: |
| CameraCalibrator() : flag(0), mustInitUndistort(true) {}; |
| public: |
| CameraCalibrator() : |
| flag(0), mustInitUndistort(true) |
| { |
| } |
| ; |
| |
| // Open the chessboard images and extract corner points |
| 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); |
| // Calibrate the camera |
| double calibrate(cv::Size &imageSize); |
| // Set the calibration flag |
| void setCalibrationFlag(bool radial8CoeffEnabled=false, bool tangentialParamEnabled=false); |
| // Remove distortion in an image (after calibration) |
| cv::Mat CameraCalibrator::remap(const cv::Mat &image); |
| // Open the chessboard images and extract corner points |
| 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); |
| // Calibrate the camera |
| double |
| calibrate(cv::Size imageSize); |
| // Set the calibration flag |
| void |
| setCalibrationFlag(bool radial8CoeffEnabled = false, |
| bool tangentialParamEnabled = false); |
| // Remove distortion in an image (after calibration) |
| cv::Mat |
| remap(const cv::Mat &image); |
| |
| // Getters |
| cv::Mat getCameraMatrix() { return cameraMatrix; } |
| cv::Mat getDistCoeffs() { return distCoeffs; } |
| // Getters |
| cv::Mat |
| getCameraMatrix() |
| { |
| return cameraMatrix; |
| } |
| cv::Mat |
| getDistCoeffs() |
| { |
| return distCoeffs; |
| } |
| }; |
| |
| #endif // CAMERACALIBRATOR_H |