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/trunk/Chapter 09/calibrate.cpp
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
\*------------------------------------------------------------------------------------------*/
 
#include <iostream>
#include <iomanip>
25,52 → 25,61
 
#include "CameraCalibrator.h"
 
int main()
int
main()
{
 
cv::namedWindow("Image");
cv::Mat image;
std::vector<std::string> filelist;
cv::namedWindow("Image");
cv::Mat image;
std::vector<std::string> filelist;
 
// generate list of chessboard image filename
for (int i=1; i<=20; i++) {
// generate list of chessboard image filename
for (int i = 1; i <= 20; i++)
{
 
std::stringstream str;
str << "../chessboards/chessboard" << std::setw(2) << std::setfill('0') << i << ".jpg";
std::cout << str.str() << std::endl;
std::stringstream str;
str << "../chessboards/chessboard" << std::setw(2) << std::setfill('0')
<< i << ".jpg";
std::cout << str.str() << std::endl;
 
filelist.push_back(str.str());
image= cv::imread(str.str(),0);
cv::imshow("Image",image);
cv::waitKey(100);
}
filelist.push_back(str.str());
image = cv::imread(str.str(), 0);
cv::imshow("Image", image);
 
// Create calibrator object
CameraCalibrator cameraCalibrator;
// add the corners from the chessboard
cv::Size boardSize(6,4);
cameraCalibrator.addChessboardPoints(
filelist, // filenames of chessboard image
boardSize); // size of chessboard
// calibrate the camera
// cameraCalibrator.setCalibrationFlag(true,true);
cameraCalibrator.calibrate(image.size());
cv::waitKey(100);
}
 
// Image Undistortion
image = cv::imread(filelist[6]);
cv::Mat uImage= cameraCalibrator.remap(image);
// Create calibrator object
CameraCalibrator cameraCalibrator;
// add the corners from the chessboard
cv::Size boardSize(6, 4);
cameraCalibrator.addChessboardPoints(filelist, // filenames of chessboard image
boardSize); // size of chessboard
// calibrate the camera
// cameraCalibrator.setCalibrationFlag(true,true);
cameraCalibrator.calibrate(image.size());
 
// 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;
// Image Undistortion
image = cv::imread(filelist[6]);
cv::Mat uImage = cameraCalibrator.remap(image);
 
imshow("Original Image", image);
imshow("Undistorted Image", uImage);
// 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;
 
cv::waitKey();
return 0;
}
imshow("Original Image", image);
imshow("Undistorted Image", uImage);
 
cv::waitKey();
return 0;
}