generic-library/opencv
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

added 3-camera rectification and 8-coeff distortion model

Browse Source
This commit is contained in:
Vadim Pisarevsky
2010-09-07 15:38:48 +00:00
parent 6960e1544d
commit 31dbefc865
5 changed files with 605 additions and 64 deletions
Download Patch File Download Diff File Expand all files Collapse all files

32
samples/cpp/calibration.cpp
View File

@@ -82,7 +82,7 @@ static bool runCalibration( vector<vector<Point2f> > imagePoints,
if( flags & CV_CALIB_FIX_ASPECT_RATIO )
cameraMatrix.at<double>(0,0) = aspectRatio;
distCoeffs = Mat::zeros(5, 1, CV_64F);
distCoeffs = Mat::zeros(8, 1, CV_64F);
vector<vector<Point3f> > objectPoints(1);
calcChessboardCorners(boardSize, squareSize, objectPoints[0]);
@@ -90,7 +90,7 @@ static bool runCalibration( vector<vector<Point2f> > imagePoints,
objectPoints.resize(imagePoints.size(),objectPoints[0]);
calibrateCamera(objectPoints, imagePoints, imageSize, cameraMatrix,
distCoeffs, rvecs, tvecs, flags);
distCoeffs, rvecs, tvecs, flags|CV_CALIB_FIX_K4|CV_CALIB_FIX_K5);///*|CV_CALIB_FIX_K3*/|CV_CALIB_FIX_K4|CV_CALIB_FIX_K5);
bool ok = checkRange(cameraMatrix) && checkRange(distCoeffs);
@@ -237,6 +237,7 @@ int main( int argc, char** argv )
int flags = 0;
VideoCapture capture;
bool flipVertical = false;
bool showUndistorted = false;
int delay = 1000;
clock_t prevTimestamp = 0;
int mode = DETECTION;
@@ -269,6 +270,7 @@ int main( int argc, char** argv )
" [-a <aspectRatio>] # fix aspect ratio (fx/fy)\n"
" [-p] # fix the principal point at the center\n"
" [-v] # flip the captured images around the horizontal axis\n"
" [-su] # show undistorted images after calibration\n"
" [input_data] # input data, one of the following:\n"
" # - text file with a list of the images of the board\n"
" # - name of video file with a video of the board\n"
@@ -336,6 +338,10 @@ int main( int argc, char** argv )
{
outputFilename = argv[++i];
}
else if( strcmp( s, "-su" ) == 0 )
{
showUndistorted = true;
}
else if( s[0] != '-' )
{
if( isdigit(s[0]) )
@@ -469,5 +475,27 @@ int main( int argc, char** argv )
break;
}
}
if( !capture.isOpened() && showUndistorted )
{
Mat view, rview, map1, map2;
initUndistortRectifyMap(cameraMatrix, distCoeffs, Mat(),
getOptimalNewCameraMatrix(cameraMatrix, distCoeffs, imageSize, 1, imageSize, 0),
imageSize, CV_16SC2, map1, map2);
for( i = 0; i < (int)imageList.size(); i++ )
{
view = imread(imageList[i], 1);
if(!view.data)
continue;
//undistort( view, rview, cameraMatrix, distCoeffs, cameraMatrix );
remap(view, rview, map1, map2, INTER_LINEAR);
imshow("Image View", rview);
int c = waitKey();
if( (c & 255) == 27 || c == 'q' || c == 'Q' )
break;
}
}
return 0;
}