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Merged the trunk r8589:8653 - all changes related to build warnings

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This commit is contained in:
Andrey Kamaev
2012-06-15 13:04:17 +00:00
parent 73c152abc4
commit bd0e0b5800
438 changed files with 20374 additions and 19674 deletions
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88
samples/cpp/stereo_calib.cpp
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@@ -8,11 +8,11 @@
Learning OpenCV: Computer Vision with the OpenCV Library
by Gary Bradski and Adrian Kaehler
Published by O'Reilly Media, October 3, 2008
AVAILABLE AT:
AVAILABLE AT:
http://www.amazon.com/Learning-OpenCV-Computer-Vision-Library/dp/0596516134
Or: http://oreilly.com/catalog/9780596516130/
ISBN-10: 0596516134 or: ISBN-13: 978-0596516130
ISBN-10: 0596516134 or: ISBN-13: 978-0596516130
OTHER OPENCV SITES:
* The source code is on sourceforge at:
@@ -41,17 +41,17 @@
using namespace cv;
using namespace std;
int print_help()
static int print_help()
{
cout <<
" Given a list of chessboard images, the number of corners (nx, ny)\n"
" on the chessboards, and a flag: useCalibrated for \n"
" calibrated (0) or\n"
" uncalibrated \n"
" (1: use cvStereoCalibrate(), 2: compute fundamental\n"
" matrix separately) stereo. \n"
" Calibrate the cameras and display the\n"
" rectified results along with the computed disparity images. \n" << endl;
cout <<
" Given a list of chessboard images, the number of corners (nx, ny)\n"
" on the chessboards, and a flag: useCalibrated for \n"
" calibrated (0) or\n"
" uncalibrated \n"
" (1: use cvStereoCalibrate(), 2: compute fundamental\n"
" matrix separately) stereo. \n"
" Calibrate the cameras and display the\n"
" rectified results along with the computed disparity images. \n" << endl;
cout << "Usage:\n ./stereo_calib -w board_width -h board_height [-nr /*dot not view results*/] <image list XML/YML file>\n" << endl;
return 0;
}
@@ -65,22 +65,22 @@ StereoCalib(const vector<string>& imagelist, Size boardSize, bool useCalibrated=
cout << "Error: the image list contains odd (non-even) number of elements\n";
return;
}
bool displayCorners = false;//true;
const int maxScale = 2;
const float squareSize = 1.f; // Set this to your actual square size
// ARRAY AND VECTOR STORAGE:
vector<vector<Point2f> > imagePoints[2];
vector<vector<Point3f> > objectPoints;
Size imageSize;
int i, j, k, nimages = (int)imagelist.size()/2;
imagePoints[0].resize(nimages);
imagePoints[1].resize(nimages);
vector<string> goodImageList;
for( i = j = 0; i < nimages; i++ )
{
for( k = 0; k < 2; k++ )
@@ -105,7 +105,7 @@ StereoCalib(const vector<string>& imagelist, Size boardSize, bool useCalibrated=
timg = img;
else
resize(img, timg, Size(), scale, scale);
found = findChessboardCorners(timg, boardSize, corners,
found = findChessboardCorners(timg, boardSize, corners,
CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_NORMALIZE_IMAGE);
if( found )
{
@@ -152,25 +152,25 @@ StereoCalib(const vector<string>& imagelist, Size boardSize, bool useCalibrated=
cout << "Error: too little pairs to run the calibration\n";
return;
}
imagePoints[0].resize(nimages);
imagePoints[1].resize(nimages);
objectPoints.resize(nimages);
for( i = 0; i < nimages; i++ )
{
for( j = 0; j < boardSize.height; j++ )
for( k = 0; k < boardSize.width; k++ )
objectPoints[i].push_back(Point3f(j*squareSize, k*squareSize, 0));
}
cout << "Running stereo calibration ...\n";
Mat cameraMatrix[2], distCoeffs[2];
cameraMatrix[0] = Mat::eye(3, 3, CV_64F);
cameraMatrix[1] = Mat::eye(3, 3, CV_64F);
Mat R, T, E, F;
double rms = stereoCalibrate(objectPoints, imagePoints[0], imagePoints[1],
cameraMatrix[0], distCoeffs[0],
cameraMatrix[1], distCoeffs[1],
@@ -182,7 +182,7 @@ StereoCalib(const vector<string>& imagelist, Size boardSize, bool useCalibrated=
CV_CALIB_RATIONAL_MODEL +
CV_CALIB_FIX_K3 + CV_CALIB_FIX_K4 + CV_CALIB_FIX_K5);
cout << "done with RMS error=" << rms << endl;
// CALIBRATION QUALITY CHECK
// because the output fundamental matrix implicitly
// includes all the output information,
@@ -212,7 +212,7 @@ StereoCalib(const vector<string>& imagelist, Size boardSize, bool useCalibrated=
npoints += npt;
}
cout << "average reprojection err = " << err/npoints << endl;
// save intrinsic parameters
FileStorage fs("intrinsics.yml", CV_STORAGE_WRITE);
if( fs.isOpened() )
@@ -223,15 +223,15 @@ StereoCalib(const vector<string>& imagelist, Size boardSize, bool useCalibrated=
}
else
cout << "Error: can not save the intrinsic parameters\n";
Mat R1, R2, P1, P2, Q;
Rect validRoi[2];
stereoRectify(cameraMatrix[0], distCoeffs[0],
cameraMatrix[1], distCoeffs[1],
imageSize, R, T, R1, R2, P1, P2, Q,
CALIB_ZERO_DISPARITY, 1, imageSize, &validRoi[0], &validRoi[1]);
fs.open("extrinsics.yml", CV_STORAGE_WRITE);
if( fs.isOpened() )
{
@@ -240,15 +240,15 @@ StereoCalib(const vector<string>& imagelist, Size boardSize, bool useCalibrated=
}
else
cout << "Error: can not save the intrinsic parameters\n";
// OpenCV can handle left-right
// or up-down camera arrangements
bool isVerticalStereo = fabs(P2.at<double>(1, 3)) > fabs(P2.at<double>(0, 3));
// COMPUTE AND DISPLAY RECTIFICATION
if( !showRectified )
return;
Mat rmap[2][2];
// IF BY CALIBRATED (BOUGUET'S METHOD)
if( useCalibrated )
@@ -270,7 +270,7 @@ StereoCalib(const vector<string>& imagelist, Size boardSize, bool useCalibrated=
F = findFundamentalMat(Mat(allimgpt[0]), Mat(allimgpt[1]), FM_8POINT, 0, 0);
Mat H1, H2;
stereoRectifyUncalibrated(Mat(allimgpt[0]), Mat(allimgpt[1]), F, imageSize, H1, H2, 3);
R1 = cameraMatrix[0].inv()*H1*cameraMatrix[0];
R2 = cameraMatrix[1].inv()*H2*cameraMatrix[1];
P1 = cameraMatrix[0];
@@ -280,7 +280,7 @@ StereoCalib(const vector<string>& imagelist, Size boardSize, bool useCalibrated=
//Precompute maps for cv::remap()
initUndistortRectifyMap(cameraMatrix[0], distCoeffs[0], R1, P1, imageSize, CV_16SC2, rmap[0][0], rmap[0][1]);
initUndistortRectifyMap(cameraMatrix[1], distCoeffs[1], R2, P2, imageSize, CV_16SC2, rmap[1][0], rmap[1][1]);
Mat canvas;
double sf;
int w, h;
@@ -298,7 +298,7 @@ StereoCalib(const vector<string>& imagelist, Size boardSize, bool useCalibrated=
h = cvRound(imageSize.height*sf);
canvas.create(h*2, w, CV_8UC3);
}
for( i = 0; i < nimages; i++ )
{
for( k = 0; k < 2; k++ )
@@ -311,11 +311,11 @@ StereoCalib(const vector<string>& imagelist, Size boardSize, bool useCalibrated=
if( useCalibrated )
{
Rect vroi(cvRound(validRoi[k].x*sf), cvRound(validRoi[k].y*sf),
cvRound(validRoi[k].width*sf), cvRound(validRoi[k].height*sf));
cvRound(validRoi[k].width*sf), cvRound(validRoi[k].height*sf));
rectangle(canvasPart, vroi, Scalar(0,0,255), 3, 8);
}
}
if( !isVerticalStereo )
for( j = 0; j < canvas.rows; j += 16 )
line(canvas, Point(0, j), Point(canvas.cols, j), Scalar(0, 255, 0), 1, 8);
@@ -329,7 +329,7 @@ StereoCalib(const vector<string>& imagelist, Size boardSize, bool useCalibrated=
}
}
static bool readStringList( const string& filename, vector<string>& l )
{
l.resize(0);
@@ -344,13 +344,13 @@ static bool readStringList( const string& filename, vector<string>& l )
l.push_back((string)*it);
return true;
}
int main(int argc, char** argv)
{
Size boardSize;
string imagelistfn;
bool showRectified = true;
for( int i = 1; i < argc; i++ )
{
if( string(argv[i]) == "-w" )
@@ -381,7 +381,7 @@ int main(int argc, char** argv)
else
imagelistfn = argv[i];
}
if( imagelistfn == "" )
{
imagelistfn = "stereo_calib.xml";
@@ -389,10 +389,10 @@ int main(int argc, char** argv)
}
else if( boardSize.width <= 0 || boardSize.height <= 0 )
{
cout << "if you specified XML file with chessboards, you should also specify the board width and height (-w and -h options)" << endl;
cout << "if you specified XML file with chessboards, you should also specify the board width and height (-w and -h options)" << endl;
return 0;
}
vector<string> imagelist;
bool ok = readStringList(imagelistfn, imagelist);
if(!ok || imagelist.empty())
@@ -400,7 +400,7 @@ int main(int argc, char** argv)
cout << "can not open " << imagelistfn << " or the string list is empty" << endl;
return print_help();
}
StereoCalib(imagelist, boardSize, true, showRectified);
return 0;
}