double CameraCalibration::FundamentalMatrixQuality(vector<vector<Point2f> > LeftImagePoints, vector<vector<Point2f> > RightImagePoints,
Mat LeftCameraMatrix, Mat RightCameraMatrix, Mat LeftDistCoeffs, Mat RightDistCoeffs, Mat F)
{
// CALIBRATION QUALITY CHECK
// because the output fundamental matrix implicitly
// includes all the output information,
// we can check the quality of calibration using the
// epipolar geometry constraint: m2^t*F*m1=0
double err = 0;
int npoints = 0;
vector<Vec3f> lines[2];
for(int i = 0; i < NumFrames; i++ )
{
int npt = (int)LeftImagePoints[i].size();
Mat imgpt[2];
imgpt[0] = Mat(LeftImagePoints[i]);
imgpt[1] = Mat(RightImagePoints[i]);
undistortPoints(imgpt[0], imgpt[0], LeftCameraMatrix, LeftDistCoeffs, Mat(), LeftCameraMatrix);
undistortPoints(imgpt[1], imgpt[1], RightCameraMatrix, RightDistCoeffs, Mat(), RightCameraMatrix);
computeCorrespondEpilines(imgpt[0], 1, F, lines[0]);
computeCorrespondEpilines(imgpt[1], 2, F, lines[1]);
for(int j = 0; j < npt; j++ )
{
double errij = fabs(LeftImagePoints[i][j].x*lines[1][j][0] +
LeftImagePoints[i][j].y*lines[1][j][1] + lines[1][j][2]) +
fabs(RightImagePoints[i][j].x*lines[0][j][0] +
RightImagePoints[i][j].y*lines[0][j][1] + lines[0][j][2]);
err += errij;
}
npoints += npt;
}
return err/npoints;
}
void stereoCalibThread::stereoCalibration(const vector<string>& imagelist, int boardWidth, int boardHeight,float sqsize)
{
Size boardSize;
boardSize.width=boardWidth;
boardSize.height=boardHeight;
if( imagelist.size() % 2 != 0 )
{
cout << "Error: the image list contains odd (non-even) number of elements\n";
return;
}
const int maxScale = 2;
// ARRAY AND VECTOR STORAGE:
std::vector<std::vector<Point2f> > imagePoints[2];
std::vector<std::vector<Point3f> > objectPoints;
Size imageSize;
int i, j, k, nimages = (int)imagelist.size()/2;
imagePoints[0].resize(nimages);
imagePoints[1].resize(nimages);
std::vector<string> goodImageList;
for( i = j = 0; i < nimages; i++ )
{
for( k = 0; k < 2; k++ )
{
const string& filename = imagelist[i*2+k];
Mat img = cv::imread(filename, 0);
if(img.empty())
break;
if( imageSize == Size() )
imageSize = img.size();
else if( img.size() != imageSize )
{
cout << "The image " << filename << " has the size different from the first image size. Skipping the pair\n";
break;
}
bool found = false;
std::vector<Point2f>& corners = imagePoints[k][j];
for( int scale = 1; scale <= maxScale; scale++ )
{
Mat timg;
if( scale == 1 )
timg = img;
else
resize(img, timg, Size(), scale, scale);
if(boardType == "CIRCLES_GRID") {
found = findCirclesGridDefault(timg, boardSize, corners, CALIB_CB_SYMMETRIC_GRID | CALIB_CB_CLUSTERING);
} else if(boardType == "ASYMMETRIC_CIRCLES_GRID") {
found = findCirclesGridDefault(timg, boardSize, corners, CALIB_CB_ASYMMETRIC_GRID | CALIB_CB_CLUSTERING);
} else {
found = findChessboardCorners(timg, boardSize, corners,
CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_NORMALIZE_IMAGE);
}
if( found )
{
if( scale > 1 )
{
Mat cornersMat(corners);
cornersMat *= 1./scale;
}
break;
}
}
if( !found )
break;
}
if( k == 2 )
{
goodImageList.push_back(imagelist[i*2]);
goodImageList.push_back(imagelist[i*2+1]);
j++;
}
}
fprintf(stdout,"%i pairs have been successfully detected.\n",j);
nimages = j;
if( nimages < 2 )
{
fprintf(stdout,"Error: too few pairs detected \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));
}
fprintf(stdout,"Running stereo calibration ...\n");
Mat cameraMatrix[2], distCoeffs[2];
Mat E, F;
if(this->Kleft.empty() || this->Kright.empty())
{
double rms = stereoCalibrate(objectPoints, imagePoints[0], imagePoints[1],
this->Kleft, this->DistL,
this->Kright, this->DistR,
imageSize, this->R, this->T, E, F,
TermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS, 100, 1e-5),
CV_CALIB_FIX_ASPECT_RATIO +
CV_CALIB_ZERO_TANGENT_DIST +
CV_CALIB_SAME_FOCAL_LENGTH +
CV_CALIB_FIX_K3);
fprintf(stdout,"done with RMS error= %f\n",rms);
} else
{
double rms = stereoCalibrate(objectPoints, imagePoints[0], imagePoints[1],
this->Kleft, this->DistL,
this->Kright, this->DistR,
imageSize, this->R, this->T, E, F,
TermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS, 100, 1e-5),CV_CALIB_FIX_ASPECT_RATIO + CV_CALIB_FIX_INTRINSIC + CV_CALIB_FIX_K3);
fprintf(stdout,"done with RMS error= %f\n",rms);
}
// CALIBRATION QUALITY CHECK
cameraMatrix[0] = this->Kleft;
cameraMatrix[1] = this->Kright;
distCoeffs[0]=this->DistL;
distCoeffs[1]=this->DistR;
Mat R, T;
T=this->T;
R=this->R;
double err = 0;
int npoints = 0;
std::vector<Vec3f> lines[2];
for( i = 0; i < nimages; i++ )
{
int npt = (int)imagePoints[0][i].size();
Mat imgpt[2];
for( k = 0; k < 2; k++ )
{
imgpt[k] = Mat(imagePoints[k][i]);
undistortPoints(imgpt[k], imgpt[k], cameraMatrix[k], distCoeffs[k], Mat(), cameraMatrix[k]);
computeCorrespondEpilines(imgpt[k], k+1, F, lines[k]);
}
for( j = 0; j < npt; j++ )
{
double errij = fabs(imagePoints[0][i][j].x*lines[1][j][0] +
imagePoints[0][i][j].y*lines[1][j][1] + lines[1][j][2]) +
fabs(imagePoints[1][i][j].x*lines[0][j][0] +
imagePoints[1][i][j].y*lines[0][j][1] + lines[0][j][2]);
err += errij;
}
npoints += npt;
}
fprintf(stdout,"average reprojection err = %f\n",err/npoints);
cout.flush();
}
void CalibrationDialog::calibrate()
{
processingData_ = true;
savedCalibration_ = false;
QMessageBox mb(QMessageBox::Information,
tr("Calibrating..."),
tr("Operation in progress..."));
mb.show();
QApplication::processEvents();
uSleep(100); // hack make sure the text in the QMessageBox is shown...
QApplication::processEvents();
std::vector<std::vector<cv::Point3f> > objectPoints(1);
cv::Size boardSize(ui_->spinBox_boardWidth->value(), ui_->spinBox_boardHeight->value());
float squareSize = ui_->doubleSpinBox_squareSize->value();
// compute board corner positions
for( int i = 0; i < boardSize.height; ++i )
for( int j = 0; j < boardSize.width; ++j )
objectPoints[0].push_back(cv::Point3f(float( j*squareSize ), float( i*squareSize ), 0));
for(int id=0; id<(stereo_?2:1); ++id)
{
UINFO("Calibrating camera %d (samples=%d)", id, (int)imagePoints_[id].size());
objectPoints.resize(imagePoints_[id].size(), objectPoints[0]);
//calibrate
std::vector<cv::Mat> rvecs, tvecs;
std::vector<float> reprojErrs;
cv::Mat K, D;
K = cv::Mat::eye(3,3,CV_64FC1);
UINFO("calibrate!");
//Find intrinsic and extrinsic camera parameters
double rms = cv::calibrateCamera(objectPoints,
imagePoints_[id],
imageSize_[id],
K,
D,
rvecs,
tvecs);
UINFO("Re-projection error reported by calibrateCamera: %f", rms);
// compute reprojection errors
std::vector<cv::Point2f> imagePoints2;
int i, totalPoints = 0;
double totalErr = 0, err;
reprojErrs.resize(objectPoints.size());
for( i = 0; i < (int)objectPoints.size(); ++i )
{
cv::projectPoints( cv::Mat(objectPoints[i]), rvecs[i], tvecs[i], K, D, imagePoints2);
err = cv::norm(cv::Mat(imagePoints_[id][i]), cv::Mat(imagePoints2), CV_L2);
int n = (int)objectPoints[i].size();
reprojErrs[i] = (float) std::sqrt(err*err/n);
totalErr += err*err;
totalPoints += n;
}
double totalAvgErr = std::sqrt(totalErr/totalPoints);
UINFO("avg re projection error = %f", totalAvgErr);
cv::Mat P(3,4,CV_64FC1);
P.at<double>(2,3) = 1;
K.copyTo(P.colRange(0,3).rowRange(0,3));
std::cout << "cameraMatrix = " << K << std::endl;
std::cout << "distCoeffs = " << D << std::endl;
std::cout << "width = " << imageSize_[id].width << std::endl;
std::cout << "height = " << imageSize_[id].height << std::endl;
models_[id] = CameraModel(cameraName_.toStdString(), imageSize_[id], K, D, cv::Mat::eye(3,3,CV_64FC1), P);
if(id == 0)
{
ui_->label_fx->setNum(models_[id].fx());
ui_->label_fy->setNum(models_[id].fy());
ui_->label_cx->setNum(models_[id].cx());
ui_->label_cy->setNum(models_[id].cy());
ui_->label_error->setNum(totalAvgErr);
std::stringstream strK, strD, strR, strP;
strK << models_[id].K();
strD << models_[id].D();
strR << models_[id].R();
strP << models_[id].P();
ui_->lineEdit_K->setText(strK.str().c_str());
ui_->lineEdit_D->setText(strD.str().c_str());
ui_->lineEdit_R->setText(strR.str().c_str());
ui_->lineEdit_P->setText(strP.str().c_str());
}
else
{
ui_->label_fx_2->setNum(models_[id].fx());
ui_->label_fy_2->setNum(models_[id].fy());
ui_->label_cx_2->setNum(models_[id].cx());
ui_->label_cy_2->setNum(models_[id].cy());
ui_->label_error_2->setNum(totalAvgErr);
std::stringstream strK, strD, strR, strP;
strK << models_[id].K();
strD << models_[id].D();
strR << models_[id].R();
strP << models_[id].P();
ui_->lineEdit_K_2->setText(strK.str().c_str());
ui_->lineEdit_D_2->setText(strD.str().c_str());
ui_->lineEdit_R_2->setText(strR.str().c_str());
ui_->lineEdit_P_2->setText(strP.str().c_str());
}
}
if(stereo_ && models_[0].isValid() && models_[1].isValid())
{
UINFO("stereo calibration (samples=%d)...", (int)stereoImagePoints_[0].size());
cv::Size imageSize = imageSize_[0].width > imageSize_[1].width?imageSize_[0]:imageSize_[1];
cv::Mat R, T, E, F;
std::vector<std::vector<cv::Point3f> > objectPoints(1);
cv::Size boardSize(ui_->spinBox_boardWidth->value(), ui_->spinBox_boardHeight->value());
float squareSize = ui_->doubleSpinBox_squareSize->value();
// compute board corner positions
for( int i = 0; i < boardSize.height; ++i )
for( int j = 0; j < boardSize.width; ++j )
objectPoints[0].push_back(cv::Point3f(float( j*squareSize ), float( i*squareSize ), 0));
objectPoints.resize(stereoImagePoints_[0].size(), objectPoints[0]);
// calibrate extrinsic
#if CV_MAJOR_VERSION < 3
double rms = cv::stereoCalibrate(
objectPoints,
stereoImagePoints_[0],
stereoImagePoints_[1],
models_[0].K(), models_[0].D(),
models_[1].K(), models_[1].D(),
imageSize, R, T, E, F,
cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 100, 1e-5),
cv::CALIB_FIX_INTRINSIC);
#else
double rms = cv::stereoCalibrate(
objectPoints,
stereoImagePoints_[0],
stereoImagePoints_[1],
models_[0].K(), models_[0].D(),
models_[1].K(), models_[1].D(),
imageSize, R, T, E, F,
cv::CALIB_FIX_INTRINSIC,
cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 100, 1e-5));
#endif
UINFO("stereo calibration... done with RMS error=%f", rms);
double err = 0;
int npoints = 0;
std::vector<cv::Vec3f> lines[2];
UINFO("Computing avg re-projection error...");
for(unsigned int i = 0; i < stereoImagePoints_[0].size(); i++ )
{
int npt = (int)stereoImagePoints_[0][i].size();
cv::Mat imgpt[2];
for(int k = 0; k < 2; k++ )
{
imgpt[k] = cv::Mat(stereoImagePoints_[k][i]);
cv::undistortPoints(imgpt[k], imgpt[k], models_[k].K(), models_[k].D(), cv::Mat(), models_[k].K());
computeCorrespondEpilines(imgpt[k], k+1, F, lines[k]);
}
for(int j = 0; j < npt; j++ )
{
double errij = fabs(stereoImagePoints_[0][i][j].x*lines[1][j][0] +
stereoImagePoints_[0][i][j].y*lines[1][j][1] + lines[1][j][2]) +
fabs(stereoImagePoints_[1][i][j].x*lines[0][j][0] +
stereoImagePoints_[1][i][j].y*lines[0][j][1] + lines[0][j][2]);
err += errij;
}
npoints += npt;
}
double totalAvgErr = err/(double)npoints;
UINFO("stereo avg re projection error = %f", totalAvgErr);
cv::Mat R1, R2, P1, P2, Q;
cv::Rect validRoi[2];
cv::stereoRectify(models_[0].K(), models_[0].D(),
models_[1].K(), models_[1].D(),
imageSize, R, T, R1, R2, P1, P2, Q,
cv::CALIB_ZERO_DISPARITY, 0, imageSize, &validRoi[0], &validRoi[1]);
UINFO("Valid ROI1 = %d,%d,%d,%d ROI2 = %d,%d,%d,%d newImageSize=%d/%d",
validRoi[0].x, validRoi[0].y, validRoi[0].width, validRoi[0].height,
validRoi[1].x, validRoi[1].y, validRoi[1].width, validRoi[1].height,
imageSize.width, imageSize.height);
if(imageSize_[0].width == imageSize_[1].width)
{
//Stereo, keep new extrinsic projection matrix
stereoModel_ = StereoCameraModel(
cameraName_.toStdString(),
imageSize_[0], models_[0].K(), models_[0].D(), R1, P1,
imageSize_[1], models_[1].K(), models_[1].D(), R2, P2,
R, T, E, F);
}
else
{
//Kinect
stereoModel_ = StereoCameraModel(
cameraName_.toStdString(),
imageSize_[0], models_[0].K(), models_[0].D(), cv::Mat::eye(3,3,CV_64FC1), models_[0].P(),
imageSize_[1], models_[1].K(), models_[1].D(), cv::Mat::eye(3,3,CV_64FC1), models_[1].P(),
R, T, E, F);
}
std::stringstream strR1, strP1, strR2, strP2;
strR1 << stereoModel_.left().R();
strP1 << stereoModel_.left().P();
strR2 << stereoModel_.right().R();
strP2 << stereoModel_.right().P();
ui_->lineEdit_R->setText(strR1.str().c_str());
ui_->lineEdit_P->setText(strP1.str().c_str());
ui_->lineEdit_R_2->setText(strR2.str().c_str());
ui_->lineEdit_P_2->setText(strP2.str().c_str());
ui_->label_baseline->setNum(stereoModel_.baseline());
//ui_->label_error_stereo->setNum(totalAvgErr);
}
if(stereo_ &&
stereoModel_.left().isValid() &&
stereoModel_.right().isValid()&&
(!ui_->label_baseline->isVisible() || stereoModel_.baseline() > 0.0))
{
ui_->radioButton_rectified->setEnabled(true);
ui_->radioButton_stereoRectified->setEnabled(true);
ui_->radioButton_stereoRectified->setChecked(true);
ui_->pushButton_save->setEnabled(true);
}
else if(models_[0].isValid())
{
ui_->radioButton_rectified->setEnabled(true);
ui_->radioButton_rectified->setChecked(true);
ui_->pushButton_save->setEnabled(!stereo_);
}
UINFO("End calibration");
processingData_ = false;
}
void StereoCalib(const vector<string>& imagelist, Size boardSize, bool useCalibrated=true, bool showRectified=true)
{
if( imagelist.size() % 2 != 0 )
{
cout << "Error: the image list contains odd (non-even) number of elements\n";
return;
}
printf("board size: %d x %d", boardSize.width, boardSize.height);
bool displayCorners = 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++ )
{
const string& filename = imagelist[i*2+k];
Mat img = imread(filename, 0);
if(img.empty())
break;
if( imageSize == Size() )
imageSize = img.size();
else if( img.size() != imageSize )
{
cout << "The image " << filename << " has the size different from the first image size. Skipping the pair\n";
break;
}
bool found = false;
vector<Point2f>& corners = imagePoints[k][j];
for( int scale = 1; scale <= maxScale; scale++ )
{
Mat timg;
if( scale == 1 )
timg = img;
else
resize(img, timg, Size(), scale, scale);
found = findChessboardCorners(timg, boardSize, corners,
CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_NORMALIZE_IMAGE);
if( found )
{
if( scale > 1 )
{
Mat cornersMat(corners);
cornersMat *= 1./scale;
}
break;
}
}
if( displayCorners )
{
cout << filename << endl;
Mat cimg, cimg1;
cvtColor(img, cimg, CV_GRAY2BGR);
drawChessboardCorners(cimg, boardSize, corners, found);
double sf = 640./MAX(img.rows, img.cols);
resize(cimg, cimg1, Size(), sf, sf);
imshow("corners", cimg1);
char c = (char)waitKey(500);
if( c == 27 || c == 'q' || c == 'Q' ) //Allow ESC to quit
exit(-1);
}
else
putchar('.');
if( !found )
break;
cornerSubPix(img, corners, Size(11,11), Size(-1,-1),
TermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,
30, 0.01));
}
if( k == 2 )
{
goodImageList.push_back(imagelist[i*2]);
goodImageList.push_back(imagelist[i*2+1]);
j++;
}
}
cout << j << " pairs have been successfully detected.\n";
nimages = j;
if( nimages < 2 )
{
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],
imageSize, R, T, E, F,
TermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS, 100, 1e-5),
CV_CALIB_FIX_ASPECT_RATIO +
CV_CALIB_ZERO_TANGENT_DIST +
//CV_CALIB_SAME_FOCAL_LENGTH +
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,
// we can check the quality of calibration using the
// epipolar geometry constraint: m2^t*F*m1=0
double err = 0;
int npoints = 0;
vector<Vec3f> lines[2];
for( i = 0; i < nimages; i++ )
{
int npt = (int)imagePoints[0][i].size();
Mat imgpt[2];
for( k = 0; k < 2; k++ )
{
imgpt[k] = Mat(imagePoints[k][i]);
undistortPoints(imgpt[k], imgpt[k], cameraMatrix[k], distCoeffs[k], Mat(), cameraMatrix[k]);
computeCorrespondEpilines(imgpt[k], k+1, F, lines[k]);
}
for( j = 0; j < npt; j++ )
{
double errij = fabs(imagePoints[0][i][j].x*lines[1][j][0] +
imagePoints[0][i][j].y*lines[1][j][1] + lines[1][j][2]) +
fabs(imagePoints[1][i][j].x*lines[0][j][0] +
imagePoints[1][i][j].y*lines[0][j][1] + lines[0][j][2]);
err += errij;
}
npoints += npt;
}
cout << "average reprojection err = " << err/npoints << endl;
// save intrinsic parameters
FileStorage fs("calib/intrinsics.yml", CV_STORAGE_WRITE);
if( fs.isOpened() )
{
fs << "M1" << cameraMatrix[0] << "D1" << distCoeffs[0] <<
"M2" << cameraMatrix[1] << "D2" << distCoeffs[1];
fs.release();
}
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("calib/extrinsics.yml", CV_STORAGE_WRITE);
if( fs.isOpened() )
{
fs << "R" << R << "T" << T << "R1" << R1 << "R2" << R2 << "P1" << P1 << "P2" << P2 << "Q" << Q;
fs.release();
}
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 )
{
// we already computed everything
}
// OR ELSE HARTLEY'S METHOD
else
// use intrinsic parameters of each camera, but
// compute the rectification transformation directly
// from the fundamental matrix
{
vector<Point2f> allimgpt[2];
for( k = 0; k < 2; k++ )
{
for( i = 0; i < nimages; i++ )
std::copy(imagePoints[k][i].begin(), imagePoints[k][i].end(), back_inserter(allimgpt[k]));
}
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];
P2 = cameraMatrix[1];
}
//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;
if( !isVerticalStereo )
{
sf = 600./MAX(imageSize.width, imageSize.height);
w = cvRound(imageSize.width*sf);
h = cvRound(imageSize.height*sf);
canvas.create(h, w*2, CV_8UC3);
}
else
{
sf = 300./MAX(imageSize.width, imageSize.height);
w = cvRound(imageSize.width*sf);
h = cvRound(imageSize.height*sf);
canvas.create(h*2, w, CV_8UC3);
}
for( i = 0; i < nimages; i++ )
{
for( k = 0; k < 2; k++ )
{
Mat img = imread(goodImageList[i*2+k], 0), rimg, cimg;
remap(img, rimg, rmap[k][0], rmap[k][1], CV_INTER_LINEAR);
cvtColor(rimg, cimg, CV_GRAY2BGR);
Mat canvasPart = !isVerticalStereo ? canvas(Rect(w*k, 0, w, h)) : canvas(Rect(0, h*k, w, h));
resize(cimg, canvasPart, canvasPart.size(), 0, 0, CV_INTER_AREA);
if( useCalibrated )
{
Rect vroi(cvRound(validRoi[k].x*sf), cvRound(validRoi[k].y*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);
else
for( j = 0; j < canvas.cols; j += 16 )
line(canvas, Point(j, 0), Point(j, canvas.rows), Scalar(0, 255, 0), 1, 8);
imshow("rectified", canvas);
char c = (char)waitKey();
if( c == 27 || c == 'q' || c == 'Q' )
break;
}
}
