int main(int argc, char** argv)
{
CommandlineUtils ArgList(argc, argv);
// Get input image names
int InputImPairSize = 0;
char** InputImName = ArgList.GetArgsByOption("-i", InputImPairSize);
// Get output image names
int OutputImPairSize = 0;
char** OutputImName = ArgList.GetArgsByOption("-o", OutputImPairSize);
// Get calibration file name
int CalibSize = 0;
char** CalibFile = ArgList.GetArgsByOption("-c", CalibSize);
// Get input image size
// int SizeDim = 0;
// char** ImSize = ArgList.GetArgsByOption("-s", SizeDim);
// int ImWidth = atoi(ImSize[0]);
// int ImHeight = atoi(ImSize[1]);
char* lInput = InputImName[0];
char* rInput = InputImName[1];
char* lOutput = OutputImName[0];
char* rOutput = OutputImName[1];
if( lInput==NULL || rInput==NULL )
{
std::cerr << "Empty input images!" << std::endl;
return 0;
}
if( lOutput==NULL || rOutput==NULL )
{
std::cerr << "Empty output images!" << std::endl;
return 0;
}
StereoVision sv;
sv.calibrationLoad(CalibFile[0]);
sv.undistortImage(lInput, rInput, lOutput, rOutput);
return 0;
}
int main(int argc, char** argv)
{
enum LEFT_RIGHT { LEFT=0, RIGHT=1 };
CommandlineUtils ArgList(argc, argv);
// Get left image set
int ImSetSizeL = 0;
char** ImNameL = ArgList.GetArgsByOption("-l", ImSetSizeL);
// Get right image set
int ImSetSizeR = 0;
char** ImNameR = ArgList.GetArgsByOption("-r", ImSetSizeR);
// Get square size
int size_len;
char** squareSizeStr = ArgList.GetArgsByOption("-d", size_len);
float squareSize = atof(squareSizeStr[0]);
// Get output name
int NameSize;
char** OutputName = ArgList.GetArgsByOption("-o", NameSize);
if(ImNameL == NULL)
{
std::cerr << "Empty left image set!" << std::endl;
return 0;
}
if(ImNameR == NULL)
{
std::cerr << "Empty right image set!" << std::endl;
return 0;
}
if(ImSetSizeL != ImSetSizeR)
{
std::cerr << "Unmatched number of images in left and right set" << std::endl;
return 0;
}
// int NumOfIm = ImSetSizeL;
// Get board size
int BoardDimension = 0;
char** BoardSize = ArgList.GetArgsByOption("-s", BoardDimension);
if(BoardDimension != 2)
{
std::cerr << "Only two dimensional checkerboard is supported!" << std::endl;
return 0;
}
int CornersX = atoi(BoardSize[0]);
int CornersY = atoi(BoardSize[1]);
// Load images
IplImage** ImSetL = LoadImages(ImNameL, ImSetSizeL);
IplImage** ImSetR = LoadImages(ImNameR, ImSetSizeR);
int ImWidth = ImSetL[0]->width;
int ImHeight = ImSetL[1]->height;
StereoVision sv;
// Initialize calibration
sv.calibrationInit(ImWidth, ImHeight, CornersX, CornersY);
// Calibrate left image set
sv.monoCalibrate(ImSetSizeL, ImSetL, LEFT);
sv.monoCalibrate(ImSetSizeR, ImSetR, RIGHT);
// Calibrate stereo pair
sv.stereoCalibrate(squareSize, ImSetSizeL, ImSetL, ImSetR);
// Output calibration result
sv.calibrationSave(OutputName[0]);
// Release images
ReleaseImages(ImSetL, ImSetSizeL);
ReleaseImages(ImSetR, ImSetSizeR);
return 0;
}
void MainWindow::stereoVisionTest(QString image_path,int cornersX,int cornersY){
trace("stereoVisionTest ... ");
StereoVision* sv = new StereoVision(CAM_WIDTH,CAM_HEIGHT);
IplImage* images[2];
//perform calibration based on sets of 2 images (chessboard)
sv->calibrationStart(cornersX,cornersY);
// READ IN THE LIST OF CHESSBOARDS:
QString file_name;
for(int i=0;;i++){
for(int lr=0;lr<2;lr++){
file_name = tr("%1%2%3.jpg").arg(image_path).arg(i).arg(lr ? 'L' : 'R');
trace(file_name);
images[lr] = cvLoadImage( file_name.toLatin1(), 0 );
}
if(images[0] && images[1]){
trace(file_name);
sv->calibrationAddSample(images[0],images[1]);
for(int lr=0;lr<2;lr++)
cvReleaseImage(&images[lr]);
}else{
break;
}
}
sv->calibrationEnd();
sv->calibrationSave("stereovisiontest.dat");
//Once saved calibartion data can be loaded later with:
//sv->calibrationLoad("stereovisiontest.dat");
//test our calibartion with first image set:
CvSize imageSize = sv->getImageSize();
for(int lr=0;lr<2;lr++){
QString file_name = tr("%1%2%3.jpg").arg(image_path).arg(0).arg(lr ? 'L' : 'R');
images[lr] = cvLoadImage( file_name.toLatin1(), 0 );
}
//this method will compute sv->imagesRectified[0],sv->imagesRectified[1],sv->imageDepth,sv->imageDepthNormalized
sv->stereoProcess(images[0],images[1]);
//merge 2 rectified images in one image (pair) and display horizontal lines
//to evaluate rectification.
CvMat* pair = cvCreateMat( imageSize.height, imageSize.width*2,CV_8UC3 );
CvMat part;
cvGetCols( pair, &part, 0, imageSize.width );
cvCvtColor( sv->imagesRectified[0], &part, CV_GRAY2BGR );
cvGetCols( pair, &part, imageSize.width,imageSize.width*2 );
cvCvtColor( sv->imagesRectified[1], &part, CV_GRAY2BGR );
for(int j = 0; j < imageSize.height; j += 16 )
cvLine( pair, cvPoint(0,j),cvPoint(imageSize.width*2,j),CV_RGB(0,255,0));
//display the results
cvNamedWindow( "rectified", 1 );
cvShowImage( "rectified", pair );
cvNamedWindow( "depth", 1 );
cvShowImage( "depth", sv->imageDepthNormalized);
//free up memory
cvReleaseImage(&images[0]);
cvReleaseImage(&images[1]);
cvReleaseMat(&pair);
}
