C++ (Cpp) StereoVision::stereoCalibrate Beispiele

Beispiel #1

Datei: main.cpp Projekt: cxy166020/CVStereoCalib

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;
}