HotPixel::HotPixel(const Coordinate& newPt, double newScaleFactor,
LineIntersector& newLi)
:
li(newLi),
pt(newPt),
originalPt(newPt),
scaleFactor(newScaleFactor)
{
if (scaleFactor != 1.0) {
assert( scaleFactor != 0 ); // or should it be an IllegalArgumentException ?
pt.x=scale(pt.x);
pt.y=scale(pt.y);
}
initCorners(pt);
}
void WebcamDevice::calibrate()
{
cv::Mat imCalib[NBRIMAGESCALIB];
cv::Mat cameraMatrix = cv::Mat::eye(3, 3, CV_64F), distCoeffs = cv::Mat::zeros(8, 1, CV_64F);
cameraMatrix.at<double>(0,0) = 1.0;
std::vector<cv::Mat> rvecs, tvecs;
std::vector<std::vector<cv::Point2f>> chessCornersInit;
std::vector<std::vector<cv::Point3f>> chessCorners3D;
std::cout << "Debut du calibrage..." << std::endl;
for(int i = 0; i < NBRIMAGESCALIB; i++)
{
std::vector<cv::Point2f> initCorners(ROWCHESSBOARD * COLCHESSBOARD, cv::Point2f(0, 0));
chessCornersInit.push_back(initCorners);
}
for(int i = 0; i < NBRIMAGESCALIB; i++)
{
std::ostringstream oss;
oss << SAVEDPATH << i + 1 << ".png";
imCalib[i] = cv::imread(oss.str());
cv::cvtColor(imCalib[i], imCalib[i], CV_BGR2GRAY);
bool patternfound = cv::findChessboardCorners(imCalib[i], cv::Size(ROWCHESSBOARD, COLCHESSBOARD), chessCornersInit[i]);
if(patternfound)
cv::cornerSubPix(imCalib[i], chessCornersInit[i], cv::Size(5, 5), cv::Size(-1, -1), cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));
cv::drawChessboardCorners(imCalib[i], cv::Size(ROWCHESSBOARD, COLCHESSBOARD), cv::Mat(chessCornersInit[i]), patternfound);
//cv::imshow("image", imCalib[i]);
//cv::waitKey(0);
}
for(int i = 0; i < NBRIMAGESCALIB; i++)
{
std::vector<cv::Point3f> initCorners3D;
for(int j = 0; j < COLCHESSBOARD; j++)
{
for(int k = 0; k < ROWCHESSBOARD; k++)
{
cv::Point3f corner(j * 26.0f, k * 26.0f, 0.0f);
initCorners3D.push_back(corner);
}
}
chessCorners3D.push_back(initCorners3D);
}
cv::calibrateCamera(chessCorners3D, chessCornersInit, cv::Size(imCalib[0].size()), cameraMatrix, distCoeffs, rvecs, tvecs);
std::string filename = "../rsc/intrinsicMatrix.yml";
cv::FileStorage fs(filename, cv::FileStorage::WRITE);
fs << "cameraMatrix" << cameraMatrix << "distCoeffs" << distCoeffs;
std::cout << "Sauvegarde de la matrice intrinseque : " << filename << std::endl;
fs.release();
}
