std::vector<std::vector<cv::Point3f>> calculateWorldPoints(
std::vector<std::vector<cv::Point2f>>& imagePoints,
const cv::Size& patternSize, float checkSize) {
std::vector<std::vector<cv::Point3f>> worldPoints(imagePoints.size());
for (size_t i = 0; i < imagePoints.size(); i++) {
for (size_t j = 0; j < patternSize.area(); j++) {
worldPoints[i].push_back(
cv::Point3f(static_cast<float>(j % patternSize.width * checkSize),
static_cast<float>(j / patternSize.width * checkSize),
0.0));
}
}
return worldPoints;
}
void calibrateProcess(Configure& conf, cv::Mat& cameraMatrix, cv::Mat& distCoeffs)
{
const cv::Size frameSize(conf.getConfInt("universal.frameWidth"),
conf.getConfInt("universal.frameHeight"));
const cv::string dataPath(conf.getConfString("universal.dataPath"));
const std::string checkerPrefix
(conf.getConfString("calibration.checkerPrefix"));
const std::string checkerSuffix
(conf.getConfString("calibration.checkerSuffix"));
const int checkerNum = conf.getConfInt("calibration.checkerNum");
const cv::Size checkerSize(conf.getConfInt("calibration.checkerWidth"),
conf.getConfInt("calibration.checkerHeight"));
cv::vector<cv::Mat> checkerImgs;
cv::vector<cv::vector<cv::Point3f>> worldPoints(checkerNum);
cv::vector<cv::vector<cv::Point2f>> imagePoints(checkerNum);
cv::TermCriteria criteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS, 20, 0.001);
cv::vector<cv::Mat> rotationVectors;
cv::vector<cv::Mat> translationVectors;
for(int i=0; i<checkerNum; i++){
std::stringstream stream;
stream << checkerPrefix << i+1 << checkerSuffix;
std::string fileName = stream.str();
cv::Mat tmp = cv::imread(dataPath + fileName, 0);
cv::resize(tmp, tmp, frameSize);
checkerImgs.push_back(tmp);
std::cout << "load checker image: " << fileName << std::endl;
}
cv::namedWindow("Source", CV_WINDOW_AUTOSIZE|CV_WINDOW_FREERATIO);
for(int i=0; i<checkerNum; i++){
std::cout << "find corners from image " << i+1;
if(cv::findChessboardCorners(checkerImgs[i], checkerSize,
imagePoints[i])){
std::cout << " ... all corners found." << std::endl;
cv::cornerSubPix(checkerImgs[i], imagePoints[i], cv::Size(5, 5),
cv::Size(-1, -1), criteria);
cv::drawChessboardCorners(checkerImgs[i], checkerSize,
(cv::Mat)(imagePoints[i]), true);
cv::imshow("Source", checkerImgs[i]);
cv::waitKey(200);
}else{
std::cout << " ... at least 1 corner not found." << std::endl;
cv::waitKey(0);
exit(-1);
}
}
cv::destroyWindow("Source");
for(int i=0; i<checkerNum; i++){
for(int j=0; j<checkerSize.area(); j++){
worldPoints[i].
push_back(cv::Point3f(static_cast<float>(j%checkerSize.width*10),
static_cast<float>(j/checkerSize.width*10),
0.0));
}
}
cv::calibrateCamera(worldPoints, imagePoints, frameSize, cameraMatrix,
distCoeffs, rotationVectors, translationVectors);
std::cout << "camera matrix" << std::endl;
std::cout << cameraMatrix << std::endl;
std::cout << "dist coeffs" << std::endl;
std::cout << distCoeffs << std::endl;
}