int main()
{
cv::namedWindow("Image");
cv::Mat image;
std::vector<std::string> filelist;
// generate list of chessboard image filename
for (int i=1; i<=20; i++) {
std::stringstream str;
str << "../chessboards/chessboard" << std::setw(2) << std::setfill('0') << i << ".jpg";
std::cout << str.str() << std::endl;
filelist.push_back(str.str());
image= cv::imread(str.str(),0);
cv::imshow("Image",image);
cv::waitKey(100);
}
// Create calibrator object
CameraCalibrator cameraCalibrator;
// add the corners from the chessboard
cv::Size boardSize(6,4);
cameraCalibrator.addChessboardPoints(
filelist, // filenames of chessboard image
boardSize); // size of chessboard
// calibrate the camera
// cameraCalibrator.setCalibrationFlag(true,true);
cameraCalibrator.calibrate(image.size());
// Image Undistortion
image = cv::imread(filelist[6]);
cv::Mat uImage= cameraCalibrator.remap(image);
// display camera matrix
cv::Mat cameraMatrix= cameraCalibrator.getCameraMatrix();
std::cout << " Camera intrinsic: " << cameraMatrix.rows << "x" << cameraMatrix.cols << std::endl;
std::cout << cameraMatrix.at<double>(0,0) << " " << cameraMatrix.at<double>(0,1) << " " << cameraMatrix.at<double>(0,2) << std::endl;
std::cout << cameraMatrix.at<double>(1,0) << " " << cameraMatrix.at<double>(1,1) << " " << cameraMatrix.at<double>(1,2) << std::endl;
std::cout << cameraMatrix.at<double>(2,0) << " " << cameraMatrix.at<double>(2,1) << " " << cameraMatrix.at<double>(2,2) << std::endl;
imshow("Original Image", image);
imshow("Undistorted Image", uImage);
cv::waitKey();
return 0;
}
int main(){
vector<string> filelist;
filelist.push_back("../data/chessboard/left01.jpg");
filelist.push_back("../data/chessboard/left02.jpg");
filelist.push_back("../data/chessboard/left03.jpg");
filelist.push_back("../data/chessboard/left04.jpg");
filelist.push_back("../data/chessboard/left05.jpg");
filelist.push_back("../data/chessboard/left06.jpg");
filelist.push_back("../data/chessboard/left07.jpg");
filelist.push_back("../data/chessboard/left08.jpg");
filelist.push_back("../data/chessboard/left09.jpg");
filelist.push_back("../data/chessboard/left11.jpg");
filelist.push_back("../data/chessboard/left12.jpg");
filelist.push_back("../data/chessboard/left13.jpg");
filelist.push_back("../data/chessboard/left14.jpg");
filelist.push_back("../data/chessboard/right01.jpg");
filelist.push_back("../data/chessboard/right02.jpg");
filelist.push_back("../data/chessboard/right03.jpg");
filelist.push_back("../data/chessboard/right04.jpg");
filelist.push_back("../data/chessboard/right05.jpg");
filelist.push_back("../data/chessboard/right06.jpg");
filelist.push_back("../data/chessboard/right07.jpg");
filelist.push_back("../data/chessboard/right08.jpg");
filelist.push_back("../data/chessboard/right09.jpg");
filelist.push_back("../data/chessboard/right11.jpg");
filelist.push_back("../data/chessboard/right12.jpg");
filelist.push_back("../data/chessboard/right13.jpg");
filelist.push_back("../data/chessboard/right14.jpg");
cv::Size boardSize(9,6);
CameraCalibrator ccalibrator;
ccalibrator.addChessboardPoints(filelist, boardSize);
cv::Size imageSize(640, 480);
ccalibrator.calibrate(imageSize);
ccalibrator.print();
Mat distorted = imread(filelist[0], cv::IMREAD_GRAYSCALE);
imshow("distorted image", distorted);
imshow("undistorted image", ccalibrator.remap(distorted));
waitKey();
return 0;
}
void CalibraCamara( ){
// Se crea una ventana con el nombre "Image"
//namedWindow("Imagen");
// Se crea una imagen vacia
Mat image;
// Se crea un vector que almacenara todos los nombres de las imagenes
vector<string> filelist;
// ciclo que genera la lista de los nombres de las imagenes
//for (int i=1; i<=9; i++) {
for (int i=1; i<=20; i++) {
// Se genera el nombre para cada imagen incluyendo su ruta
stringstream str;
str << "IMG" << setw(2) << setfill('0') << i << ".png";
//str << "chessboard" << setw(2) << setfill('0') << i << ".jpg";
//cout << str.str() << endl;
// Se agrega el nombre al vector
filelist.push_back(str.str());
// Se muestra cada imagen
image= imread(str.str(),0);
imshow("Image",image);
// Retardo para desplegar las imagenes
waitKey(100);
}
// Se crea un objeto de la clase CameraCalibrator
CameraCalibrator cameraCalibrator;
// Se especifica el numero de esquinas verticales y horizontales internas
Size boardSize(8,6);
//Size boardSize(6,4);
// Se abren todas las imagenes y se extraen sus puntos de las esquinas
cameraCalibrator.addChessboardPoints(
filelist, // Lista de los nombres de las imagenes
boardSize); // Numero de esquinas del patron
cvDestroyWindow("Image");
// Calibrando la camara
// cameraCalibrator.setCalibrationFlag(true,true);
Size size=image.size();
cameraCalibrator.calibrate(size);
//Imagen sin distorcion
//image = imread("PRUEBA01.png");
//imshow("Imagen Original", image);
//Mat uImage= cameraCalibrator.remap(image);
// Mostrar la Matriz de la camara
Mat cameraMatrix= cameraCalibrator.getCameraMatrix();
ofstream archivo("conf.dat");
archivo << " Camera intrinsic: " << cameraMatrix.rows << "x" << cameraMatrix.cols << endl;
archivo << cameraMatrix.at<double>(0,0) << "\t\t" << cameraMatrix.at<double>(0,1) << "\t\t" << cameraMatrix.at<double>(0,2) << endl;
archivo << cameraMatrix.at<double>(1,0) << "\t\t" << cameraMatrix.at<double>(1,1) << "\t\t" << cameraMatrix.at<double>(1,2) << endl;
archivo << cameraMatrix.at<double>(2,0) << "\t\t" << cameraMatrix.at<double>(2,1) << "\t\t" << cameraMatrix.at<double>(2,2) << endl;
archivo.close();
/*
cout << " Camera intrinsic: " << cameraMatrix.rows << "x" << cameraMatrix.cols << endl;
cout << cameraMatrix.at<double>(0,0) << "\t\t" << cameraMatrix.at<double>(0,1) << "\t\t" << cameraMatrix.at<double>(0,2) << endl;
cout << cameraMatrix.at<double>(1,0) << "\t\t" << cameraMatrix.at<double>(1,1) << "\t\t" << cameraMatrix.at<double>(1,2) << endl;
cout << cameraMatrix.at<double>(2,0) << "\t\t" << cameraMatrix.at<double>(2,1) << "\t\t" << cameraMatrix.at<double>(2,2) << endl;
imshow("Imagen ajustada, sin distorcion", uImage);
cvWaitKey();
*/
}
