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  1. #include <opencv2/core/core.hpp>
  2. #include <opencv2/highgui/highgui.hpp>
  3. #include <opencv2/calib3d/calib3d.hpp>
  4. #include <opencv2/legacy/legacy.hpp>
  5. #include <opencv2/calib3d/calib3d.hpp>
  6. #include <iostream>
  7. #include <string>
  8. #include <vector>
  9. #include <time.h>
  10. using namespace std;
  11.  
  12.  
  13. // This function initializes the object points of chessboard corners.
  14. // The coordinates are stored in a vector<vector<cv::Point3f>>.
  15. // The object points can be used for calibrateCamera().
  16.  
  17. void chessboardObjectPoints(const  cv::Size patternSize,  // # of inner corners per a chessboard row and column
  18.                             int    nViews,                // # of views (images) of chessboard
  19.                             double squareSizeX,           // width of square (x distance between corners)
  20.                             double squareSizeY,           // height of square (y distance between corners)
  21.                             vector<vector<cv::Point3f>> & object_points) // object points of chessboard corners
  22. {
  23.     int iView, iY, iX, nY, nX, ic;
  24.     nY = patternSize.height; 
  25.     nX = patternSize.width;
  26.  
  27.     // resize the object_points object
  28.     object_points.clear();
  29.     object_points.resize(nViews);
  30.     for (iView = 0; iView < nViews; iView++) {
  31.         object_points[iView].resize(nY*nX);
  32.     }
  33.  
  34.     // fill the object points
  35.     for (iView = 0; iView < nViews; iView++) {
  36.         ic = 0;
  37.         for (iY = nY - 1; iY >= 0; iY--) {
  38.             for (iX = 0; iX < nX; iX++) {
  39.                 object_points[iView][ic].x = (float)(iX * squareSizeX);
  40.                 object_points[iView][ic].y = (float)(iY * squareSizeY);
  41.                 object_points[iView][ic].z = (float) 0.0;
  42.                 ic++;
  43.             }
  44.         }
  45.     }
  46. }
  47.  
  48.  
  49. int main() {
  50.     double t0;    
  51.  
  52.     // read the image file and put the image into my variable.
  53.     vector<string> calFilenames;
  54.     calFilenames.push_back("sample/20130120_222211.JPG");
  55.     calFilenames.push_back("sample/20130120_222233.JPG");
  56.     calFilenames.push_back("sample/20130120_222247.JPG");
  57.     calFilenames.push_back("sample/20130120_222254.JPG");
  58.     calFilenames.push_back("sample/20130120_222313.JPG");
  59.     calFilenames.push_back("sample/20130120_222320.JPG");
  60.  
  61.     // open an OpenCV window
  62.     cv::namedWindow("Chessboard");
  63.  
  64.     cv::Size patternSize( 10, 6 ); // patternSize – # of inner corners per a chessboard row and column
  65.     cv::Size myCalibImgSize; 
  66.     vector<cv::Mat> cornersVec;
  67.     cornersVec.resize(calFilenames.size());
  68.  
  69.     for (int i=0; i< (int) calFilenames.size(); i++) {
  70.         cout << "Reading cal image " << i << "...";
  71.         t0 = clock();
  72.         cv::Mat myCalibImg= cv::imread(calFilenames[i], CV_LOAD_IMAGE_GRAYSCALE );
  73.         cout << (clock()-t0)/CLOCKS_PER_SEC << " sec.\n";
  74.         myCalibImgSize.width = myCalibImg.cols;
  75.         myCalibImgSize.height = myCalibImg.rows;
  76. //        cout << "Size: " << myCalibImg.cols << "x" << myCalibImg.rows << endl;
  77.  
  78.         // find chessboard corner
  79.         bool found;        
  80.         cv::Mat corners(10, 6, CV_32FC2);
  81.         cout << "Finding cal image " << i << "...";
  82.         t0 = clock();
  83.         found = cv::findChessboardCorners( myCalibImg, patternSize, corners, CV_CALIB_CB_ADAPTIVE_THRESH );
  84.         cout << (clock()-t0)/CLOCKS_PER_SEC << " sec.\n";
  85.         if ( found == true ) {
  86.             cout << "Finding subpixel of image " << i << "...";
  87.             t0 = clock();
  88.             cv::cornerSubPix( myCalibImg, corners, cv::Size(5,5), cv::Size(-1,-1), 
  89.                 cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 100, 0.01));
  90.             cout << (clock()-t0)/CLOCKS_PER_SEC << " sec.\n";
  91.         } else {
  92.           cout << "Can not find corners of image " << i << "\n";
  93.         }
  94.  
  95.         // draw chessboard 
  96.         drawChessboardCorners(myCalibImg, patternSize, corners, found);
  97.         cv::resize(myCalibImg, myCalibImg, cv::Size(800,600), 0, 0, cv::INTER_LINEAR ); 
  98.  
  99.         // show image
  100.         cv::imshow("Chessboard", myCalibImg );
  101.         cv::waitKey( 100 );
  102.  
  103.         // data copy
  104.         cornersVec[i] = corners;
  105.     } 
  106.  
  107.  
  108.     // generate object points
  109.     vector<vector<cv::Point3f>> object_points;
  110.     chessboardObjectPoints( patternSize, calFilenames.size(), 23.8, 23.8, 
  111.                             object_points );
  112.  
  113.     // calibration
  114.     cv::Mat cameraMatrix(3, 3, CV_64FC1);
  115.     cv::Mat distCoeffs  (1, 8, CV_64FC1);
  116.     vector<vector<double>> rvecs, tvecs;
  117.     int flag = CV_CALIB_RATIONAL_MODEL ; 
  118.  
  119.     double reprojectionError = 
  120.         cv::calibrateCamera(object_points, cornersVec, myCalibImgSize, 
  121.                             cameraMatrix, 
  122.                             distCoeffs, 
  123.                             rvecs, tvecs, 
  124.                             flag, 
  125.                             cv::TermCriteria( cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 30, DBL_EPSILON) ); 
  126.     cout << "Camera matrix:\n" << cameraMatrix << endl;
  127.     cout << "Image size: " << myCalibImgSize.width << " " << 
  128.                               myCalibImgSize.height << endl;
  129.     cout << "Camera matrix:\n" << cameraMatrix << endl;
  130.     cout << "Dist. coeffic:\n" << distCoeffs << endl;
  131.     cout << "Fx: " << cameraMatrix.at<double>(0,0) << endl;
  132.     cout << "Fy: " << cameraMatrix.at<double>(1,1) << endl;
  133.     cout << "Cx: " << cameraMatrix.at<double>(0,2) << endl;
  134.     cout << "Cy: " << cameraMatrix.at<double>(1,2) << endl;
  135.     cout << "k1: " << distCoeffs  .at<double>(0) << endl;
  136.     cout << "k2: " << distCoeffs  .at<double>(1) << endl;
  137.     cout << "p1: " << distCoeffs  .at<double>(2) << endl;
  138.     cout << "p2: " << distCoeffs  .at<double>(3) << endl;
  139.     cout << "k3: " << distCoeffs  .at<double>(4) << endl;
  140.     cout << "k4: " << distCoeffs  .at<double>(5) << endl;
  141.     cout << "k5: " << distCoeffs  .at<double>(6) << endl;
  142.     cout << "k6: " << distCoeffs  .at<double>(7) << endl;
  143.     cout << "Reproj. error: "  << reprojectionError << endl;
  144.     cout << "Finished.\n";
  145.  
  146.     cv::waitKey( 0 );
  147.  
  148.     return 0;  // Or return 1; 
  149. }
  150.  
Compilation error #stdin compilation error #stdout 0s 0KB
comments (?)
stdin 
Standard input is empty
compilation info 
prog.cpp:1:33: fatal error: opencv2/core/core.hpp: No such file or directory
compilation terminated.
stdout 
Standard output is empty
https://ideone.com/Uz1e8V
language:
C++ (gcc 8.3)
created:
13 years ago
visibility:
public

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