Daviddoria: /* CMakeLists.txt */

2011-01-21T20:47:41Z

‎CMakeLists.txt

Daviddoria: Created page with '==RemoveDistortion.cxx== #include "cv.h" #include "opencv2/core/core.hpp" #include "opencv2/imgproc/imgproc.hpp" #include "opencv2/calib3d/calib3d.hpp" #inclu…'

2011-01-20T23:58:31Z

Created page with '==RemoveDistortion.cxx== <source lang="cpp"> #include "cv.h" #include "opencv2/core/core.hpp" #include "opencv2/imgproc/imgproc.hpp" #include "opencv2/calib3d/calib3d.hpp" #inclu…'

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==RemoveDistortion.cxx==
<source lang="cpp">
#include "cv.h"
#include "opencv2/core/core.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/calib3d/calib3d.hpp"
#include "opencv2/highgui/highgui.hpp"

#include <iostream>
#include <string>

std::vector<cv::Point3f> Create3DChessboardCorners(cv::Size boardSize, float squareSize);

struct CameraStruct
{
cv::Mat CameraMatrix;
cv::Mat ImagePoints;
cv::Mat DistortionCoefficients;
cv::Mat Image;
};

CameraStruct CalibrateCamera(cv::Mat image, cv::Size boardSize);

int main( int argc, char* argv[])
{
std::string imageFileName = argv[1];
std::string outputFileName = argv[2];

cv::Mat image = cv::imread(imageFileName, 1);

if(image.empty())
{
std::cerr << "Could not read image!" << std::endl;
return -1;
}

CameraStruct camera = CalibrateCamera(image, cv::Size(6,9)); // If the board does not have the name number of squares in each dimension, the order of boardSize is not important.

cv::Mat outputImage;
cv::undistort(camera.Image, outputImage, camera.CameraMatrix, camera.DistortionCoefficients);

cv::imwrite(outputFileName, outputImage);

return 0;
}

CameraStruct CalibrateCamera(cv::Mat image, cv::Size boardSize)
{
float squareSize = 1.f; // This is "1 arbitrary unit"

cv::Size imageSize = image.size();

// Find the chessboard corners
std::vector<std::vector<cv::Point2f> > imagePoints(1);
bool found = findChessboardCorners(image, boardSize, imagePoints[0]);
if(!found)
{
std::cerr << "Could not find chess board!" << std::endl;
exit(-1);
}

drawChessboardCorners(image, boardSize, cv::Mat(imagePoints[0]), found );

std::vector<std::vector<cv::Point3f> > objectPoints(1);
objectPoints[0] = Create3DChessboardCorners(boardSize, squareSize);

std::vector<cv::Mat> rotationVectors;
std::vector<cv::Mat> translationVectors;

cv::Mat distortionCoefficients = cv::Mat::zeros(8, 1, CV_64F); // There are 8 distortion coefficients
cv::Mat cameraMatrix = cv::Mat::eye(3, 3, CV_64F);

int flags = 0;
double rms = calibrateCamera(objectPoints, imagePoints, imageSize, cameraMatrix,
distortionCoefficients, rotationVectors, translationVectors, flags|CV_CALIB_FIX_K4|CV_CALIB_FIX_K5);

CameraStruct camera;
camera.CameraMatrix = cameraMatrix;
camera.ImagePoints = cv::Mat(imagePoints[0]);
camera.DistortionCoefficients = distortionCoefficients;
camera.Image = image;

return camera;
}

std::vector<cv::Point3f> Create3DChessboardCorners(cv::Size boardSize, float squareSize)
{
// This function creates the 3D points of your chessboard in its own coordinate system

std::vector<cv::Point3f> corners;

for( int i = 0; i < boardSize.height; i++ )
{
for( int j = 0; j < boardSize.width; j++ )
{
corners.push_back(cv::Point3f(float(j*squareSize),
float(i*squareSize), 0));
}
}

return corners;
}
</source>

==CMakeLists.txt==
<source lang="cmake">
cmake_minimum_required(VERSION 2.6)

PROJECT(RemoveDistortion)

FIND_PACKAGE(OpenCV REQUIRED )
INCLUDE_DIRECTORIES( ${OPENCV_INCLUDE_DIR} )

ADD_EXECUTABLE(RemoveDistortion RemoveDistortion.cxx)
TARGET_LINK_LIBRARIES(RemoveDistortion opencv_core opencv_highgui
opencv_flann opencv_imgproc opencv_highgui opencv_ml opencv_video opencv_objdetect
opencv_features2d opencv_calib3d opencv_legacy opencv_contrib
)
</source>

@@ Line 113: / Line 113: @@
 ADD_EXECUTABLE(RemoveDistortion RemoveDistortion.cxx)
-TARGET_LINK_LIBRARIES(RemoveDistortion opencv_core opencv_highgui
+TARGET_LINK_LIBRARIES(RemoveDistortion ${OpenCV_LIBS})
-opencv_flann opencv_imgproc opencv_highgui opencv_ml opencv_video opencv_objdetect
-          opencv_features2d opencv_calib3d opencv_legacy opencv_contrib
-−
 </source>

OpenCV/CommonTasks/RemoveDistortion - Revision history

Daviddoria: /* CMakeLists.txt */

Daviddoria: Created page with '==RemoveDistortion.cxx== #include "cv.h" #include "opencv2/core/core.hpp" #include "opencv2/imgproc/imgproc.hpp" #include "opencv2/calib3d/calib3d.hpp" #inclu…'