Daviddoria: Created page with '==StereoRectifyUncalibrated.cxx== #include "opencv2/calib3d/calib3d.hpp" #include "opencv2/imgproc/imgproc.hpp" #include "opencv2/core/core.hpp" #include "ope…'

2011-07-23T13:42:19Z

Created page with '==StereoRectifyUncalibrated.cxx== <source lang="cpp"> #include "opencv2/calib3d/calib3d.hpp" #include "opencv2/imgproc/imgproc.hpp" #include "opencv2/core/core.hpp" #include "ope…'

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

#include <vector>
#include <string>
#include <fstream>
#include <iostream>

std::vector<cv::Point2f> ReadPoints(const std::string& filename);

int main(int argc, char* argv[])
{
// Verify arguments
if(argc < 5)
{
std::cerr << "Required arguments: input1.jpg input2.jpg points1.txt points2.txt" << std::endl;
return -1;
}

// Parse arguments
std::string image1FileName = argv[1];
std::string image2FileName = argv[2];
std::string points1FileName = argv[3];
std::string points2FileName = argv[4];

// Output arguments
std::cout << "Image1: " << image1FileName << std::endl
<< "Image2: " << image2FileName << std::endl
<< "Points1: " << points1FileName << std::endl
<< "Points2: " << points2FileName << std::endl;

// Read images
cv::Mat image1 = cv::imread(image1FileName, 1);
cv::Mat image2 = cv::imread(image2FileName, 1);

// Read points
std::vector<cv::Point2f> points1 = ReadPoints(points1FileName);
std::vector<cv::Point2f> points2 = ReadPoints(points2FileName);

if(points1.size() != points2.size())
{
std::cerr << "There must be the same number of points in both files (since they are correspondences!). File1 has " << points1.size() << " while file2 has " << points2.size() << std::endl;
return -1;
}

//cv::Mat F = cv::findFundamentalMat(points1, points2, cv::FM_RANSAC, 3, 0.99);
cv::Mat F = cv::findFundamentalMat(points1, points2, CV_FM_8POINT);

cv::Mat H1(4,4, image1.type());
cv::Mat H2(4,4, image1.type());
cv::stereoRectifyUncalibrated(points1, points2, F, image1.size(), H1, H2);

cv::Mat rectified1(image1.size(), image1.type());
cv::warpPerspective(image1, rectified1, H1, image1.size());
cv::imwrite("rectified1.png", rectified1);

cv::Mat rectified2(image2.size(), image2.type());
cv::warpPerspective(image2, rectified2, H2, image2.size());
cv::imwrite("rectified2.png", rectified2);

return 0;
}

std::vector<cv::Point2f> ReadPoints(const std::string& filename)
{
// Read points
std::ifstream pointsstream(filename.c_str());

if(pointsstream == NULL)
{
std::cout << "Cannot open file " << filename << std::endl;
exit(-1);
}

// Read the point from the first image
std::string line;
std::vector<cv::Point2f> points;

while(getline(pointsstream, line))
{
std::stringstream ss(line);
float x,y;
ss >> x >> y;
points.push_back(cv::Point2f(x,y));
}

return points;
}

</source>

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

PROJECT(StereoRectifyUncalibrated)

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

ADD_EXECUTABLE(StereoRectifyUncalibrated StereoRectifyUncalibrated.cxx)
TARGET_LINK_LIBRARIES(StereoRectifyUncalibrated 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>

OpenCV/WishList/StereoRectifyUncalibrated - Revision history

Daviddoria: Created page with '==StereoRectifyUncalibrated.cxx== #include "opencv2/calib3d/calib3d.hpp" #include "opencv2/imgproc/imgproc.hpp" #include "opencv2/core/core.hpp" #include "ope…'