cpp branch

calibration.cpp

@@ -0,0 +1,80 @@
+#include <iostream>
+#include <filesystem>
+#include <opencv2/opencv.hpp>
+
+int main(int argc, char *argv[])
+{
+
+    if (argc < 2) {
+        std::cout << "Usage: " << argv[0] << " <directory>" << std::endl;
+        return 1;
+    }
+
+    // Set the chessboard size (number of inner corners in width and height)
+    cv::Size chessboardSize(9, 6);
+
+    cv::Size imgSize;
+
+    // Create vectors to store the detected chessboard corners and corresponding image points
+    std::vector<std::vector<cv::Point3f>> objectPoints; // 3D world points
+    std::vector<std::vector<cv::Point2f>> imagePoints;  // 2D image points
+
+    // Generate the 3D world points for the chessboard corners
+    std::vector<cv::Point3f> worldPoints;
+    for (int i = 0; i < chessboardSize.height; ++i) {
+        for (int j = 0; j < chessboardSize.width; ++j) {
+            worldPoints.emplace_back(j, i, 0); // Assuming the chessboard lies in the XY plane (Z=0)
+        }
+    }
+
+    const std::string pathName = argv[1];
+
+    try {
+        for (const auto& entry : std::filesystem::directory_iterator(pathName)) {
+            if (entry.is_regular_file()) {
+                // Check if the file has a ".jpg" or ".png" extension
+                std::string fileExtension = entry.path().extension().string();
+                if (fileExtension == ".jpg" || fileExtension == ".png") {
+                    std::cout << entry.path() << std::endl;
+
+                    // Load the calibration image
+                    cv::Mat image = cv::imread(entry.path().string());
+
+                    imgSize = image.size();
+
+                    // Convert the image to grayscale
+                    cv::Mat gray;
+                    cv::cvtColor(image, gray, cv::COLOR_BGR2GRAY);
+
+                    // Find chessboard corners
+                    std::vector<cv::Point2f> corners;
+                    bool found = cv::findChessboardCorners(gray, chessboardSize, corners);
+
+                    if (found) {
+                        cv::cornerSubPix(gray, corners, cv::Size(11, 11), cv::Size(-1, -1),
+                                         cv::TermCriteria(cv::TermCriteria::EPS + cv::TermCriteria::COUNT, 30, 0.1));
+
+                        imagePoints.push_back(corners);
+                        objectPoints.push_back(worldPoints);
+                    }
+                }
+            }
+        }
+    } catch (const std::filesystem::filesystem_error& e) {
+        std::cerr << "Error accessing the directory: " << e.what() << std::endl;
+    }
+
+    cv::Mat cameraMatrix, distCoeffs;
+    std::vector<cv::Mat> rvecs, tvecs;
+
+    calibrateCamera(objectPoints, imagePoints, imgSize,
+                        cameraMatrix, distCoeffs, rvecs, tvecs);
+
+    cv::FileStorage fs(pathName + "/calibration_results.yaml", cv::FileStorage::WRITE);
+    fs << "cameraMatrix" << cameraMatrix;
+    fs << "distCoeffs" << distCoeffs;
+    fs.release(); // Release the file
+
+    return 0;
+
+}