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change calibration

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ackimixs
2024-04-16 16:44:16 +02:00
parent a0a60ec3f2
commit 8bfd4d3785
1 changed files with 35 additions and 18 deletions
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53
calibration.cpp
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@@ -36,31 +36,49 @@ int main(int argc, char *argv[])
}
}
std::string imagesDirectory = argv[1];
std::vector<cv::String> imageFiles;
cv::glob(imagesDirectory + "/*.jpg", imageFiles);
lccv::PiCamera* cam = new lccv::PiCamera;
cam->options->video_width=1920;
cam->options->video_height=1080;
cam->options->framerate=5;
cam->options->verbose=true;
cv::namedWindow("Video",cv::WINDOW_NORMAL);
cam->startVideo();
if (imageFiles.empty()) {
std::cerr << "Error: No calibration images found in the specified directory." << std::endl;
return -1;
}
for (const auto& imageFile : imageFiles) {
std::cout << "Processing image: " << imageFile << std::endl;
char key;
// Load the image
cv::Mat img = cv::imread(imageFile);
while(key != 27) {
cv::Mat image, imageCopy, imgNotRotated;
if(!cam->getVideoFrame(imgNotRotated,1000)){
std::cout<<"Timeout error"<<std::endl;
continue;
}
imgSize = img.size();
cv::flip(imgNotRotated, image, -1);
// Convert the image to grayscale
cv::Mat gray;
cv::cvtColor(img, gray, cv::COLOR_BGR2GRAY);
cv::cvtColor(image, gray, cv::COLOR_BGR2GRAY);
// Find chessboard corners
std::vector<cv::Point2f> corners;
if (findChessboardCorners(gray, chessboardSize, corners)) {
// if (findChessboardCorners(gray, chessboardSize, corners)) {
// // Refine corner locations
// cv::cornerSubPix(gray, corners, cv::Size(11, 11), cv::Size(-1, -1),
// cv::TermCriteria(cv::TermCriteria::EPS + cv::TermCriteria::MAX_ITER, 30, 0.001));
//
// // Store object and image points
// objectPoints.push_back(worldPoints);
// imagePoints.push_back(corners);
// }
putText(imageCopy, "Press 'c' to add current frame. 'ESC' to finish and calibrate",
cv::Point(10, 20), cv::FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(255, 0, 0), 2);
imshow("Video", imageCopy);
key = (char)cv::waitKey(500);
if(key == 'c' && findChessboardCorners(gray, chessboardSize, corners)) {
// Refine corner locations
cv::cornerSubPix(gray, corners, cv::Size(11, 11), cv::Size(-1, -1),
cv::TermCriteria(cv::TermCriteria::EPS + cv::TermCriteria::MAX_ITER, 30, 0.001));
@@ -68,8 +86,6 @@ int main(int argc, char *argv[])
// Store object and image points
objectPoints.push_back(worldPoints);
imagePoints.push_back(corners);
} else {
std::cerr << "Warning: Chessboard pattern not found in image: " << imageFile << std::endl;
}
}
@@ -79,11 +95,12 @@ int main(int argc, char *argv[])
calibrateCamera(objectPoints, imagePoints, imgSize,
cameraMatrix, distCoeffs, rvecs, tvecs);
cv::FileStorage fs(imagesDirectory + "/calibration_results.yaml", cv::FileStorage::WRITE);
cv::FileStorage fs("./calibration_results.yaml", cv::FileStorage::WRITE);
fs << "cameraMatrix" << cameraMatrix;
fs << "distCoeffs" << distCoeffs;
fs.release(); // Release the file
return 0;
cv::destroyAllWindows();
return 0;
}