56 lines
2 KiB
C++
56 lines
2 KiB
C++
#include <opencv2/opencv.hpp>
|
|
#include <opencv2/core/core.hpp>
|
|
#include <iostream>
|
|
#include <vector>
|
|
|
|
#include "gocv_calib3d.hpp"
|
|
|
|
cv::Mat GcvInitCameraMatrix2D_(VecPoint3f objPts, VecPoint2f imgPts) {
|
|
cv::Mat cameraMatrix;
|
|
|
|
std::vector<VecPoint3f> objPtsArr;
|
|
std::vector<VecPoint2f> imgPtsArr;
|
|
|
|
objPtsArr.push_back(objPts);
|
|
imgPtsArr.push_back(imgPts);
|
|
|
|
cameraMatrix = cv::initCameraMatrix2D(objPtsArr, imgPtsArr, cv::Size(1920, 1080), 1);
|
|
return cameraMatrix;
|
|
}
|
|
|
|
double GcvCalibrateCamera_(VecPoint3f objPts, VecPoint2f imgPts,
|
|
cv::Size imgSize, cv::Mat& cameraMatrix,
|
|
cv::Mat& rvec, cv::Mat& tvec) {
|
|
std::vector<VecPoint3f> objPtsArr;
|
|
std::vector<VecPoint2f> imgPtsArr;
|
|
std::vector<cv::Mat> rvecs, tvecs;
|
|
cv::Mat distCoeffs;
|
|
double rtn;
|
|
|
|
objPtsArr.push_back(objPts);
|
|
imgPtsArr.push_back(imgPts);
|
|
|
|
/* std::cout << "objPts " << std::endl << objPtsArr[0] << std::endl; */
|
|
/* std::cout << "imgPts " << std::endl << imgPtsArr[0] << std::endl; */
|
|
/* std::cout << "imgSize " << std::endl << imgSize << std::endl; */
|
|
/* std::cout << "Before CamMat " << std::endl << cameraMatrix << std::endl; */
|
|
|
|
rtn = cv::calibrateCamera(objPtsArr, imgPtsArr, imgSize,
|
|
cameraMatrix, distCoeffs,
|
|
rvecs, tvecs, 14575);
|
|
|
|
rvec = rvecs[0];
|
|
tvec = tvecs[0];
|
|
|
|
/* std::cout << "After CamMat " << std::endl << cameraMatrix << std::endl; */
|
|
/* std::cout << "distCoeffs " << std::endl << distCoeffs << std::endl; */
|
|
/* std::cout << "rvec " << std::endl << rvec << std::endl; */
|
|
/* std::cout << "tvec " << std::endl << tvec << std::endl; */
|
|
/* std::cout << "rms " << std::endl << rtn << std::endl; */
|
|
|
|
return rtn;
|
|
}
|
|
|
|
void GcvRodrigues_(cv::Mat src, cv::Mat& dst) {
|
|
cv::Rodrigues(src, dst);
|
|
}
|