44 lines
1.4 KiB
C++
44 lines
1.4 KiB
C++
#include <opencv2/opencv.hpp>
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#include <opencv2/core/core.hpp>
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#include <iostream>
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#include <vector>
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#include "gcv_calib3d.hpp"
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cv::Mat GcvInitCameraMatrix2D(VecPoint3f objPts, VecPoint2f imgPts) {
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cv::Mat cameraMatrix;
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std::vector<VecPoint3f> objPtsArr;
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std::vector<VecPoint2f> imgPtsArr;
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objPtsArr.push_back(objPts);
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imgPtsArr.push_back(imgPts);
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cameraMatrix = cv::initCameraMatrix2D(objPtsArr, imgPtsArr, cv::Size(1920, 1080), 1);
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return cameraMatrix;
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}
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double GcvCalibrateCamera(VecPoint3f objPts, VecPoint2f imgPts,
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std::vector<int> imgSize, cv::Mat cameraMatrix) {
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std::vector<VecPoint3f> objPtsArr;
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std::vector<VecPoint2f> imgPtsArr;
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std::vector<cv::Mat> rvecs, tvecs;
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cv::Mat distCoeffs;
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double rtn;
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objPtsArr.push_back(objPts);
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imgPtsArr.push_back(imgPts);
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std::cout << "init Camera" << cameraMatrix << std::endl;
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rtn = cv::calibrateCamera(objPtsArr, imgPtsArr,
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cv::Size2i(imgSize[0], imgSize[1]),
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cameraMatrix, distCoeffs, rvecs, tvecs);
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std::cout << "final Camera" << cameraMatrix << std::endl;
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std::cout << "final rvecs" << rvecs[0] << std::endl;
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std::cout << "final tvecs" << tvecs[0] << std::endl;
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return rtn;
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}
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