56 lines
1.9 KiB
C++
56 lines
1.9 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 "gocv_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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cv::Size imgSize, cv::Mat& cameraMatrix,
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cv::Mat& rvec, cv::Mat& tvec) {
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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 << "objPts " << std::endl << objPtsArr[0] << std::endl;
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std::cout << "imgPts " << std::endl << imgPtsArr[0] << std::endl;
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std::cout << "imgSize " << std::endl << imgSize << std::endl;
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std::cout << "Before CamMat " << std::endl << cameraMatrix << std::endl;
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rtn = cv::calibrateCamera(objPtsArr, imgPtsArr, imgSize,
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cameraMatrix, distCoeffs,
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rvecs, tvecs, 14575);
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rvec = rvecs[0];
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tvec = tvecs[0];
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std::cout << "After CamMat " << std::endl << cameraMatrix << std::endl;
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std::cout << "distCoeffs " << std::endl << distCoeffs << std::endl;
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std::cout << "rvec " << std::endl << rvec << std::endl;
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std::cout << "tvec " << std::endl << tvec << std::endl;
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std::cout << "rms " << std::endl << rtn << std::endl;
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return rtn;
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}
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void GcvRodrigues_(cv::Mat src, cv::Mat& dst) {
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cv::Rodrigues(src, dst);
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}
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