Beispiel #1
0
        public static Mat Correct(Mat img, LensParams lensParams)
        {
            Mat output = img.Clone();

            Fisheye.UndistorImage(img, output, lensParams.GetMatrixK(), lensParams.GetMatrixD());
            return(output);
        }
Beispiel #2
0
        public static void Calibrate(string[] imgFiles, out LensParams lensParams)
        {
            Size patternSize = new Size(CHESS_PATTERN_WIDTH, CHESS_PATTERN_HEIGHT);

            VectorOfVectorOfPoint3D32F objPoints   = new VectorOfVectorOfPoint3D32F();
            VectorOfVectorOfPointF     imagePoints = new VectorOfVectorOfPointF();

            Size imageSize = Size.Empty;

            foreach (string file in imgFiles)
            {
                Mat img = CvInvoke.Imread(file, ImreadModes.Grayscale);
                if (imageSize == Size.Empty)
                {
                    imageSize = new Size(img.Width, img.Height);
                }
                //CvInvoke.Imshow("input", img);
                VectorOfPointF corners = new VectorOfPointF(patternSize.Width * patternSize.Height);
                bool           find    = CvInvoke.FindChessboardCorners(img, patternSize, corners);
                if (find)
                {
                    MCvPoint3D32f[] points    = new MCvPoint3D32f[patternSize.Width * patternSize.Height];
                    int             loopIndex = 0;
                    for (int i = 0; i < patternSize.Height; i++)
                    {
                        for (int j = 0; j < patternSize.Width; j++)
                        {
                            points[loopIndex++] = new MCvPoint3D32f(j, i, 0);
                        }
                    }
                    objPoints.Push(new VectorOfPoint3D32F(points));
                    imagePoints.Push(corners);
                }
            }

            Matrix <double> K           = new Matrix <double>(3, 3);
            Matrix <double> D           = new Matrix <double>(4, 1);
            Mat             rotation    = new Mat();
            Mat             translation = new Mat();

            Fisheye.Calibrate(objPoints,
                              imagePoints,
                              imageSize,
                              K,
                              D,
                              rotation,
                              translation,
                              Fisheye.CalibrationFlag.CheckCond,
                              new MCvTermCriteria(30, 0.1)
                              );
            lensParams = new LensParams(K, D);
        }