public void TestChessboardCalibration()
{
Size patternSize = new Size(9, 6);
Image <Gray, Byte> chessboardImage = EmguAssert.LoadImage <Gray, byte>("left01.jpg");
Util.VectorOfPointF corners = new Util.VectorOfPointF();
bool patternWasFound = CvInvoke.FindChessboardCorners(chessboardImage, patternSize, corners);
chessboardImage.FindCornerSubPix(
new PointF[][] { corners.ToArray() },
new Size(10, 10),
new Size(-1, -1),
new MCvTermCriteria(0.05));
MCvPoint3D32f[] objectPts = CalcChessboardCorners(patternSize, 1.0f);
IntrinsicCameraParameters intrisic = new IntrinsicCameraParameters(8);
ExtrinsicCameraParameters[] extrinsic;
double error = CameraCalibration.CalibrateCamera(new MCvPoint3D32f[][] { objectPts }, new PointF[][] { corners.ToArray() },
chessboardImage.Size, intrisic, CvEnum.CalibType.Default, new MCvTermCriteria(30, 1.0e-10), out extrinsic);
CvInvoke.DrawChessboardCorners(chessboardImage, patternSize, corners, patternWasFound);
//CameraCalibration.DrawChessboardCorners(chessboardImage, patternSize, corners);
Image <Gray, Byte> undistorted = intrisic.Undistort(chessboardImage);
//UI.ImageViewer.Show(undistorted, String.Format("Reprojection error: {0}", error));
}
public void ProcessFrame()
{
if (m_Capture == null)
{
return;
}
this.OriginalImage = m_Capture.QueryFrame();
this.GrayImage = this.OriginalImage.Convert <Gray, Byte>();
Image <Gray, Byte> grayImage = this.OriginalImage.Convert <Gray, Byte>();
this.CorrectedImage = m_IntrinsicCameraParameters.Undistort <Bgr, Byte>(this.OriginalImage);
}
public void TestChessboardCalibration()
{
Size patternSize = new Size(9, 6);
Image <Gray, Byte> chessboardImage = EmguAssert.LoadImage <Gray, byte>("left01.jpg");
Util.VectorOfPointF corners = new Util.VectorOfPointF();
bool patternWasFound = CvInvoke.FindChessboardCorners(chessboardImage, patternSize, corners);
chessboardImage.FindCornerSubPix(
new PointF[][] { corners.ToArray() },
new Size(10, 10),
new Size(-1, -1),
new MCvTermCriteria(0.05));
MCvPoint3D32f[] objectPts = CalcChessboardCorners(patternSize, 1.0f);
IntrinsicCameraParameters intrisic = new IntrinsicCameraParameters(8);
ExtrinsicCameraParameters[] extrinsic;
using (VectorOfVectorOfPoint3D32F ptsVec = new VectorOfVectorOfPoint3D32F(new MCvPoint3D32f[][] { objectPts }))
using (VectorOfVectorOfPointF imgPtsVec = new VectorOfVectorOfPointF(corners))
{
Mat calMat = CvInvoke.InitCameraMatrix2D(ptsVec, imgPtsVec, chessboardImage.Size, 0);
Matrix <double> calMatF = new Matrix <double>(calMat.Rows, calMat.Cols, calMat.NumberOfChannels);
calMat.CopyTo(calMatF);
}
double error = CameraCalibration.CalibrateCamera(new MCvPoint3D32f[][] { objectPts }, new PointF[][] { corners.ToArray() },
chessboardImage.Size, intrisic, CvEnum.CalibType.Default, new MCvTermCriteria(30, 1.0e-10), out extrinsic);
CvInvoke.DrawChessboardCorners(chessboardImage, patternSize, corners, patternWasFound);
//CameraCalibration.DrawChessboardCorners(chessboardImage, patternSize, corners);
Image <Gray, Byte> undistorted = intrisic.Undistort(chessboardImage);
//UI.ImageViewer.Show(undistorted, String.Format("Reprojection error: {0}", error));
Mat[] rotationVectors, translationVectors;
CvInvoke.CalibrateCamera(new MCvPoint3D32f[][] { objectPts }, new PointF[][] { corners.ToArray() },
chessboardImage.Size, intrisic.IntrinsicMatrix, intrisic.DistortionCoeffs, CalibType.Default,
new MCvTermCriteria(30, 1.0e-10),
out rotationVectors, out translationVectors);
}
public void ProcessFrame()
{
this.OriginalImage = m_Capture.QueryFrame();
this.CorrectedImage = m_IntrinsicCameraParameters.Undistort <Bgr, Byte>(this.OriginalImage);
}
