#include <iostream>
#include <iomanip>
#include <vector>
#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/features2d/features2d.hpp>
#include "CameraCalibrator.h"
int main()
{
cv::namedWindow("Image");
cv::Mat image;
std::vector<std::string> filelist;
// generate list of chessboard image filename
for (int i=1; i<=20; i++) {
std::stringstream str;
str << "../chessboards/chessboard" << std::setw(2) << std::setfill('0') << i << ".jpg";
std::cout << str.str() << std::endl;
filelist.push_back(str.str());
image= cv::imread(str.str(),0);
cv::imshow("Image",image);
cv::waitKey(100);
}
// Create calibrator object
CameraCalibrator cameraCalibrator;
// add the corners from the chessboard
cv::Size boardSize(7,7);
cameraCalibrator.addChessboardPoints(
filelist, // filenames of chessboard image
boardSize); // size of chessboard
// calibrate the camera
// cameraCalibrator.setCalibrationFlag(true,true);
cameraCalibrator.calibrate(image.size());
// Image Undistortion
image = cv::imread(filelist[6]);
cv::Mat uImage= cameraCalibrator.remap(image);
// display camera matrix
cv::Mat cameraMatrix= cameraCalibrator.getCameraMatrix();
std::cout << " Camera intrinsic: " << cameraMatrix.rows << "x" << cameraMatrix.cols << std::endl;
std::cout << cameraMatrix.at<double>(0,0) << " " << cameraMatrix.at<double>(0,1) << " " << cameraMatrix.at<double>(0,2) << std::endl;
std::cout << cameraMatrix.at<double>(1,0) << " " << cameraMatrix.at<double>(1,1) << " " << cameraMatrix.at<double>(1,2) << std::endl;
std::cout << cameraMatrix.at<double>(2,0) << " " << cameraMatrix.at<double>(2,1) << " " << cameraMatrix.at<double>(2,2) << std::endl;
imshow("Original Image", image);
imshow("Undistorted Image", uImage);
//打印相机内参数矩阵（3*3矩阵）
/* cv:: Mat cameraMatrix = cameraCalibrator.getCameraMatrix();
std::cout << " 相机内参数矩阵：" << cameraMatrix.rows << "x" << cameraMatrix.cols << std::endl;
for (int i=0; i for (int j=0; j {
cout<(i, j);
if (j==2)
cout< }*/
//打印畸变系数矩阵（1*5矩阵）
cv:: Mat distCoeffs = cameraCalibrator.getDistCoeffs();
std::cout << "畸变系数矩阵：" << distCoeffs.rows << "x" << distCoeffs.cols << std::endl;
//for (int i=0; i for (int j=0; j cout<(i, j)<<"\t";
std::cout << distCoeffs.at<double>(0,0) << " " << distCoeffs.at<double>(0,1) << " " << distCoeffs.at<double>(0,2)<<" " << distCoeffs.at<double>(0,3)<<" "<< distCoeffs.at<double>(0,4)<< std::endl;
cv::waitKey();
return 0;
}
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