hei, guys. I am now working for a fisheye camera calibration and i have stuck for a long time.
When my code run to fisheye::calibrate function, there aways has a "unhandled excption".
here is my code:
#include
#include
using namespace cv;
using namespace std;
int main(int argc, char** argv) {
VideoCapture camera(1);
if (!camera.isOpened()) {
cout << "Failed to open camera." << std::endl;
return -1;
}
const char* window_name = "output";
namedWindow(window_name);
Mat frame;
Size boardSize;
boardSize.width = 9;
boardSize.height = 6;
int remaining_frames = 5;
Matx33d K;
Vec4d D;
Mat identity = Mat::eye(3, 3, CV_64F);
vector> img_points;
vector> obj_points;
vector obj_temp;
int width = 9;
int height = 6;
int sq_sz = 30;
for (int i = 0; i < width; i++) {
for (int j = 0; j < height; j++) {
obj_temp.push_back(Point3d(double(j * sq_sz), double(i * sq_sz), 0));
}
}
for (int i = 0; i < remaining_frames; i++)
obj_points.push_back(obj_temp);
while (1) {
if (!camera.read(frame)) {
cout << "Failed to read frame" << std::endl;
break;
}
if (remaining_frames > 0) {
vector corners;
bool found = findChessboardCorners(frame, boardSize, corners,
CALIB_CB_ADAPTIVE_THRESH | CALIB_CB_NORMALIZE_IMAGE | CALIB_CB_FAST_CHECK);
drawChessboardCorners(frame, boardSize, corners, found);
if (found && waitKey(30)==32) {
vector img_temp;
for (int i = 0; i < width*height; i++)
{
Point2d temp = corners[i];
img_temp.push_back(temp);
}
img_points.push_back(img_temp);
remaining_frames--;
cout << remaining_frames << " frames to calibration." << endl;
if (remaining_frames == 0) {
cout << "Computing distortion" << endl;
int flags = 0;
flags |= cv::fisheye::CALIB_RECOMPUTE_EXTRINSIC;
flags |= cv::fisheye::CALIB_CHECK_COND;
flags |= cv::fisheye::CALIB_FIX_SKEW;
// here is someting wrong
fisheye::calibrate(obj_points, img_points, Size(640, 480), K, D,
noArray(), noArray(), flags, TermCriteria(3, 20, 1e-6));
cout << "Finished computing distortion" << endl;
}
}
imshow(window_name, frame);
waitKey(1);
}
else {
Mat output;
fisheye::undistortImage(frame, output, K, D, identity);
imshow(window_name, output);
waitKey(1);
}
//if (waitKey(30) > 0) {
// break;
//}
}
return 0;
}
i have tried many ways to solve this problem, include change the different version of opencv, install different version of Visual Studio, tried many data types and flags used in fisheye::calibration function. all these ways are failed.
is there any one can help me? Thank you for advance!
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