hello,
I can't get correct image from following code. Could you find where are problems in my code.
thanks,
int main(int argc, char** argv) {
Mat frame = imread("fisheye_img.jpg");
Size boardSize;
boardSize.width = 8;
boardSize.height = 5;
int sq_sz = 30;
vector> img_points;
vector> obj_points(1);
int width = boardSize.width;
int height = boardSize.height;
for (int i = 0; i < width; i++) {
for (int j = 0; j < height; j++) {
obj_points[0].push_back(Point3f(float(j * sq_sz), float(i * sq_sz), 0));
}
}
vector corners;
bool found = findChessboardCorners(frame, boardSize, corners,
CALIB_CB_ADAPTIVE_THRESH|CALIB_CB_NORMALIZE_IMAGE|CALIB_CB_FAST_CHECK);
if(found)
drawChessboardCorners(frame, boardSize, corners, found);
else
cout << "can't find corners" << endl;
return -1;
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);
Mat _cameraMatrix;
Mat _distCoeffs;
_cameraMatrix = Mat::eye(3, 3, CV_64F);
_distCoeffs = Mat::zeros(4, 1, CV_64F);
std::vector rvecs(1);
std::vector tvecs(1);
Size imagesize = frame.size();
obj_points.resize(img_points.size(),obj_points[0]);
int flags = cv::fisheye::CALIB_RECOMPUTE_EXTRINSIC | cv::fisheye::CALIB_FIX_SKEW | //cv::fisheye::CALIB_CHECK_COND |
cv::fisheye::CALIB_FIX_K3 | cv::fisheye::CALIB_FIX_K4;
double rms = cv::fisheye::calibrate(obj_points, img_points, imagesize,
_cameraMatrix, _distCoeffs, rvecs, tvecs, flags, cv::TermCriteria(3, 20, 1e-6));
//cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS, 100, DBL_EPSILON));
cout << "RMS : " << rms << endl;
cout << "_cameraMatrix : " << _cameraMatrix << endl;
cout << "_distCoeffs : " << _distCoeffs << endl;
Mat new_frame, map1, map2;
Mat newCamMat;
fisheye::estimateNewCameraMatrixForUndistortRectify(_cameraMatrix, _distCoeffs, imagesize,
Matx33d::eye(), newCamMat, 1);
fisheye::initUndistortRectifyMap(_cameraMatrix, _distCoeffs, Matx33d::eye(), newCamMat, imagesize,
CV_16SC2, map1, map2);
remap(frame, new_frame, map1, map2, INTER_LINEAR);
imshow("input image", frame);
imshow("correct image", new_frame);
cvWaitKey ( 0 ) ;
return 0;
}
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