1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
|
//! \example tutorial-bridge-opencv-camera-param.cpp
#include <iostream>
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpImageConvert.h>
#include <visp3/io/vpImageIo.h>
#if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_CALIB3D) && defined(HAVE_OPENCV_IMGPROC)
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
int main()
{
//! [Set ViSP camera parameters]
double u0 = 326.6;
double v0 = 215.0;
double px = 582.7;
double py = 580.6;
double kud = -0.3372;
double kdu = 0.4021;
vpCameraParameters cam(px, py, u0, v0, kud, kdu);
//! [Set ViSP camera parameters]
//! [Set OpenCV camera parameters]
cv::Mat K = (cv::Mat_<double>(3, 3) << cam.get_px(), 0, cam.get_u0(), 0, cam.get_py(), cam.get_v0(), 0, 0, 1);
cv::Mat D = (cv::Mat_<double>(4, 1) << cam.get_kud(), 0, 0, 0);
//! [Set OpenCV camera parameters]
//! [Load ViSP image]
vpImage<unsigned char> I;
vpImageIo::read(I, "chessboard.pgm");
//! [Load ViSP image]
//! [Convert ViSP 2 OpenCV image]
cv::Mat image;
vpImageConvert::convert(I, image);
//! [Convert ViSP 2 OpenCV image]
//! [Undistort OpenCV image]
cv::Mat imageUndistorted;
cv::undistort(image, imageUndistorted, K, D);
//! [Undistort OpenCV image]
//! [Convert OpenCV 2 ViSP image]
vpImage<unsigned char> IUndistorted;
vpImageConvert::convert(imageUndistorted, IUndistorted);
//! [Convert OpenCV 2 ViSP image]
//! [Save image]
vpImageIo::write(IUndistorted, "chessboard-undistorted.pgm");
//! [Save image]
}
#else
int main()
{
std::cout << "This tutorial required OpenCV imgproc module" << std::endl;
return EXIT_SUCCESS;
}
#endif
|
