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| bool mypopo::calibration()
{
int numBoards = 0;
int numCornersHor;
int numCornersVer;
// à modifier
printf("Enter number of corners along width: ");
scanf("%d", &numCornersHor);
printf("Enter number of corners along height: ");
scanf("%d", &numCornersVer);
printf("Enter number of boards: ");
scanf("%d", &numBoards);
numCornersHor = 6; // ajouté
numCornersVer = 9; // ajouté
numBoards = 70; // ajouté
int numSquares = numCornersHor * numCornersVer;
Size board_sz = Size(numCornersHor, numCornersVer);
// à modifier
//VideoCapture capture = VideoCapture(0);
vector<vector<Point3f>> object_points;
vector<vector<Point2f>> image_points;
vector<Point2f> corners;
int successes=0;
Mat image;
Mat gray_image;
// à modifier
//capture >> image; // commenté
// ajouté
QString path = "C:/Users/nadhir.abdellatif/Desktop/Capture/chess/3.bmp";
image = imread(path.toStdString());
// ajouté
vector<Point3f> obj;
for(int j=0;j<numSquares;j++)
obj.push_back(Point3f(j/numCornersHor, j%numCornersHor, 0.0f));
//while(successes<numBoards)
//{
cvtColor(image, gray_image, CV_BGR2GRAY);
bool found = findChessboardCorners(image, board_sz, corners, CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS);
if(found)
{
cornerSubPix(gray_image, corners, Size(11, 11), Size(-1, -1), TermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 30, 0.1));
drawChessboardCorners(gray_image, board_sz, corners, found);
}
//imshow("win1", image);
// imshow("win2", gray_image);
// //capture >> image;
// int key = waitKey(1);
// if(key==27)
// return 0;
// if(key==' ' && found!=0)
// {
image_points.push_back(corners);
object_points.push_back(obj);
printf("Snap stored!");
successes++;
//if(successes>=numBoards)
// break;
//}
//}
Mat intrinsic = Mat(3, 3, CV_32FC1);
Mat distCoeffs;
vector<Mat> rvecs;
vector<Mat> tvecs;
intrinsic.ptr<float>(0)[0] = 1;
intrinsic.ptr<float>(1)[1] = 1;
calibrateCamera(object_points, image_points, image.size(), intrinsic, distCoeffs, rvecs, tvecs);
// exemple
Mat imageUndistorted;
//while(1)
//{
//capture >> image;
undistort(image, imageUndistorted, intrinsic, distCoeffs);
cv::imwrite("C:/Users/nadhir.abdellatif/Desktop/Capture/chess/original.jpg",image);
cv::imwrite("C:/Users/nadhir.abdellatif/Desktop/Capture/chess/modifiee.jpg",imageUndistorted);
cv::namedWindow("win1",WINDOW_NORMAL);
cv::namedWindow("win2",WINDOW_NORMAL);
imshow("win1", image);
imshow("win2", imageUndistorted);
waitKey(0);
//}
//capture.release();
QGraphicsPixmapItem* itemchess = new QGraphicsPixmapItem(QPixmap::fromImage(QImage(image.data, image.cols, image.rows, image.step, QImage::Format_RGB888)));
scenepano.addItem(itemchess);
ui.image1->setScene(&scenepano);
QGraphicsPixmapItem* itemchesscorrect = new QGraphicsPixmapItem(QPixmap::fromImage(QImage(imageUndistorted.data, imageUndistorted.cols, imageUndistorted.rows, imageUndistorted.step, QImage::Format_RGB888)));
scenepano.addItem(itemchesscorrect);
ui.image2->setScene(&scenepano);
//notre travail-----------------------------------------------------------------------------------------------------------------------------------------------------------------
Mat pano;
Mat img1s;
//hconcat(imgs,pano);
//img1s=img1.colRange(0,250);
//Mat to_sho;
hconcat(img1,img2,pano);
QString path1, path2, path3, path4;
path1 = "C:/Users/nadhir.abdellatif/Desktop/Capture/30cm/1.bmp";
path2 = "C:/Users/nadhir.abdellatif/Desktop/Capture/30cm/2.bmp";
path3 = "C:/Users/nadhir.abdellatif/Desktop/Capture/30cm/3.bmp";
path4 = "C:/Users/nadhir.abdellatif/Desktop/Capture/30cm/4.bmp";
Mat image1 = imread(path1.toStdString());
Mat image2 = imread(path2.toStdString());
Mat image3 = imread(path3.toStdString());
Mat image4 = imread(path4.toStdString());
vector<Mat> images;
images.push_back(image1);
images.push_back(image2);
images.push_back(image3);
images.push_back(image4);
Mat panoramique;
Mat image1sd, image2sd;
//undistort(image1, image1sd, intrinsic, distCoeffs);
//undistort(image2, image2sd, intrinsic, distCoeffs);
Mat image2sdmodif;
image2sdmodif=image2.colRange(838,1944);
hconcat(image1, image2sdmodif, panoramique);
cv::imwrite("C:/Users/nadhir.abdellatif/Desktop/Capture/resultatnormal.bmp",panoramique);
//------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
return true;
} |
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