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
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
| 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;
} |
