singleImageCalibration.cc

#include "singleImageCalibration.hpp"

int main(int argc, char* argv[])
{
  if(argc != 2){
    showUsage();
    return -1;
  }

  string image_name = argv[1];
  Mat image = imread(image_name);
  resize(image, image, Size(), 0.125, 0.125);
  cout << "----- " << image_name << endl;

  Size boardSize = Size(5, 4);

  vector<Point2f> points_on_corners;
  bool found = findChessboardCorners(image, boardSize, points_on_corners);
  if (found) drawChessboardCorners(image, boardSize, Mat(points_on_corners), found);
  showLinesforCalibration(points_on_corners, image);
  vector<Point2f> points_on_lines = { points_on_corners[0],
                                      points_on_corners[4],
                                      points_on_corners[14],
                                      points_on_corners[19] };
  /* points-index
   *   0(0)  4(1)
   *  14(2) 19(3)
   */
  namedWindow("Image for calibration",WINDOW_NORMAL);
  imshow("Image for calibration",image);
  Mat K = singleImageCalibration(image, points_on_lines);
  cout << "Internal Parameter Matrix is " << endl;
  cout << K << endl;
  cout << ">> Press any key to kill this program" << endl;
  waitKey(0);
}