Changeset 501

Timestamp:

05/20/09 23:19:37 (3 years ago)

Author:

mosttw

Message:

More work

Location:

trunk/software/scripts/calib

Files:

• calibrate.c (modified) (5 diffs)
• capture.sh (added)
• input.1.jpg (modified) (previous)
• input.2.jpg (modified) (previous)
• input.3.jpg (modified) (previous)
• input.4.jpg (modified) (previous)
• input.5.jpg (modified) (previous)
• input.6.jpg (modified) (previous)
• input.7.jpg (deleted)

trunk/software/scripts/calib/calibrate.c

@@ -33 +33 @@
 // The size of the squares on the chessboard, in whatever units
 // you want the calibration to be related to.
-#define SQUARE_SIZE 1.0
+#define SQUARE_SIZE 2.4765
 
 // The size of the images from which you are calibrating.
@@ -45 +45 @@
 // length of this array must match NUM_INPUTS.
 int CORNER_FLAGS[NUM_INPUTS] = {
-  CV_CALIB_CB_FILTER_QUADS,
   CV_CALIB_CB_ADAPTIVE_THRESH,
   CV_CALIB_CB_ADAPTIVE_THRESH,
-  CV_CALIB_CB_FILTER_QUADS,
+  CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_NORMALIZE_IMAGE,
+  CV_CALIB_CB_ADAPTIVE_THRESH,
   CV_CALIB_CB_ADAPTIVE_THRESH,
   CV_CALIB_CB_ADAPTIVE_THRESH
@@ -82 +82 @@
     char *out_fn = calloc(100, 1);
     sprintf(in_fn, "input.%d.jpg", i + 1);
-    sprintf(out_fn, "corners.%d.jpg", i + 1);
+    sprintf(out_fn, "corners.%d.png", i + 1);
     IplImage* img = cvLoadImage(in_fn, 1);
-    
+    if (!img) {
+      fprintf(stderr, "Couldn't open %s\n", in_fn);
+      exit(1);
+    }
+
     // Attempt to find the chessboard
     int corner_count = 0;
@@ -96 +100 @@
     //cvFindCornerSubPix(img, my_corners, corner_count,
     //                   cvSize(5, 5), // window to search
-    //                   cvSize(-1, -1), // window to ignore (-1 disables)
-    //                   cvTermCriteria(CV_TERMCRIT_ITER, 10, 10.0));
+    //                   cvSize(1, 1), // window to ignore (-1 disables)
+    //                   cvTermCriteria(CV_TERMCRIT_ITER | CV_TERMCRIT_EPS, 10, 0.1));
     
     cvDrawChessboardCorners(img, pattern_size, my_corners, corner_count, pattern_was_found);
@@ -157 +161 @@
                     0.0, 0.0, 1.0};
   CvMat K = cvMat(3, 3, CV_32FC1, &K_data);
-  printf("original K:\n");
-  print_matrix(&K);
+  //printf("original K:\n");
+  //print_matrix(&K);
 
   CvMat *distortion_coeffs = cvCreateMat(4, 1, CV_32FC1);