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
|
/* Copyright (c) 2015, Stanislaw Halik <sthalik@misaki.pl>
* Permission to use, copy, modify, and/or distribute this
* software for any purpose with or without fee is hereby granted,
* provided that the above copyright notice and this permission
* notice appear in all copies.
*/
#pragma once
#include <QCoreApplication>
#include <QString>
#include <QByteArray>
#include <string>
#include <opencv2/core.hpp>
template<typename = void>
bool get_camera_calibration(const QString& camera_name, cv::Mat& intrinsics, cv::Mat& distortion, int w, int h, int fov)
{
const QString pathnames[] = {
QCoreApplication::applicationDirPath() + "/camera/" + camera_name + "-" + QString::number(fov) + ".yml",
QCoreApplication::applicationDirPath() + "/camera/" + camera_name + ".yml",
};
for (auto& pathname : pathnames)
{
cv::FileStorage fs(pathname.toStdString(), cv::FileStorage::READ);
if (!fs.isOpened())
continue;
cv::Mat intrinsics_, distortion_;
fs["camera_matrix"] >> intrinsics_;
fs["distortion_coefficients"] >> distortion_;
int w_, h_;
fs["image_width"] >> w_;
fs["image_height"] >> h_;
double w__ = w_, h__ = h_;
intrinsics_.at<float>(0, 0) *= w / w__;
intrinsics_.at<float>(2, 0) *= w / w__;
intrinsics_.at<float>(1, 1) *= h / h__;
intrinsics_.at<float>(2, 1) *= h / h__;
intrinsics = intrinsics_;
distortion = distortion_;
return true;
}
return false;
}
|
