OpencvでDebug errorが発生します。
初投稿です。
現在、Opencvでカメラキャリブレーション を行うべく、下記を参照にしながらプログラミングを行っております。URL:http://opencv.jp/sample/camera_calibration.html
エラーはなくなったのですがDebug erroerが発生します。
その改善策を教えていただきたいです。
C++を初めて一か月の初心者ですが宜しくお願いします。
<開発環境>
Visual studio2015
opencv2.4.11
-source code-
#pragma warning(push)
#pragma warning(disable:4996)
#pragma warning ( disable : 4789 )
#include <stdio.h>
#include <opencv/cv.h>
#include <opencv2/highgui/highgui.hpp>
#define CRT_SECURE_NO_WARNINGS
#define IMAGE_NUM (15)
#define PAT_ROW (7)
#define PAT_COL (10)
#define PAT_SIZE (PAT_ROW*PAT_COL)
#define ALL_POINTS (IMAGE_NUM*PAT_SIZE)
#define CHESS_SIZE (24.0)
int
main(int argc, char *argv[])
{
int i, j, k;
int corner_count, found;
int p_count[IMAGE_NUM];
IplImage *src_img[IMAGE_NUM];
CvSize pattern_size = cvSize(PAT_COL, PAT_ROW);
CvPoint3D32f objects[ALL_POINTS];
CvPoint2D32f *corners = (CvPoint2D32f *)cvAlloc(sizeof(CvPoint2D32f) * ALL_POINTS);
CvMat object_points;
CvMat image_points;
CvMat point_counts;
CvMat *intrinsic = cvCreateMat(3, 3, CV_32FC1);
CvMat *rotation = cvCreateMat(1, 3, CV_32FC1);
CvMat *translation = cvCreateMat(1, 3, CV_32FC1);
CvMat *distortion = cvCreateMat(1, 4, CV_32FC1);
for (i = 0; i < IMAGE_NUM; i++) {
// src_img[IMAGE_NUM] = cvLoadImage("CameraTestImage1", CV_LOAD_IMAGE_COLOR);
char buf[32];
sprintf(buf, "CameraTestImage1/ % 02d.JPG", i);
src_img[i] = cvLoadImage("c:\\opencvCalib\\caliblation\\CameraTestImage1/ % 02d.JPG");
// sprintf(buf, "c:\\opencvCalib\\caliblation\\CameraTestImage1/ % 02d.JPG", i);
if ((src_img[i] = cvLoadImage(buf, CV_LOAD_IMAGE_COLOR)) == NULL) {
fprintf(stderr, "cannot load image file : %s\n", buf);
// }
}
for (i = 0; i < IMAGE_NUM; i++) {
for (j = 0; j < PAT_ROW; j++) {
for (k = 0; k < PAT_COL; k++) {
objects[i * PAT_SIZE + j * PAT_COL + k].x = j * CHESS_SIZE;
objects[i * PAT_SIZE + j * PAT_COL + k].y = k * CHESS_SIZE;
objects[i * PAT_SIZE + j * PAT_COL + k].z = 0.0;
}
}
}
cvInitMatHeader(&object_points, ALL_POINTS, 3, CV_32FC1, objects);
int found_num = 0;
cvNamedWindow("Calibration", CV_WINDOW_AUTOSIZE);
for (i = 0; i < IMAGE_NUM; i++) {
found = cvFindChessboardCorners(src_img[i], pattern_size, &corners[i * PAT_SIZE], &corner_count);
fprintf(stderr, "%02d...", i);
if (found) {
fprintf(stderr, "ok\n");
found_num++;
}
else {
fprintf(stderr, "fail\n");
}
IplImage *src_gray = cvCreateImage(cvGetSize(src_img[i]), IPL_DEPTH_8U, 1);
cvCvtColor(src_img[i], src_gray, CV_BGR2GRAY);
cvFindCornerSubPix(src_gray, &corners[i * PAT_SIZE], corner_count,
cvSize(3, 3), cvSize(-1, -1), cvTermCriteria(CV_TERMCRIT_ITER | CV_TERMCRIT_EPS, 20, 0.03));
cvDrawChessboardCorners(src_img[i], pattern_size, &corners[i * PAT_SIZE], corner_count, found);
p_count[i] = corner_count;
cvShowImage("Calibration", src_img[i]);
cvWaitKey(0);
}
cvDestroyWindow("Calibration");
if (found_num != IMAGE_NUM)
return -1;
cvInitMatHeader(&image_points, ALL_POINTS, 1, CV_32FC2, corners);
cvInitMatHeader(&point_counts, IMAGE_NUM, 1, CV_32SC1, p_count);
cvCalibrateCamera2(&object_points, &image_points, &point_counts, cvSize(640, 480), intrinsic, distortion);
CvMat sub_image_points, sub_object_points;
int base = 0;
cvGetRows(&image_points, &sub_image_points, base * PAT_SIZE, (base + 1) * PAT_SIZE);
cvGetRows(&object_points, &sub_object_points, base * PAT_SIZE, (base + 1) * PAT_SIZE);
cvFindExtrinsicCameraParams2(&sub_object_points, &sub_image_points, intrinsic, distortion, rotation, translation);
CvFileStorage *fs;
fs = cvOpenFileStorage("camera.xml", 0, CV_STORAGE_WRITE);
cvWrite(fs, "intrinsic", intrinsic);
cvWrite(fs, "rotation", rotation);
cvWrite(fs, "translation", translation);
cvWrite(fs, "distortion", distortion);
cvReleaseFileStorage(&fs);
for (i = 0; i < IMAGE_NUM; i++) {
cvReleaseImage(&src_img[i]);
}
return 0;
}
お礼
回答ありがとうございます。 OpenCVで使うつもりです。 2要素の場合は、I*2+0,+1でよろしいですか？ R,G,Bのとき、右辺はImageDataですが座標の場合はとくにそのようなものはないですか？