├── .camera.cpp.swp ├── .gitignore ├── CMakeCache.txt ├── CMakeFiles ├── 2.8.12.2 │ ├── CMakeCCompiler.cmake │ ├── CMakeCXXCompiler.cmake │ ├── CMakeDetermineCompilerABI_C.bin │ ├── CMakeDetermineCompilerABI_CXX.bin │ ├── CMakeSystem.cmake │ ├── CompilerIdC │ │ ├── CMakeCCompilerId.c │ │ └── a.out │ └── CompilerIdCXX │ │ ├── CMakeCXXCompilerId.cpp │ │ └── a.out ├── CMakeDirectoryInformation.cmake ├── CMakeOutput.log ├── Makefile.cmake ├── Makefile2 ├── TargetDirectories.txt ├── camera.dir │ ├── CXX.includecache │ ├── DependInfo.cmake │ ├── build.make │ ├── camera.cpp.o │ ├── cmake_clean.cmake │ ├── depend.internal │ ├── depend.make │ ├── flags.make │ ├── link.txt │ └── progress.make ├── cmake.check_cache └── progress.marks ├── CMakeLists.txt ├── Distortion.xml ├── H.xml ├── Intrinsics.xml ├── Makefile ├── README.md ├── Resource └── bird-eye.jpg ├── camera ├── camera.cpp ├── cmake_install.cmake └── pic ├── 31.tiff ├── 32.tiff ├── 33.tiff ├── 34.tiff ├── 35.tiff ├── avatar.jpg ├── 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defined(__clang__) 32 | # define COMPILER_ID "Clang" 33 | # define COMPILER_VERSION_MAJOR DEC(__clang_major__) 34 | # define COMPILER_VERSION_MINOR DEC(__clang_minor__) 35 | # define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) 36 | 37 | #elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__) 38 | # define COMPILER_ID "Embarcadero" 39 | # define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF) 40 | # define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF) 41 | # define COMPILER_VERSION_PATCH HEX(__CODEGEARC_VERSION__ & 0xFFFF) 42 | 43 | #elif defined(__BORLANDC__) 44 | # define COMPILER_ID "Borland" 45 | /* __BORLANDC__ = 0xVRR */ 46 | # define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) 47 | # define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) 48 | 49 | #elif defined(__WATCOMC__) 50 | # define COMPILER_ID "Watcom" 51 | /* __WATCOMC__ = VVRR */ 52 | # define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) 53 | # define COMPILER_VERSION_MINOR DEC(__WATCOMC__ % 100) 54 | 55 | #elif defined(__SUNPRO_C) 56 | # define COMPILER_ID "SunPro" 57 | # if __SUNPRO_C >= 0x5100 58 | /* __SUNPRO_C = 0xVRRP */ 59 | # define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>12) 60 | # define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xFF) 61 | # define COMPILER_VERSION_PATCH HEX(__SUNPRO_C & 0xF) 62 | # else 63 | /* __SUNPRO_C = 0xVRP */ 64 | # define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>8) 65 | # define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xF) 66 | # define COMPILER_VERSION_PATCH HEX(__SUNPRO_C & 0xF) 67 | # endif 68 | 69 | #elif defined(__HP_cc) 70 | # define COMPILER_ID "HP" 71 | /* __HP_cc = VVRRPP */ 72 | # define COMPILER_VERSION_MAJOR DEC(__HP_cc/10000) 73 | # define COMPILER_VERSION_MINOR DEC(__HP_cc/100 % 100) 74 | # define COMPILER_VERSION_PATCH DEC(__HP_cc % 100) 75 | 76 | #elif defined(__DECC) 77 | # define COMPILER_ID "Compaq" 78 | /* __DECC_VER = VVRRTPPPP */ 79 | # define COMPILER_VERSION_MAJOR DEC(__DECC_VER/10000000) 80 | # define COMPILER_VERSION_MINOR DEC(__DECC_VER/100000 % 100) 81 | # define COMPILER_VERSION_PATCH DEC(__DECC_VER % 10000) 82 | 83 | #elif defined(__IBMC__) 84 | # if defined(__COMPILER_VER__) 85 | # define COMPILER_ID "zOS" 86 | # else 87 | # if __IBMC__ >= 800 88 | # define COMPILER_ID "XL" 89 | # else 90 | # define COMPILER_ID "VisualAge" 91 | # endif 92 | /* __IBMC__ = VRP */ 93 | # define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) 94 | # define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) 95 | # define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) 96 | # endif 97 | 98 | #elif defined(__PGI) 99 | # define COMPILER_ID "PGI" 100 | # define COMPILER_VERSION_MAJOR DEC(__PGIC__) 101 | # define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) 102 | # if defined(__PGIC_PATCHLEVEL__) 103 | # define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) 104 | # endif 105 | 106 | #elif defined(_CRAYC) 107 | # define COMPILER_ID "Cray" 108 | # define COMPILER_VERSION_MAJOR DEC(_RELEASE) 109 | # define 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100) 136 | # define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) 137 | # if defined(_MSC_FULL_VER) 138 | # if _MSC_VER >= 1400 139 | /* _MSC_FULL_VER = VVRRPPPPP */ 140 | # define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) 141 | # else 142 | /* _MSC_FULL_VER = VVRRPPPP */ 143 | # define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) 144 | # endif 145 | # endif 146 | # if defined(_MSC_BUILD) 147 | # define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) 148 | # endif 149 | 150 | /* Analog VisualDSP++ >= 4.5.6 */ 151 | #elif defined(__VISUALDSPVERSION__) 152 | # define COMPILER_ID "ADSP" 153 | /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ 154 | # define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) 155 | # define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) 156 | # define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) 157 | 158 | /* Analog VisualDSP++ < 4.5.6 */ 159 | #elif defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) 160 | # define COMPILER_ID "ADSP" 161 | 162 | /* IAR Systems compiler for embedded systems. 163 | http://www.iar.com */ 164 | #elif defined(__IAR_SYSTEMS_ICC__ ) || defined(__IAR_SYSTEMS_ICC) 165 | # define COMPILER_ID "IAR" 166 | 167 | /* sdcc, the small devices C compiler for embedded systems, 168 | http://sdcc.sourceforge.net */ 169 | #elif defined(SDCC) 170 | # define COMPILER_ID "SDCC" 171 | /* SDCC = VRP */ 172 | # define COMPILER_VERSION_MAJOR DEC(SDCC/100) 173 | # define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10) 174 | # define COMPILER_VERSION_PATCH DEC(SDCC % 10) 175 | 176 | #elif defined(_SGI_COMPILER_VERSION) || defined(_COMPILER_VERSION) 177 | # define COMPILER_ID "MIPSpro" 178 | # if defined(_SGI_COMPILER_VERSION) 179 | /* _SGI_COMPILER_VERSION = VRP */ 180 | # define COMPILER_VERSION_MAJOR DEC(_SGI_COMPILER_VERSION/100) 181 | # define COMPILER_VERSION_MINOR DEC(_SGI_COMPILER_VERSION/10 % 10) 182 | # define COMPILER_VERSION_PATCH DEC(_SGI_COMPILER_VERSION % 10) 183 | # else 184 | /* _COMPILER_VERSION = VRP */ 185 | # define COMPILER_VERSION_MAJOR DEC(_COMPILER_VERSION/100) 186 | # define COMPILER_VERSION_MINOR DEC(_COMPILER_VERSION/10 % 10) 187 | # define COMPILER_VERSION_PATCH DEC(_COMPILER_VERSION % 10) 188 | # endif 189 | 190 | /* This compiler is either not known or is too old to define an 191 | identification macro. Try to identify the platform and guess that 192 | it is the native compiler. */ 193 | #elif defined(__sgi) 194 | # define COMPILER_ID "MIPSpro" 195 | 196 | #elif defined(__hpux) || defined(__hpua) 197 | # define COMPILER_ID "HP" 198 | 199 | #else /* unknown compiler */ 200 | # define COMPILER_ID "" 201 | 202 | #endif 203 | 204 | /* Construct the string literal in pieces to prevent the source from 205 | getting matched. Store it in a pointer rather than an array 206 | because some compilers will just produce instructions to fill the 207 | array rather than assigning a pointer to a static array. */ 208 | char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; 209 | 210 | /* Identify known platforms by name. */ 211 | #if defined(__linux) || defined(__linux__) || defined(linux) 212 | # define PLATFORM_ID "Linux" 213 | 214 | #elif defined(__CYGWIN__) 215 | # define PLATFORM_ID "Cygwin" 216 | 217 | #elif defined(__MINGW32__) 218 | # define PLATFORM_ID "MinGW" 219 | 220 | #elif defined(__APPLE__) 221 | # define PLATFORM_ID "Darwin" 222 | 223 | #elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) 224 | # define PLATFORM_ID "Windows" 225 | 226 | #elif defined(__FreeBSD__) || defined(__FreeBSD) 227 | # define PLATFORM_ID "FreeBSD" 228 | 229 | #elif defined(__NetBSD__) || defined(__NetBSD) 230 | # define PLATFORM_ID "NetBSD" 231 | 232 | #elif defined(__OpenBSD__) || defined(__OPENBSD) 233 | # define PLATFORM_ID "OpenBSD" 234 | 235 | #elif defined(__sun) || defined(sun) 236 | # define PLATFORM_ID "SunOS" 237 | 238 | #elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) 239 | # define PLATFORM_ID "AIX" 240 | 241 | #elif defined(__sgi) || defined(__sgi__) || defined(_SGI) 242 | # define PLATFORM_ID "IRIX" 243 | 244 | #elif defined(__hpux) || defined(__hpux__) 245 | # define PLATFORM_ID "HP-UX" 246 | 247 | #elif defined(__HAIKU__) 248 | # define PLATFORM_ID "Haiku" 249 | 250 | #elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) 251 | # define PLATFORM_ID "BeOS" 252 | 253 | #elif defined(__QNX__) || defined(__QNXNTO__) 254 | # define PLATFORM_ID "QNX" 255 | 256 | #elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) 257 | # define PLATFORM_ID "Tru64" 258 | 259 | #elif defined(__riscos) || defined(__riscos__) 260 | # define PLATFORM_ID "RISCos" 261 | 262 | #elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) 263 | # define PLATFORM_ID "SINIX" 264 | 265 | #elif defined(__UNIX_SV__) 266 | # define PLATFORM_ID "UNIX_SV" 267 | 268 | #elif defined(__bsdos__) 269 | # define PLATFORM_ID "BSDOS" 270 | 271 | #elif defined(_MPRAS) || defined(MPRAS) 272 | # define PLATFORM_ID "MP-RAS" 273 | 274 | #elif defined(__osf) || defined(__osf__) 275 | # define PLATFORM_ID "OSF1" 276 | 277 | #elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) 278 | # define PLATFORM_ID "SCO_SV" 279 | 280 | #elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) 281 | # define PLATFORM_ID "ULTRIX" 282 | 283 | #elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) 284 | # define PLATFORM_ID "Xenix" 285 | 286 | #else /* unknown platform */ 287 | # define PLATFORM_ID "" 288 | 289 | #endif 290 | 291 | /* For windows compilers MSVC and Intel we can determine 292 | the architecture of the compiler being used. This is because 293 | the compilers do not have flags that can change the architecture, 294 | but rather depend on which compiler is being used 295 | */ 296 | #if defined(_WIN32) && defined(_MSC_VER) 297 | # if defined(_M_IA64) 298 | # define ARCHITECTURE_ID "IA64" 299 | 300 | # elif defined(_M_X64) || defined(_M_AMD64) 301 | # define ARCHITECTURE_ID "x64" 302 | 303 | # elif defined(_M_IX86) 304 | # define ARCHITECTURE_ID "X86" 305 | 306 | # elif defined(_M_ARM) 307 | # define ARCHITECTURE_ID "ARM" 308 | 309 | # elif defined(_M_MIPS) 310 | # define ARCHITECTURE_ID "MIPS" 311 | 312 | # elif defined(_M_SH) 313 | # define ARCHITECTURE_ID "SHx" 314 | 315 | # else /* unknown architecture */ 316 | # define ARCHITECTURE_ID "" 317 | # endif 318 | 319 | #else 320 | # define ARCHITECTURE_ID "" 321 | #endif 322 | 323 | /* Convert integer to decimal digit literals. */ 324 | #define DEC(n) \ 325 | ('0' + (((n) / 10000000)%10)), \ 326 | ('0' + (((n) / 1000000)%10)), \ 327 | ('0' + (((n) / 100000)%10)), \ 328 | ('0' + (((n) / 10000)%10)), \ 329 | ('0' + (((n) / 1000)%10)), \ 330 | ('0' + (((n) / 100)%10)), \ 331 | ('0' + (((n) / 10)%10)), \ 332 | ('0' + ((n) % 10)) 333 | 334 | /* Convert integer to hex digit literals. */ 335 | #define HEX(n) \ 336 | ('0' + ((n)>>28 & 0xF)), \ 337 | ('0' + ((n)>>24 & 0xF)), \ 338 | ('0' + ((n)>>20 & 0xF)), \ 339 | ('0' + ((n)>>16 & 0xF)), \ 340 | ('0' + ((n)>>12 & 0xF)), \ 341 | ('0' + ((n)>>8 & 0xF)), \ 342 | ('0' + ((n)>>4 & 0xF)), \ 343 | ('0' + ((n) & 0xF)) 344 | 345 | /* Construct a string literal encoding the version number components. */ 346 | #ifdef COMPILER_VERSION_MAJOR 347 | char const info_version[] = { 348 | 'I', 'N', 'F', 'O', ':', 349 | 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', 350 | COMPILER_VERSION_MAJOR, 351 | # ifdef COMPILER_VERSION_MINOR 352 | '.', COMPILER_VERSION_MINOR, 353 | # ifdef COMPILER_VERSION_PATCH 354 | '.', COMPILER_VERSION_PATCH, 355 | # ifdef COMPILER_VERSION_TWEAK 356 | '.', COMPILER_VERSION_TWEAK, 357 | # endif 358 | # endif 359 | # endif 360 | ']','\0'}; 361 | #endif 362 | 363 | /* Construct the string literal in pieces to prevent the source from 364 | getting matched. Store it in a pointer rather than an array 365 | because some compilers will just produce instructions to fill the 366 | array rather than assigning a pointer to a static array. */ 367 | char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; 368 | char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; 369 | 370 | 371 | 372 | /*--------------------------------------------------------------------------*/ 373 | 374 | #ifdef ID_VOID_MAIN 375 | void main() {} 376 | #else 377 | int main(int argc, char* argv[]) 378 | { 379 | int require = 0; 380 | require += info_compiler[argc]; 381 | require += info_platform[argc]; 382 | require += info_arch[argc]; 383 | #ifdef COMPILER_VERSION_MAJOR 384 | require += info_version[argc]; 385 | #endif 386 | (void)argv; 387 | return require; 388 | } 389 | #endif 390 | -------------------------------------------------------------------------------- /CMakeFiles/2.8.12.2/CompilerIdC/a.out: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/LittleAprilFool/camera-calibration/58a34f569884fc4c141424c7029efe5537a06922/CMakeFiles/2.8.12.2/CompilerIdC/a.out -------------------------------------------------------------------------------- /CMakeFiles/2.8.12.2/CompilerIdCXX/CMakeCXXCompilerId.cpp: -------------------------------------------------------------------------------- 1 | /* This source file must have a .cpp extension so that all C++ compilers 2 | recognize the extension without flags. Borland does not know .cxx for 3 | example. */ 4 | #ifndef __cplusplus 5 | # error "A C compiler has been selected for C++." 6 | #endif 7 | 8 | /* Version number components: V=Version, R=Revision, P=Patch 9 | Version date components: YYYY=Year, MM=Month, DD=Day */ 10 | 11 | #if defined(__COMO__) 12 | # define COMPILER_ID "Comeau" 13 | /* __COMO_VERSION__ = VRR */ 14 | # define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100) 15 | # define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100) 16 | 17 | #elif defined(__INTEL_COMPILER) || defined(__ICC) 18 | # define COMPILER_ID "Intel" 19 | /* __INTEL_COMPILER = VRP */ 20 | # define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100) 21 | # define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10) 22 | # define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10) 23 | # if defined(__INTEL_COMPILER_BUILD_DATE) 24 | /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */ 25 | # define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE) 26 | # endif 27 | 28 | #elif defined(__PATHCC__) 29 | # define COMPILER_ID "PathScale" 30 | # define COMPILER_VERSION_MAJOR DEC(__PATHCC__) 31 | # define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__) 32 | # if defined(__PATHCC_PATCHLEVEL__) 33 | # define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__) 34 | # endif 35 | 36 | #elif defined(__clang__) 37 | # define COMPILER_ID "Clang" 38 | # define COMPILER_VERSION_MAJOR DEC(__clang_major__) 39 | # define COMPILER_VERSION_MINOR DEC(__clang_minor__) 40 | # define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) 41 | 42 | #elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__) 43 | # define COMPILER_ID "Embarcadero" 44 | # define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF) 45 | # define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF) 46 | # define COMPILER_VERSION_PATCH HEX(__CODEGEARC_VERSION__ & 0xFFFF) 47 | 48 | #elif defined(__BORLANDC__) 49 | # define COMPILER_ID "Borland" 50 | /* __BORLANDC__ = 0xVRR */ 51 | # define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) 52 | # define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) 53 | 54 | #elif defined(__WATCOMC__) 55 | # define COMPILER_ID "Watcom" 56 | /* __WATCOMC__ = VVRR */ 57 | # define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) 58 | # define COMPILER_VERSION_MINOR DEC(__WATCOMC__ % 100) 59 | 60 | #elif defined(__SUNPRO_CC) 61 | # define COMPILER_ID "SunPro" 62 | # if __SUNPRO_CC >= 0x5100 63 | /* __SUNPRO_CC = 0xVRRP */ 64 | # define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12) 65 | # define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF) 66 | # define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) 67 | # else 68 | /* __SUNPRO_CC = 0xVRP */ 69 | # define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8) 70 | # define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF) 71 | # define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) 72 | # endif 73 | 74 | #elif defined(__HP_aCC) 75 | # define COMPILER_ID "HP" 76 | /* __HP_aCC = VVRRPP */ 77 | # define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000) 78 | # define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100) 79 | # 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define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) 109 | # endif 110 | 111 | #elif defined(_CRAYC) 112 | # define COMPILER_ID "Cray" 113 | # define COMPILER_VERSION_MAJOR DEC(_RELEASE) 114 | # define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) 115 | 116 | #elif defined(__TI_COMPILER_VERSION__) 117 | # define COMPILER_ID "TI" 118 | /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ 119 | # define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) 120 | # define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) 121 | # define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) 122 | 123 | #elif defined(__SCO_VERSION__) 124 | # define COMPILER_ID "SCO" 125 | 126 | #elif defined(__GNUC__) 127 | # define COMPILER_ID "GNU" 128 | # define COMPILER_VERSION_MAJOR DEC(__GNUC__) 129 | # define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) 130 | # if defined(__GNUC_PATCHLEVEL__) 131 | # define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) 132 | # endif 133 | 134 | #elif defined(_MSC_VER) 135 | # define COMPILER_ID "MSVC" 136 | /* _MSC_VER = VVRR */ 137 | # define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) 138 | # define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) 139 | # if defined(_MSC_FULL_VER) 140 | # if _MSC_VER >= 1400 141 | /* _MSC_FULL_VER = VVRRPPPPP */ 142 | # define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) 143 | # else 144 | /* _MSC_FULL_VER = VVRRPPPP */ 145 | # define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) 146 | # endif 147 | # endif 148 | # if defined(_MSC_BUILD) 149 | # define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) 150 | # endif 151 | 152 | /* Analog VisualDSP++ >= 4.5.6 */ 153 | #elif defined(__VISUALDSPVERSION__) 154 | # define COMPILER_ID "ADSP" 155 | /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ 156 | # define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) 157 | # define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) 158 | # define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) 159 | 160 | /* Analog VisualDSP++ < 4.5.6 */ 161 | #elif defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) 162 | # 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target to preprocess a source file 126 | camera.cpp.i: 127 | $(MAKE) -f CMakeFiles/camera.dir/build.make CMakeFiles/camera.dir/camera.cpp.i 128 | .PHONY : camera.cpp.i 129 | 130 | camera.s: camera.cpp.s 131 | .PHONY : camera.s 132 | 133 | # target to generate assembly for a file 134 | camera.cpp.s: 135 | $(MAKE) -f CMakeFiles/camera.dir/build.make CMakeFiles/camera.dir/camera.cpp.s 136 | .PHONY : camera.cpp.s 137 | 138 | # Help Target 139 | help: 140 | @echo "The following are some of the valid targets for this Makefile:" 141 | @echo "... all (the default if no target is provided)" 142 | @echo "... clean" 143 | @echo "... depend" 144 | @echo "... camera" 145 | @echo "... edit_cache" 146 | @echo "... rebuild_cache" 147 | @echo "... camera.o" 148 | @echo "... camera.i" 149 | @echo "... camera.s" 150 | .PHONY : help 151 | 152 | 153 | 154 | #============================================================================= 155 | # Special targets to cleanup operation of make. 156 | 157 | # Special rule to run CMake to check the build system integrity. 158 | # No rule that depends on this can have commands that come from listfiles 159 | # because they might be regenerated. 160 | cmake_check_build_system: 161 | $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 162 | .PHONY : cmake_check_build_system 163 | 164 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | #摄像机标定与俯瞰视角变换 2 | 3 | #### 摄像机标定及俯瞰视角变换 4 | 5 | > 1. Camera calibration > 2. Bird's-eye view transformation 6 | ## 一、开发软件说明 7 | ### 开发环境 8 | - Ubuntu 14.04 9 | - cmake 2.8.12.2 10 | - opencv 3.0 11 | 12 | ### 运行方式 13 | - build project `make all` 14 | - run `./camera 8 6 5 3` 15 | 16 | ## 二、算法具体步骤 17 | #### 2.1 通过摄像头获取适合计算的图像 18 | - 每隔一段时间取当前一帧 19 | - 通过cvFindeCornerSubPix函数寻找图像中的棋盘 20 | - 如果棋盘符合输入参数条件的话，保持该棋盘数据 21 | 22 | #### 2.2 计算相机内参数矩阵和变形矩阵 23 | - cvCalibrateCamera2函数计算相机内参数矩阵和变形矩阵 24 | 25 | #### 2.3 矫正后的摄像头 26 | - 将摄像头的每一帧图像矫正后输出 27 | - 需要用到cvInitUndistortMap与cvRemap函数 28 | 29 | #### 2.4 获取一张棋盘在水平面上的图 30 | - 通过摄像头获取一张棋盘在水平面上的图 31 | 32 | #### 2.5 生成鸟瞰图 33 | - 需要用到cvWarpPerspective函数 34 | 35 | ## 三、算法实现要点 36 | #### 3.1 通过摄像头获取适合计算的图像 37 | ![](./pic/31.tiff) 38 | 39 | #### 3.2 计算相机内参数矩阵和变形矩阵 40 | ![](./pic/32.tiff) 41 | 42 | #### 3.3 矫正后的摄像头 43 | ![](./pic/33.tiff) 44 | 45 | #### 3.4 获取一张棋盘在水平面上的图 46 | ![](./pic/34.tiff) 47 | 48 | #### 3.5 生成鸟瞰图 49 | ![](./pic/35.tiff) 50 | 51 | ## 四、实验结果展示及分析 52 | #### 4.1 通过摄像头获取适合计算的图像 53 | ![](./pic/get1.tiff) 54 | 55 | ![](./pic/get2.tiff) 56 | 57 | ![](./pic/get3.tiff) 58 | 59 | ![](./pic/get4.tiff) 60 | 61 | ![](./pic/get5.tiff) 62 | 63 | #### 4.2 矫正后的摄像头 64 | ![](./pic/result1.tiff) 65 | 66 | #### 4.3 获取一张棋盘在水平面上的图 67 | 68 | ![](./pic/bird-eye.jpg) 69 | 70 | #### 4.4 生成鸟瞰图 71 | 72 | ![](./pic/result2.tiff) 73 | 74 | ![](./pic/result3.tiff) 75 | -------------------------------------------------------------------------------- /Resource/bird-eye.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/LittleAprilFool/camera-calibration/58a34f569884fc4c141424c7029efe5537a06922/Resource/bird-eye.jpg -------------------------------------------------------------------------------- /camera: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/LittleAprilFool/camera-calibration/58a34f569884fc4c141424c7029efe5537a06922/camera -------------------------------------------------------------------------------- /camera.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | #include 5 | #include 6 | #include 7 | #include 8 | #include 9 | #include 10 | 11 | int n_boards = 0; 12 | const int board_dt = 20; 13 | int board_w; 14 | int board_h; 15 | 16 | void get_calib(CvCapture* capture); 17 | void distort_image(CvCapture* capture); 18 | void get_bird_eye(CvCapture* capture); 19 | void bird_eye(); 20 | 21 | int main(int argc, char* argv[]) { 22 | if(argc != 5) { 23 | printf("ERROR: Wrong number of input parameters\n"); 24 | return -1; 25 | } 26 | board_w = atoi(argv[1]); 27 | board_h = atoi(argv[2]); 28 | n_boards = atoi(argv[3]); 29 | CvCapture* capture = cvCreateCameraCapture(0); 30 | assert(capture); 31 | 32 | //get_calib(capture); 33 | //distort_image(capture); 34 | //get_bird_eye(capture); 35 | bird_eye(); 36 | return 0; 37 | } 38 | 39 | void bird_eye() { 40 | int board_n = board_w * board_h; 41 | CvSize board_sz = cvSize(board_w, board_h); 42 | CvMat *intrinsic = (CvMat*) cvLoad("Intrinsics.xml"); 43 | CvMat *distortion = (CvMat*) cvLoad("Distortion.xml"); 44 | 45 | IplImage* image = cvLoadImage("./Resource/bird-eye.jpg", 1); 46 | IplImage* gray_image = cvCreateImage(cvGetSize(image), 8, 1); 47 | cvCvtColor(image, gray_image, CV_BGR2GRAY); 48 | 49 | IplImage* mapx = cvCreateImage(cvGetSize(image), IPL_DEPTH_32F, 1); 50 | IplImage* mapy = cvCreateImage(cvGetSize(image), IPL_DEPTH_32F, 1); 51 | 52 | cvInitUndistortMap( 53 | intrinsic, 54 | distortion, 55 | mapx, 56 | mapy 57 | ); 58 | 59 | IplImage* t = cvCloneImage(image); 60 | 61 | cvRemap(t, image, mapx, mapy); 62 | 63 | cvNamedWindow("Chessboard"); 64 | cvShowImage("Chessboard", image); 65 | int c = cvWaitKey(-1); 66 | CvPoint2D32f* corners = new CvPoint2D32f[board_n]; 67 | int corner_count = 0; 68 | 69 | int found = cvFindChessboardCorners( 70 | image, 71 | board_sz, 72 | corners, 73 | &corner_count, 74 | CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS 75 | ); 76 | 77 | if(!found){ 78 | printf("couldn't aquire chessboard!\n"); 79 | return; 80 | } 81 | 82 | cvFindCornerSubPix( 83 | gray_image, 84 | corners, 85 | corner_count, 86 | cvSize(11, 11), 87 | cvSize(-1, -1), 88 | cvTermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 30, 0.1) 89 | ); 90 | 91 | CvPoint2D32f objPts[4], imgPts[4]; 92 | objPts[0].x = 0; objPts[0].y = 0; 93 | objPts[1].x = board_w - 1; objPts[1].y = 0; 94 | objPts[2].x = 0; objPts[2].y = board_h - 1; 95 | objPts[3].x = board_w - 1; objPts[3].y = board_h - 1; 96 | imgPts[0] = corners[0]; 97 | imgPts[1] = corners[board_w - 1]; 98 | imgPts[2] = corners[(board_h - 1) * board_w]; 99 | imgPts[3] = corners[(board_h - 1) * board_w + board_w - 1]; 100 | 101 | cvCircle(image, cvPointFrom32f(imgPts[0]), 9, CV_RGB(0, 0, 255), 3); 102 | cvCircle(image, cvPointFrom32f(imgPts[1]), 9, CV_RGB(0, 255, 0), 3); 103 | cvCircle(image, cvPointFrom32f(imgPts[2]), 9, CV_RGB(255, 0, 0), 3); 104 | cvCircle(image, cvPointFrom32f(imgPts[3]), 9, CV_RGB(255, 255, 0), 3); 105 | 106 | cvDrawChessboardCorners( 107 | image, 108 | board_sz, 109 | corners, 110 | corner_count, 111 | found 112 | ); 113 | 114 | cvShowImage("Chessboard", image); 115 | 116 | CvMat *H = cvCreateMat(3, 3, CV_32F); 117 | cvGetPerspectiveTransform(objPts, imgPts, H); 118 | 119 | float z = 25; 120 | int key = 0; 121 | IplImage * birds_image = cvCloneImage(image); 122 | cvNamedWindow("Birds_Eye"); 123 | 124 | while(key != 27) { 125 | CV_MAT_ELEM(*H, float, 2, 2) = z; 126 | 127 | cvWarpPerspective( 128 | image, 129 | birds_image, 130 | H, 131 | CV_INTER_LINEAR| CV_WARP_INVERSE_MAP | CV_WARP_FILL_OUTLIERS 132 | ); 133 | 134 | cvShowImage("Birds_Eye", birds_image); 135 | 136 | key = cvWaitKey(); 137 | if(key == 'u') z += 0.5; 138 | if(key == 'd') z -= 0.5; 139 | } 140 | 141 | cvSave("H.xml", H); 142 | } 143 | 144 | void get_bird_eye(CvCapture* capture) { 145 | printf("haha\n"); 146 | //get bird_eye picture 147 | cvNamedWindow("Get_birdeye"); 148 | 149 | CvMat *intrinsic = (CvMat*) cvLoad("Intrinsics.xml"); 150 | CvMat *distortion = (CvMat*) cvLoad("Distortion.xml"); 151 | 152 | IplImage *image = cvQueryFrame(capture); 153 | IplImage *gray_image = cvCreateImage(cvGetSize(image), 8, 1); 154 | 155 | int board_n = board_w * board_h; 156 | 157 | IplImage* mapx = cvCreateImage(cvGetSize(image), IPL_DEPTH_32F, 1); 158 | IplImage* mapy = cvCreateImage(cvGetSize(image), IPL_DEPTH_32F, 1); 159 | 160 | cvInitUndistortMap( 161 | intrinsic, 162 | distortion, 163 | mapx, 164 | mapy 165 | ); 166 | 167 | CvSize board_sz = cvSize(board_w, board_h); 168 | CvPoint2D32f* corners = new CvPoint2D32f[board_n]; 169 | 170 | int frame = 0; 171 | int corner_count; 172 | bool catch_bird = false; 173 | 174 | 175 | while(!catch_bird) { 176 | IplImage *t = cvCloneImage(image); 177 | if(frame++ % board_dt == 0) { 178 | IplImage* t = cvCloneImage(image); 179 | cvRemap(t, image, mapx, mapy); 180 | 181 | int found = cvFindChessboardCorners( 182 | image, 183 | board_sz, 184 | corners, 185 | &corner_count, 186 | CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS 187 | ); 188 | 189 | cvCvtColor( 190 | image, 191 | gray_image, 192 | CV_RGB2GRAY 193 | ); 194 | 195 | cvFindCornerSubPix( 196 | gray_image, 197 | corners, 198 | corner_count, 199 | cvSize(11,11), 200 | cvSize(-1, -1), 201 | cvTermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1) 202 | ); 203 | 204 | cvDrawChessboardCorners( 205 | image, 206 | board_sz, 207 | corners, 208 | corner_count, 209 | found 210 | ); 211 | 212 | cvShowImage("Get_birdeye", image); 213 | //get a good board, add to data 214 | if(corner_count == board_n) { 215 | catch_bird = true; 216 | printf("That's it!\n"); 217 | } 218 | } 219 | int c; 220 | if(catch_bird) c = cvWaitKey(-1); 221 | else c = cvWaitKey(15); 222 | if(catch_bird && c == 's') { 223 | cvSaveImage("./Resource/bird-eye.jpg", t, 0); 224 | printf("save at ./Resource/bird-eye.jpg\n"); 225 | } 226 | else catch_bird = false; 227 | if(c == 'p') { 228 | c = 0; 229 | while(c!='p' && c!= 27){ 230 | c = cvWaitKey(250); 231 | } 232 | } 233 | image = cvQueryFrame(capture); 234 | } 235 | } 236 | 237 | void get_calib(CvCapture* capture) { 238 | int board_n = board_w * board_h; 239 | CvSize board_sz = cvSize(board_w, board_h); 240 | cvNamedWindow("Calibration"); 241 | CvMat* image_points = cvCreateMat(n_boards * board_n, 2, CV_32FC1); 242 | CvMat* object_points = cvCreateMat(n_boards * board_n, 3, CV_32FC1); 243 | CvMat* point_counts = cvCreateMat(n_boards, 1, CV_32FC1); 244 | CvMat* intrinsic_matrix = cvCreateMat(3, 3, CV_32FC1); 245 | CvMat* distortion_coeffs = cvCreateMat(5, 1, CV_32FC1); 246 | 247 | CvPoint2D32f* corners = new CvPoint2D32f[board_n]; 248 | int corner_count; 249 | int successes = 0; 250 | int step, frame = 0; 251 | IplImage *image = cvQueryFrame(capture); 252 | IplImage *gray_image = cvCreateImage(cvGetSize(image), 8, 1); 253 | 254 | 255 | while(successes < n_boards) { 256 | if(frame++ % board_dt == 0) { 257 | int found = cvFindChessboardCorners( 258 | image, board_sz, corners, &corner_count, 259 | CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS); 260 | cvCvtColor(image, gray_image, CV_RGB2GRAY); 261 | cvFindCornerSubPix(gray_image, corners, corner_count, 262 | cvSize(11,11), cvSize(-1, -1), 263 | cvTermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1)); 264 | cvDrawChessboardCorners(image, board_sz, corners, corner_count, found); 265 | cvShowImage("Calibration", image); 266 | //get a good board, add to data 267 | if(corner_count == board_n) { 268 | printf("here\n"); 269 | step = successes * board_n; 270 | for(int i = step, j = 0; j < board_n; ++i, ++j) { 271 | CV_MAT_ELEM(*image_points, float, i, 0) = corners[j].x; 272 | CV_MAT_ELEM(*image_points, float, i, 1) = corners[j].y; 273 | CV_MAT_ELEM(*object_points, float, i, 0) = j / board_w; 274 | CV_MAT_ELEM(*object_points, float, i, 1) = j % board_w; 275 | CV_MAT_ELEM(*object_points, float, i, 2) = 0.0f; 276 | } 277 | 278 | CV_MAT_ELEM(*point_counts, int, successes, 0) = board_n; 279 | successes++; 280 | printf("Nice shot!\n"); 281 | int k = cvWaitKey(-1); 282 | while(k != 'n') k = cvWaitKey(-1); 283 | } 284 | } 285 | //Handle pause/unpause 286 | int c = cvWaitKey(15); 287 | if(c == 'p') { 288 | c = 0; 289 | while(c!='p' && c!= 27){ 290 | c = cvWaitKey(250); 291 | } 292 | } 293 | 294 | if(c == 27) return; 295 | image = cvQueryFrame(capture); 296 | } 297 | 298 | printf("Finish samples!"); 299 | 300 | CvMat *object_points2 = cvCreateMat(successes * board_n, 3, CV_32FC1); 301 | CvMat *image_points2 = cvCreateMat(successes * board_n, 2, CV_32FC1); 302 | CvMat *point_counts2 = cvCreateMat(successes, 1, CV_32SC1); 303 | 304 | for(int i = 0; i < successes * board_n; ++i) { 305 | CV_MAT_ELEM(*image_points2, float, i, 0) = CV_MAT_ELEM(*image_points, float, i, 0); 306 | CV_MAT_ELEM(*image_points2, float, i, 1) = CV_MAT_ELEM(*image_points, float, i, 1); 307 | CV_MAT_ELEM(*object_points2, float, i, 0) = CV_MAT_ELEM(*object_points, float, i, 0); 308 | CV_MAT_ELEM(*object_points2, float, i, 1) = CV_MAT_ELEM(*object_points, float, i, 1); 309 | CV_MAT_ELEM(*object_points2, float, i, 2) = CV_MAT_ELEM(*object_points, float, i, 2); 310 | } 311 | 312 | for(int i = 0; i < successes; ++i) { 313 | CV_MAT_ELEM(*point_counts2, int, i, 0) = CV_MAT_ELEM(*point_counts, int, i, 0); 314 | } 315 | 316 | cvReleaseMat(&object_points); 317 | cvReleaseMat(&image_points); 318 | cvReleaseMat(&point_counts); 319 | 320 | CV_MAT_ELEM(*intrinsic_matrix, float, 0, 0) = 1.0f; 321 | CV_MAT_ELEM(*intrinsic_matrix, float, 1, 1) = 1.0f; 322 | 323 | printf("Ready for calib\n"); 324 | 325 | cvCalibrateCamera2( 326 | object_points2, image_points2, 327 | point_counts2, cvGetSize(image), 328 | intrinsic_matrix, distortion_coeffs, 329 | NULL, NULL, 0 330 | ); 331 | 332 | printf("Ready for save\n"); 333 | cvSave("Intrinsics.xml", intrinsic_matrix); 334 | cvSave("Distortion.xml", distortion_coeffs); 335 | } 336 | 337 | 338 | void distort_image(CvCapture* capture){ 339 | IplImage *image = cvQueryFrame(capture); 340 | CvMat *intrinsic = (CvMat*) cvLoad("Intrinsics.xml"); 341 | CvMat *distortion = (CvMat*) cvLoad("Distortion.xml"); 342 | 343 | IplImage* mapx = cvCreateImage(cvGetSize(image), IPL_DEPTH_32F, 1); 344 | IplImage* mapy = cvCreateImage(cvGetSize(image), IPL_DEPTH_32F, 1); 345 | 346 | printf("Ready for undistort\n"); 347 | cvInitUndistortMap(intrinsic, distortion, mapx, mapy); 348 | 349 | printf("After init\n"); 350 | cvNamedWindow("Undistort"); 351 | while(image) { 352 | IplImage* t = cvCloneImage(image); 353 | cvShowImage("Calibration", image); 354 | cvRemap(t, image, mapx, mapy); 355 | cvReleaseImage(&t); 356 | cvShowImage("Undistort", image); 357 | 358 | int c = cvWaitKey(15); 359 | if(c=='p') { 360 | c = 0; 361 | while(c!='p' && c!=27) { 362 | c = cvWaitKey(250); 363 | } 364 | } 365 | 366 | if(c == 27) break; 367 | image = cvQueryFrame(capture); 368 | } 369 | } 370 | -------------------------------------------------------------------------------- /cmake_install.cmake: -------------------------------------------------------------------------------- 1 | # Install script for directory: /home/aprilwang/Documents/HW4/book 2 | 3 | # Set the install prefix 4 | IF(NOT DEFINED CMAKE_INSTALL_PREFIX) 5 | SET(CMAKE_INSTALL_PREFIX "/usr/local") 6 | ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX) 7 | STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") 8 | 9 | # Set the install configuration name. 10 | IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) 11 | IF(BUILD_TYPE) 12 | STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" "" 13 | CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") 14 | ELSE(BUILD_TYPE) 15 | SET(CMAKE_INSTALL_CONFIG_NAME "") 16 | ENDIF(BUILD_TYPE) 17 | MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") 18 | ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) 19 | 20 | # Set the component getting installed. 21 | IF(NOT CMAKE_INSTALL_COMPONENT) 22 | IF(COMPONENT) 23 | MESSAGE(STATUS "Install component: \"${COMPONENT}\"") 24 | SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}") 25 | ELSE(COMPONENT) 26 | SET(CMAKE_INSTALL_COMPONENT) 27 | ENDIF(COMPONENT) 28 | ENDIF(NOT CMAKE_INSTALL_COMPONENT) 29 | 30 | # Install shared libraries without execute permission? 31 | IF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) 32 | SET(CMAKE_INSTALL_SO_NO_EXE "1") 33 | ENDIF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) 34 | 35 | IF(CMAKE_INSTALL_COMPONENT) 36 | SET(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt") 37 | ELSE(CMAKE_INSTALL_COMPONENT) 38 | SET(CMAKE_INSTALL_MANIFEST "install_manifest.txt") 39 | ENDIF(CMAKE_INSTALL_COMPONENT) 40 | 41 | FILE(WRITE "/home/aprilwang/Documents/HW4/book/${CMAKE_INSTALL_MANIFEST}" "") 42 | FOREACH(file ${CMAKE_INSTALL_MANIFEST_FILES}) 43 | FILE(APPEND "/home/aprilwang/Documents/HW4/book/${CMAKE_INSTALL_MANIFEST}" "${file}\n") 44 | ENDFOREACH(file) 45 | 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