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Updated flags to OpenCV 4.0 #26

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Updated flags to OpenCV 4.0 #26

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14 changes: 7 additions & 7 deletions calib_intrinsic.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,16 +34,16 @@ void setup_calibration(int board_width, int board_height, int num_imgs,
sprintf(img_file, "%s%s%d.%s", imgs_directory, imgs_filename, k, extension);
if(!doesExist(img_file))
continue;
img = imread(img_file, CV_LOAD_IMAGE_COLOR);
cv::cvtColor(img, gray, CV_BGR2GRAY);
img = imread(img_file, IMREAD_COLOR);
cv::cvtColor(img, gray, COLOR_BGR2GRAY);

bool found = false;
found = cv::findChessboardCorners(img, board_size, corners,
CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS);
CALIB_CB_ADAPTIVE_THRESH | CALIB_CB_FILTER_QUADS);
if (found)
{
cornerSubPix(gray, corners, cv::Size(5, 5), cv::Size(-1, -1),
TermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 30, 0.1));
TermCriteria(TermCriteria::EPS | TermCriteria::MAX_ITER, 30, 0.1));
drawChessboardCorners(gray, board_size, corners, found);
}

Expand Down Expand Up @@ -73,7 +73,7 @@ double computeReprojectionErrors(const vector< vector< Point3f > >& objectPoints
for (i = 0; i < (int)objectPoints.size(); ++i) {
projectPoints(Mat(objectPoints[i]), rvecs[i], tvecs[i], cameraMatrix,
distCoeffs, imagePoints2);
err = norm(Mat(imagePoints[i]), Mat(imagePoints2), CV_L2);
err = norm(Mat(imagePoints[i]), Mat(imagePoints2), NORM_L2);
int n = (int)objectPoints[i].size();
perViewErrors[i] = (float) std::sqrt(err*err/n);
totalErr += err*err;
Expand Down Expand Up @@ -116,8 +116,8 @@ int main(int argc, char const **argv)
Mat D;
vector< Mat > rvecs, tvecs;
int flag = 0;
flag |= CV_CALIB_FIX_K4;
flag |= CV_CALIB_FIX_K5;
flag |= CALIB_FIX_K4;
flag |= CALIB_FIX_K5;
calibrateCamera(object_points, image_points, img.size(), K, D, rvecs, tvecs, flag);

cout << "Calibration error: " << computeReprojectionErrors(object_points, image_points, rvecs, tvecs, K, D) << endl;
Expand Down
18 changes: 9 additions & 9 deletions calib_stereo.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -26,17 +26,17 @@ void load_image_points(int board_width, int board_height, int num_imgs, float sq
char left_img[100], right_img[100];
sprintf(left_img, "%s%s%d.%s", leftimg_dir, leftimg_filename, i, extension);
sprintf(right_img, "%s%s%d.%s", rightimg_dir, rightimg_filename, i, extension);
img1 = imread(left_img, CV_LOAD_IMAGE_COLOR);
img2 = imread(right_img, CV_LOAD_IMAGE_COLOR);
cvtColor(img1, gray1, CV_BGR2GRAY);
cvtColor(img2, gray2, CV_BGR2GRAY);
img1 = imread(left_img, IMREAD_COLOR);
img2 = imread(right_img, IMREAD_COLOR);
cvtColor(img1, gray1, COLOR_BGR2GRAY);
cvtColor(img2, gray2, COLOR_BGR2GRAY);

bool found1 = false, found2 = false;

found1 = cv::findChessboardCorners(img1, board_size, corners1,
CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS);
CALIB_CB_ADAPTIVE_THRESH | CALIB_CB_FILTER_QUADS);
found2 = cv::findChessboardCorners(img2, board_size, corners2,
CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS);
CALIB_CB_ADAPTIVE_THRESH | CALIB_CB_FILTER_QUADS);


if(!found1 || !found2){
Expand All @@ -48,13 +48,13 @@ void load_image_points(int board_width, int board_height, int num_imgs, float sq
if (found1)
{
cv::cornerSubPix(gray1, corners1, cv::Size(5, 5), cv::Size(-1, -1),
cv::TermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 30, 0.1));
cv::TermCriteria(TermCriteria::EPS | TermCriteria::MAX_ITER, 30, 0.1));
cv::drawChessboardCorners(gray1, board_size, corners1, found1);
}
if (found2)
{
cv::cornerSubPix(gray2, corners2, cv::Size(5, 5), cv::Size(-1, -1),
cv::TermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 30, 0.1));
cv::TermCriteria(TermCriteria::EPS | TermCriteria::MAX_ITER, 30, 0.1));
cv::drawChessboardCorners(gray2, board_size, corners2, found2);
}

Expand Down Expand Up @@ -126,7 +126,7 @@ int main(int argc, char const *argv[])
fsl["D"] >> D1;
fsr["D"] >> D2;
int flag = 0;
flag |= CV_CALIB_FIX_INTRINSIC;
flag |= CALIB_FIX_INTRINSIC;

cout << "Read intrinsics" << endl;

Expand Down
4 changes: 2 additions & 2 deletions undistort_rectify.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,8 +35,8 @@ int main(int argc, char const *argv[])
Mat K1, K2, R;
Vec3d T;
Mat D1, D2;
Mat img1 = imread(leftimg_filename, CV_LOAD_IMAGE_COLOR);
Mat img2 = imread(rightimg_filename, CV_LOAD_IMAGE_COLOR);
Mat img1 = imread(leftimg_filename, IMREAD_COLOR);
Mat img2 = imread(rightimg_filename, IMREAD_COLOR);

cv::FileStorage fs1(calib_file, cv::FileStorage::READ);
fs1["K1"] >> K1;
Expand Down