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Open Source Computer Vision Library
https://opencv.org/
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401 lines
13 KiB
401 lines
13 KiB
/* This is sample from the OpenCV book. The copyright notice is below */ |
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/* *************** License:************************** |
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Oct. 3, 2008 |
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Right to use this code in any way you want without warrenty, support or any guarentee of it working. |
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BOOK: It would be nice if you cited it: |
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Learning OpenCV: Computer Vision with the OpenCV Library |
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by Gary Bradski and Adrian Kaehler |
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Published by O'Reilly Media, October 3, 2008 |
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AVAILABLE AT: |
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http://www.amazon.com/Learning-OpenCV-Computer-Vision-Library/dp/0596516134 |
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Or: http://oreilly.com/catalog/9780596516130/ |
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ISBN-10: 0596516134 or: ISBN-13: 978-0596516130 |
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OTHER OPENCV SITES: |
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* The source code is on sourceforge at: |
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http://sourceforge.net/projects/opencvlibrary/ |
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* The OpenCV wiki page (As of Oct 1, 2008 this is down for changing over servers, but should come back): |
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http://opencvlibrary.sourceforge.net/ |
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* An active user group is at: |
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http://tech.groups.yahoo.com/group/OpenCV/ |
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* The minutes of weekly OpenCV development meetings are at: |
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http://pr.willowgarage.com/wiki/OpenCV |
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************************************************** */ |
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#include "opencv2/calib3d/calib3d.hpp" |
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#include "opencv2/highgui/highgui.hpp" |
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#include "opencv2/imgproc/imgproc.hpp" |
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#include <vector> |
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#include <string> |
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#include <algorithm> |
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#include <iostream> |
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#include <iterator> |
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#include <stdio.h> |
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#include <stdlib.h> |
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#include <ctype.h> |
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using namespace cv; |
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using namespace std; |
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// |
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// Given a list of chessboard images, the number of corners (nx, ny) |
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// on the chessboards, and a flag: useCalibrated for calibrated (0) or |
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// uncalibrated (1: use cvStereoCalibrate(), 2: compute fundamental |
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// matrix separately) stereo. Calibrate the cameras and display the |
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// rectified results along with the computed disparity images. |
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// |
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static void |
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StereoCalib(const vector<string>& imagelist, Size boardSize, bool useCalibrated=true, bool showRectified=true) |
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{ |
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if( imagelist.size() % 2 != 0 ) |
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{ |
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cout << "Error: the image list contains odd (non-even) number of elements\n"; |
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return; |
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} |
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bool displayCorners = false;//true; |
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const int maxScale = 2; |
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const float squareSize = 1.f; // Set this to your actual square size |
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// ARRAY AND VECTOR STORAGE: |
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vector<vector<Point2f> > imagePoints[2]; |
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vector<vector<Point3f> > objectPoints; |
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Size imageSize; |
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int i, j, k, nimages = (int)imagelist.size()/2; |
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imagePoints[0].resize(nimages); |
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imagePoints[1].resize(nimages); |
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vector<string> goodImageList; |
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for( i = j = 0; i < nimages; i++ ) |
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{ |
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for( k = 0; k < 2; k++ ) |
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{ |
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const string& filename = imagelist[i*2+k]; |
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Mat img = imread(filename, 0); |
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if(img.empty()) |
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break; |
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if( imageSize == Size() ) |
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imageSize = img.size(); |
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else if( img.size() != imageSize ) |
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{ |
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cout << "The image " << filename << " has the size different from the first image size. Skipping the pair\n"; |
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break; |
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} |
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bool found = false; |
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vector<Point2f>& corners = imagePoints[k][j]; |
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for( int scale = 1; scale <= maxScale; scale++ ) |
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{ |
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Mat timg; |
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if( scale == 1 ) |
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timg = img; |
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else |
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resize(img, timg, Size(), scale, scale); |
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found = findChessboardCorners(timg, boardSize, corners, |
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CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_NORMALIZE_IMAGE); |
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if( found ) |
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{ |
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if( scale > 1 ) |
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{ |
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Mat cornersMat(corners); |
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cornersMat *= 1./scale; |
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} |
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break; |
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} |
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} |
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if( displayCorners ) |
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{ |
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cout << filename << endl; |
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Mat cimg, cimg1; |
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cvtColor(img, cimg, CV_GRAY2BGR); |
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drawChessboardCorners(cimg, boardSize, corners, found); |
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double sf = 640./MAX(img.rows, img.cols); |
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resize(cimg, cimg1, Size(), sf, sf); |
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imshow("corners", cimg1); |
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char c = (char)waitKey(500); |
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if( c == 27 || c == 'q' || c == 'Q' ) //Allow ESC to quit |
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exit(-1); |
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} |
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else |
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putchar('.'); |
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if( !found ) |
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break; |
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cornerSubPix(img, corners, Size(11,11), Size(-1,-1), |
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TermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS, |
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30, 0.01)); |
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} |
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if( k == 2 ) |
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{ |
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goodImageList.push_back(imagelist[i*2]); |
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goodImageList.push_back(imagelist[i*2+1]); |
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j++; |
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} |
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} |
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cout << j << " pairs have been successfully detected.\n"; |
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nimages = j; |
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if( nimages < 2 ) |
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{ |
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cout << "Error: too little pairs to run the calibration\n"; |
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return; |
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} |
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imagePoints[0].resize(nimages); |
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imagePoints[1].resize(nimages); |
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objectPoints.resize(nimages); |
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for( i = 0; i < nimages; i++ ) |
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{ |
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for( j = 0; j < boardSize.height; j++ ) |
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for( k = 0; k < boardSize.width; k++ ) |
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objectPoints[i].push_back(Point3f(j*squareSize, k*squareSize, 0)); |
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} |
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cout << "Running stereo calibration ...\n"; |
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Mat cameraMatrix[2], distCoeffs[2]; |
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cameraMatrix[0] = Mat::eye(3, 3, CV_64F); |
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cameraMatrix[1] = Mat::eye(3, 3, CV_64F); |
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Mat R, T, E, F; |
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double rms = stereoCalibrate(objectPoints, imagePoints[0], imagePoints[1], |
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cameraMatrix[0], distCoeffs[0], |
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cameraMatrix[1], distCoeffs[1], |
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imageSize, R, T, E, F, |
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TermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS, 100, 1e-5), |
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CV_CALIB_FIX_ASPECT_RATIO + |
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CV_CALIB_ZERO_TANGENT_DIST + |
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CV_CALIB_SAME_FOCAL_LENGTH + |
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CV_CALIB_RATIONAL_MODEL + |
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CV_CALIB_FIX_K3 + CV_CALIB_FIX_K4 + CV_CALIB_FIX_K5); |
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cout << "done with RMS error=" << rms << endl; |
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// CALIBRATION QUALITY CHECK |
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// because the output fundamental matrix implicitly |
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// includes all the output information, |
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// we can check the quality of calibration using the |
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// epipolar geometry constraint: m2^t*F*m1=0 |
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double err = 0; |
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int npoints = 0; |
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vector<Vec3f> lines[2]; |
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for( i = 0; i < nimages; i++ ) |
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{ |
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int npt = (int)imagePoints[0][i].size(); |
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Mat imgpt[2]; |
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for( k = 0; k < 2; k++ ) |
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{ |
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imgpt[k] = Mat(imagePoints[k][i]); |
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undistortPoints(imgpt[k], imgpt[k], cameraMatrix[k], distCoeffs[k], Mat(), cameraMatrix[k]); |
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computeCorrespondEpilines(imgpt[k], k+1, F, lines[k]); |
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} |
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for( j = 0; j < npt; j++ ) |
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{ |
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double errij = fabs(imagePoints[0][i][j].x*lines[1][j][0] + |
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imagePoints[0][i][j].y*lines[1][j][1] + lines[1][j][2]) + |
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fabs(imagePoints[1][i][j].x*lines[0][j][0] + |
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imagePoints[1][i][j].y*lines[0][j][1] + lines[0][j][2]); |
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err += errij; |
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} |
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npoints += npt; |
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} |
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cout << "average reprojection err = " << err/npoints << endl; |
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// save intrinsic parameters |
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FileStorage fs("intrinsics.yml", CV_STORAGE_WRITE); |
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if( fs.isOpened() ) |
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{ |
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fs << "M1" << cameraMatrix[0] << "D1" << distCoeffs[0] << |
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"M2" << cameraMatrix[1] << "D2" << distCoeffs[1]; |
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fs.release(); |
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} |
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else |
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cout << "Error: can not save the intrinsic parameters\n"; |
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Mat R1, R2, P1, P2, Q; |
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Rect validRoi[2]; |
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stereoRectify(cameraMatrix[0], distCoeffs[0], |
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cameraMatrix[1], distCoeffs[1], |
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imageSize, R, T, R1, R2, P1, P2, Q, |
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1, imageSize, &validRoi[0], &validRoi[1]); |
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fs.open("extrinsics.yml", CV_STORAGE_WRITE); |
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if( fs.isOpened() ) |
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{ |
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fs << "R" << R << "T" << T << "R1" << R1 << "R2" << R2 << "P1" << P1 << "P2" << P2 << "Q" << Q; |
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fs.release(); |
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} |
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else |
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cout << "Error: can not save the intrinsic parameters\n"; |
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// OpenCV can handle left-right |
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// or up-down camera arrangements |
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bool isVerticalStereo = fabs(P2.at<double>(1, 3)) > fabs(P2.at<double>(0, 3)); |
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// COMPUTE AND DISPLAY RECTIFICATION |
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if( !showRectified ) |
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return; |
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Mat rmap[2][2]; |
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// IF BY CALIBRATED (BOUGUET'S METHOD) |
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if( useCalibrated ) |
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{ |
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// we already computed everything |
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} |
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// OR ELSE HARTLEY'S METHOD |
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else |
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// use intrinsic parameters of each camera, but |
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// compute the rectification transformation directly |
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// from the fundamental matrix |
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{ |
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vector<Point2f> allimgpt[2]; |
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for( k = 0; k < 2; k++ ) |
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{ |
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for( i = 0; i < nimages; i++ ) |
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std::copy(imagePoints[k][i].begin(), imagePoints[k][i].end(), back_inserter(allimgpt[k])); |
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} |
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F = findFundamentalMat(Mat(allimgpt[0]), Mat(allimgpt[1]), FM_8POINT, 0, 0); |
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Mat H1, H2; |
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stereoRectifyUncalibrated(Mat(allimgpt[0]), Mat(allimgpt[1]), F, imageSize, H1, H2, 3); |
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R1 = cameraMatrix[0].inv()*H1*cameraMatrix[0]; |
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R2 = cameraMatrix[1].inv()*H2*cameraMatrix[1]; |
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P1 = cameraMatrix[0]; |
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P2 = cameraMatrix[1]; |
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} |
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//Precompute maps for cv::remap() |
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initUndistortRectifyMap(cameraMatrix[0], distCoeffs[0], R1, P1, imageSize, CV_16SC2, rmap[0][0], rmap[0][1]); |
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initUndistortRectifyMap(cameraMatrix[1], distCoeffs[1], R2, P2, imageSize, CV_16SC2, rmap[1][0], rmap[1][1]); |
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Mat canvas; |
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double sf; |
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int w, h; |
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if( !isVerticalStereo ) |
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{ |
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sf = 1;//600./MAX(imageSize.width, imageSize.height); |
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w = cvRound(imageSize.width*sf); |
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h = cvRound(imageSize.height*sf); |
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canvas.create(h, w*2, CV_8UC3); |
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} |
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else |
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{ |
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sf = 1;//300./MAX(imageSize.width, imageSize.height); |
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w = cvRound(imageSize.width*sf); |
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h = cvRound(imageSize.height*sf); |
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canvas.create(h*2, w, CV_8UC3); |
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} |
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for( i = 0; i < nimages; i++ ) |
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{ |
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for( k = 0; k < 2; k++ ) |
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{ |
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Mat img = imread(goodImageList[i*2+k], 0), rimg, cimg; |
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remap(img, rimg, rmap[k][0], rmap[k][1], CV_INTER_LINEAR); |
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cvtColor(rimg, cimg, CV_GRAY2BGR); |
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Mat canvasPart = !isVerticalStereo ? canvas(Rect(w*k, 0, w, h)) : canvas(Rect(0, h*k, w, h)); |
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resize(cimg, canvasPart, canvasPart.size(), 0, 0, CV_INTER_AREA); |
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if( useCalibrated ) |
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{ |
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Rect vroi(cvRound(validRoi[k].x*sf), cvRound(validRoi[k].y*sf), |
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cvRound(validRoi[k].width*sf), cvRound(validRoi[k].height*sf)); |
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rectangle(canvasPart, vroi, Scalar(0,0,255), 3, 8); |
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} |
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} |
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if( !isVerticalStereo ) |
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for( j = 0; j < canvas.rows; j += 16 ) |
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line(canvas, Point(0, j), Point(canvas.cols, j), Scalar(0, 255, 0), 1, 8); |
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else |
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for( j = 0; j < canvas.cols; j += 16 ) |
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line(canvas, Point(j, 0), Point(j, canvas.rows), Scalar(0, 255, 0), 1, 8); |
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imshow("rectified", canvas); |
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char c = (char)waitKey(); |
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if( c == 27 || c == 'q' || c == 'Q' ) |
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break; |
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} |
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} |
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static bool readStringList( const string& filename, vector<string>& l ) |
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{ |
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l.resize(0); |
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FileStorage fs(filename, FileStorage::READ); |
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if( !fs.isOpened() ) |
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return false; |
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FileNode n = fs.getFirstTopLevelNode(); |
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if( n.type() != FileNode::SEQ ) |
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return false; |
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FileNodeIterator it = n.begin(), it_end = n.end(); |
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for( ; it != it_end; ++it ) |
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l.push_back((string)*it); |
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return true; |
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} |
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int print_help() |
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{ |
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cout << "Usage:\n ./stereo_calib -w board_width -h board_height [-nr /*dot not view results*/] <image list XML/YML file>\n"; |
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return 0; |
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} |
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int main(int argc, char** argv) |
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{ |
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Size boardSize; |
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string imagelistfn; |
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bool showRectified = true; |
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for( int i = 1; i < argc; i++ ) |
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{ |
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if( string(argv[i]) == "-w" ) |
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{ |
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if( sscanf(argv[++i], "%d", &boardSize.width) != 1 || boardSize.width <= 0 ) |
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{ |
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cout << "invalid board width" << endl; |
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return print_help(); |
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} |
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} |
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else if( string(argv[i]) == "-h" ) |
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{ |
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if( sscanf(argv[++i], "%d", &boardSize.height) != 1 || boardSize.height <= 0 ) |
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{ |
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cout << "invalid board height" << endl; |
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return print_help(); |
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} |
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} |
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else if( string(argv[i]) == "-nr" ) |
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showRectified = false; |
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else if( string(argv[i]) == "--help" ) |
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return print_help(); |
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else if( argv[i][0] == '-' ) |
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{ |
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cout << "invalid option " << argv[i] << endl; |
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return 0; |
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} |
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else |
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imagelistfn = argv[i]; |
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} |
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if( imagelistfn == "" ) |
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{ |
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imagelistfn = "stereo_calib.xml"; |
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boardSize = Size(9, 6); |
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} |
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vector<string> imagelist; |
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bool ok = readStringList(imagelistfn, imagelist); |
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if(!ok || imagelist.empty()) |
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{ |
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cout << "can not open " << imagelistfn << " or the string list is empty" << endl; |
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return print_help(); |
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} |
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StereoCalib(imagelist, boardSize, true, showRectified); |
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return 0; |
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} |
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