mirror of
https://github.com/opencv/opencv.git
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Added camera calibration sample for android
This commit is contained in:
Daniil Osokin
parent
be8b3687f4
commit
23c802b4cd
9
samples/android/camera-calibration/.classpath
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9
samples/android/camera-calibration/.classpath
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<?xml version="1.0" encoding="UTF-8"?>
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<classpath>
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<classpathentry exported="true" kind="con" path="com.android.ide.eclipse.adt.LIBRARIES"/>
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<classpathentry kind="con" path="com.android.ide.eclipse.adt.ANDROID_FRAMEWORK"/>
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<classpathentry exported="true" kind="con" path="com.android.ide.eclipse.adt.DEPENDENCIES"/>
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<classpathentry kind="src" path="src"/>
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<classpathentry kind="src" path="gen"/>
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<classpathentry kind="output" path="bin/classes"/>
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</classpath>
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33
samples/android/camera-calibration/.project
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33
samples/android/camera-calibration/.project
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<?xml version="1.0" encoding="UTF-8"?>
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<projectDescription>
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<name>OpenCV Sample - camera-calibration</name>
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<comment></comment>
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<projects>
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</projects>
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<buildSpec>
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<buildCommand>
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<name>com.android.ide.eclipse.adt.ResourceManagerBuilder</name>
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<arguments>
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</arguments>
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</buildCommand>
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<buildCommand>
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<name>com.android.ide.eclipse.adt.PreCompilerBuilder</name>
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<arguments>
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</arguments>
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</buildCommand>
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<buildCommand>
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<name>org.eclipse.jdt.core.javabuilder</name>
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<arguments>
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</arguments>
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</buildCommand>
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<buildCommand>
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<name>com.android.ide.eclipse.adt.ApkBuilder</name>
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<arguments>
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</arguments>
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</buildCommand>
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</buildSpec>
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<natures>
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<nature>com.android.ide.eclipse.adt.AndroidNature</nature>
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<nature>org.eclipse.jdt.core.javanature</nature>
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</natures>
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</projectDescription>
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@ -0,0 +1,4 @@
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eclipse.preferences.version=1
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org.eclipse.jdt.core.compiler.codegen.targetPlatform=1.6
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org.eclipse.jdt.core.compiler.compliance=1.6
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org.eclipse.jdt.core.compiler.source=1.6
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38
samples/android/camera-calibration/AndroidManifest.xml
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38
samples/android/camera-calibration/AndroidManifest.xml
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<?xml version="1.0" encoding="utf-8"?>
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<manifest xmlns:android="http://schemas.android.com/apk/res/android"
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package="org.opencv.samples.cameracalibration"
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android:versionCode="1"
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android:versionName="1.0" >
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<application
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android:label="@string/app_name"
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android:icon="@drawable/icon"
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android:theme="@android:style/Theme.NoTitleBar.Fullscreen" >
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<activity android:name="CameraCalibrationActivity"
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android:label="@string/app_name"
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android:screenOrientation="landscape"
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android:configChanges="keyboardHidden|orientation" >
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<intent-filter>
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<action android:name="android.intent.action.MAIN" />
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<category android:name="android.intent.category.LAUNCHER" />
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</intent-filter>
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</activity>
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</application>
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<supports-screens android:resizeable="true"
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android:smallScreens="true"
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android:normalScreens="true"
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android:largeScreens="true"
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android:anyDensity="true" />
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<uses-sdk android:minSdkVersion="8" android:targetSdkVersion="11" />
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<uses-permission android:name="android.permission.CAMERA"/>
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<uses-feature android:name="android.hardware.camera" android:required="false"/>
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<uses-feature android:name="android.hardware.camera.autofocus" android:required="false"/>
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<uses-feature android:name="android.hardware.camera.front" android:required="false"/>
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<uses-feature android:name="android.hardware.camera.front.autofocus" android:required="false"/>
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</manifest>
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6
samples/android/camera-calibration/CMakeLists.txt
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6
samples/android/camera-calibration/CMakeLists.txt
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set(sample example-camera-calibration)
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add_android_project(${sample} "${CMAKE_CURRENT_SOURCE_DIR}" LIBRARY_DEPS ${OpenCV_BINARY_DIR} SDK_TARGET 11 ${ANDROID_SDK_TARGET})
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if(TARGET ${sample})
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add_dependencies(opencv_android_examples ${sample})
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endif()
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BIN
samples/android/camera-calibration/res/drawable/icon.png
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BIN
samples/android/camera-calibration/res/drawable/icon.png
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Binary file not shown.
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After Width: | Height: | Size: 2.1 KiB |
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<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
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xmlns:tools="http://schemas.android.com/tools"
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xmlns:opencv="http://schemas.android.com/apk/res-auto"
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android:layout_width="match_parent"
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android:layout_height="match_parent" >
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<org.opencv.android.JavaCameraView
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android:layout_width="fill_parent"
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android:layout_height="fill_parent"
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android:id="@+id/camera_calibration_java_surface_view" />
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</LinearLayout>
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22
samples/android/camera-calibration/res/menu/calibration.xml
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22
samples/android/camera-calibration/res/menu/calibration.xml
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<?xml version="1.0" encoding="utf-8"?>
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<menu xmlns:android="http://schemas.android.com/apk/res/android" >
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<group android:checkableBehavior="single">
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<item android:id="@+id/calibrate"
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android:title="@string/action_calibrate"
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android:showAsAction="ifRoom|withText" />
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<item android:id="@+id/preview_mode"
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android:title="@string/preview_mode">
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<menu>
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<group android:checkableBehavior="single">
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<item android:id="@+id/calibration"
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android:title="@string/calibration"
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android:checked="true" />
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<item android:id="@+id/undistortion"
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android:title="@string/undistortion" />
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<item android:id="@+id/comparison"
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android:title="@string/comparison" />
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</group>
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</menu>
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</item>
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</group>
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</menu>
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18
samples/android/camera-calibration/res/values/strings.xml
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18
samples/android/camera-calibration/res/values/strings.xml
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<?xml version="1.0" encoding="utf-8"?>
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<resources>
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<string name="app_name">OCV Camera Calibration</string>
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<string name="action_calibrate">Calibrate</string>
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<string name="calibration">Calibration</string>
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<string name="undistortion">Undistortion</string>
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<string name="comparison">Comparison</string>
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<string name="preview_mode">Preview mode</string>
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<string name="calibration_successful">Successfully calibrated!\nAvg. re-projection error:</string>
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<string name="calibration_unsuccessful">Unsuccessful calibration.\nTry again</string>
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<string name="more_samples">Please, capture more samples</string>
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<string name="calibrating">Calibrating...</string>
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<string name="please_wait">Please, wait</string>
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<string name="original">Original</string>
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<string name="undistorted">Undistorted</string>
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</resources>
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@ -0,0 +1,69 @@
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package org.opencv.samples.cameracalibration;
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import org.opencv.core.Mat;
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import android.app.Activity;
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import android.content.Context;
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import android.content.SharedPreferences;
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import android.util.Log;
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public abstract class CalibrationResult {
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private static final String TAG = "OCVSample::CalibrationResult";
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private static final int CAMERA_MATRIX_ROWS = 3;
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private static final int CAMERA_MATRIX_COLS = 3;
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private static final int DISTORTION_COEFFICIENTS_SIZE = 5;
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public static void save(Activity activity, Mat cameraMatrix, Mat distortionCoefficients) {
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SharedPreferences sharedPref = activity.getPreferences(Context.MODE_PRIVATE);
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SharedPreferences.Editor editor = sharedPref.edit();
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double[] cameraMatrixArray = new double[CAMERA_MATRIX_ROWS * CAMERA_MATRIX_COLS];
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cameraMatrix.get(0, 0, cameraMatrixArray);
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for (int i = 0; i < CAMERA_MATRIX_ROWS; i++) {
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for (int j = 0; j < CAMERA_MATRIX_COLS; j++) {
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Integer id = i * CAMERA_MATRIX_ROWS + j;
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editor.putFloat(id.toString(), (float)cameraMatrixArray[id]);
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}
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}
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double[] distortionCoefficientsArray = new double[DISTORTION_COEFFICIENTS_SIZE];
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distortionCoefficients.get(0, 0, distortionCoefficientsArray);
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int shift = CAMERA_MATRIX_ROWS * CAMERA_MATRIX_COLS;
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for (Integer i = shift; i < DISTORTION_COEFFICIENTS_SIZE + shift; i++) {
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editor.putFloat(i.toString(), (float)distortionCoefficientsArray[i-shift]);
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}
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editor.commit();
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Log.i(TAG, "Saved camera matrix: " + cameraMatrix.dump());
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Log.i(TAG, "Saved distortion coefficients: " + distortionCoefficients.dump());
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}
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public static boolean tryLoad(Activity activity, Mat cameraMatrix, Mat distortionCoefficients) {
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SharedPreferences sharedPref = activity.getPreferences(Context.MODE_PRIVATE);
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if (sharedPref.getFloat("0", -1) == -1) {
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Log.i(TAG, "No previous calibration results found");
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return false;
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}
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double[] cameraMatrixArray = new double[CAMERA_MATRIX_ROWS * CAMERA_MATRIX_COLS];
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for (int i = 0; i < CAMERA_MATRIX_ROWS; i++) {
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for (int j = 0; j < CAMERA_MATRIX_COLS; j++) {
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Integer id = i * CAMERA_MATRIX_ROWS + j;
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cameraMatrixArray[id] = sharedPref.getFloat(id.toString(), -1);
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}
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}
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cameraMatrix.put(0, 0, cameraMatrixArray);
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Log.i(TAG, "Loaded camera matrix: " + cameraMatrix.dump());
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double[] distortionCoefficientsArray = new double[DISTORTION_COEFFICIENTS_SIZE];
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int shift = CAMERA_MATRIX_ROWS * CAMERA_MATRIX_COLS;
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for (Integer i = shift; i < DISTORTION_COEFFICIENTS_SIZE + shift; i++) {
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distortionCoefficientsArray[i - shift] = sharedPref.getFloat(i.toString(), -1);
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}
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distortionCoefficients.put(0, 0, distortionCoefficientsArray);
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Log.i(TAG, "Loaded distortion coefficients: " + distortionCoefficients.dump());
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return true;
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}
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}
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@ -0,0 +1,216 @@
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// This sample is based on "Camera calibration With OpenCV" tutorial:
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// http://docs.opencv.org/doc/tutorials/calib3d/camera_calibration/camera_calibration.html
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//
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// It uses standard OpenCV asymmetric circles grid pattern 11x4:
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// https://github.com/Itseez/opencv/blob/2.4/doc/acircles_pattern.png.
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// The results are the camera matrix and 5 distortion coefficients.
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//
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// Tap on highlighted pattern to capture pattern corners for calibration.
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// Move pattern along the whole screen and capture data.
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//
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// When you've captured necessary amount of pattern corners (usually ~20 are enough),
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// press "Calibrate" button for performing camera calibration.
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package org.opencv.samples.cameracalibration;
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import org.opencv.android.BaseLoaderCallback;
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import org.opencv.android.CameraBridgeViewBase;
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import org.opencv.android.CameraBridgeViewBase.CvCameraViewFrame;
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import org.opencv.android.CameraBridgeViewBase.CvCameraViewListener2;
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import org.opencv.android.LoaderCallbackInterface;
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import org.opencv.android.OpenCVLoader;
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import org.opencv.core.Mat;
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import android.app.Activity;
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import android.app.ProgressDialog;
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import android.content.res.Resources;
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import android.os.AsyncTask;
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import android.os.Bundle;
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import android.util.Log;
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import android.view.Menu;
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import android.view.MenuItem;
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import android.view.MotionEvent;
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import android.view.SurfaceView;
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import android.view.View;
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import android.view.View.OnTouchListener;
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import android.view.WindowManager;
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import android.widget.Toast;
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public class CameraCalibrationActivity extends Activity implements CvCameraViewListener2, OnTouchListener {
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private static final String TAG = "OCVSample::Activity";
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private CameraBridgeViewBase mOpenCvCameraView;
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private CameraCalibrator mCalibrator;
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private OnCameraFrameRender mOnCameraFrameRender;
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private int mWidth;
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private int mHeight;
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private BaseLoaderCallback mLoaderCallback = new BaseLoaderCallback(this) {
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@Override
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public void onManagerConnected(int status) {
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switch (status) {
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case LoaderCallbackInterface.SUCCESS:
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{
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Log.i(TAG, "OpenCV loaded successfully");
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mOpenCvCameraView.enableView();
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mOpenCvCameraView.setOnTouchListener(CameraCalibrationActivity.this);
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} break;
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default:
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{
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super.onManagerConnected(status);
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} break;
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}
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}
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};
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public CameraCalibrationActivity() {
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Log.i(TAG, "Instantiated new " + this.getClass());
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}
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@Override
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public void onCreate(Bundle savedInstanceState) {
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Log.i(TAG, "called onCreate");
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super.onCreate(savedInstanceState);
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getWindow().addFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);
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setContentView(R.layout.camera_calibration_surface_view);
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mOpenCvCameraView = (CameraBridgeViewBase) findViewById(R.id.camera_calibration_java_surface_view);
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mOpenCvCameraView.setVisibility(SurfaceView.VISIBLE);
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mOpenCvCameraView.setCvCameraViewListener(this);
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}
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@Override
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public void onPause()
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{
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super.onPause();
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if (mOpenCvCameraView != null)
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mOpenCvCameraView.disableView();
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}
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@Override
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public void onResume()
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{
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super.onResume();
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OpenCVLoader.initAsync(OpenCVLoader.OPENCV_VERSION_2_4_2, this, mLoaderCallback);
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}
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public void onDestroy() {
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super.onDestroy();
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if (mOpenCvCameraView != null)
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mOpenCvCameraView.disableView();
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}
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@Override
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public boolean onCreateOptionsMenu(Menu menu) {
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super.onCreateOptionsMenu(menu);
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getMenuInflater().inflate(R.menu.calibration, menu);
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return true;
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}
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@Override
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public boolean onPrepareOptionsMenu (Menu menu) {
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super.onPrepareOptionsMenu(menu);
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menu.findItem(R.id.preview_mode).setEnabled(true);
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if (!mCalibrator.isCalibrated())
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menu.findItem(R.id.preview_mode).setEnabled(false);
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return true;
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}
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@Override
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public boolean onOptionsItemSelected(MenuItem item) {
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switch (item.getItemId()) {
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case R.id.calibration:
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mOnCameraFrameRender =
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new OnCameraFrameRender(new CalibrationFrameRender(mCalibrator));
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item.setChecked(true);
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return true;
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case R.id.undistortion:
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mOnCameraFrameRender =
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new OnCameraFrameRender(new UndistortionFrameRender(mCalibrator));
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item.setChecked(true);
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return true;
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case R.id.comparison:
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mOnCameraFrameRender =
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new OnCameraFrameRender(new ComparisonFrameRender(mCalibrator, mWidth, mHeight, getResources()));
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item.setChecked(true);
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return true;
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case R.id.calibrate:
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final Resources res = getResources();
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if (mCalibrator.getCornersBufferSize() < 2) {
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(Toast.makeText(this, res.getString(R.string.more_samples), Toast.LENGTH_SHORT)).show();
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return true;
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}
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mOnCameraFrameRender = new OnCameraFrameRender(new PreviewFrameRender());
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new AsyncTask<Void, Void, Void>() {
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private ProgressDialog calibrationProgress;
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@Override
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protected void onPreExecute() {
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calibrationProgress = new ProgressDialog(CameraCalibrationActivity.this);
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calibrationProgress.setTitle(res.getString(R.string.calibrating));
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calibrationProgress.setMessage(res.getString(R.string.please_wait));
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calibrationProgress.setCancelable(false);
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calibrationProgress.setIndeterminate(true);
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calibrationProgress.show();
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}
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@Override
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protected Void doInBackground(Void... arg0) {
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mCalibrator.calibrate();
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return null;
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}
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@Override
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protected void onPostExecute(Void result) {
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calibrationProgress.dismiss();
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mCalibrator.clearCorners();
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mOnCameraFrameRender = new OnCameraFrameRender(new CalibrationFrameRender(mCalibrator));
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String resultMessage = (mCalibrator.isCalibrated()) ?
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res.getString(R.string.calibration_successful) + " " + mCalibrator.getAvgReprojectionError() :
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res.getString(R.string.calibration_unsuccessful);
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(Toast.makeText(CameraCalibrationActivity.this, resultMessage, Toast.LENGTH_SHORT)).show();
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if (mCalibrator.isCalibrated()) {
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CalibrationResult.save(CameraCalibrationActivity.this,
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mCalibrator.getCameraMatrix(), mCalibrator.getDistortionCoefficients());
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}
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}
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}.execute();
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return true;
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default:
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return super.onOptionsItemSelected(item);
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}
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}
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public void onCameraViewStarted(int width, int height) {
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if (mWidth != width || mHeight != height) {
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mWidth = width;
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mHeight = height;
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mCalibrator = new CameraCalibrator(mWidth, mHeight);
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if (CalibrationResult.tryLoad(this, mCalibrator.getCameraMatrix(), mCalibrator.getDistortionCoefficients())) {
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mCalibrator.setCalibrated();
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}
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mOnCameraFrameRender = new OnCameraFrameRender(new CalibrationFrameRender(mCalibrator));
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}
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}
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|
||||
public void onCameraViewStopped() {
|
||||
}
|
||||
|
||||
public Mat onCameraFrame(CvCameraViewFrame inputFrame) {
|
||||
return mOnCameraFrameRender.render(inputFrame);
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean onTouch(View v, MotionEvent event) {
|
||||
Log.d(TAG, "onTouch invoked");
|
||||
|
||||
mCalibrator.addCorners();
|
||||
return false;
|
||||
}
|
||||
}
|
||||
@ -0,0 +1,169 @@
|
||||
package org.opencv.samples.cameracalibration;
|
||||
|
||||
import java.util.ArrayList;
|
||||
import java.util.List;
|
||||
|
||||
import org.opencv.calib3d.Calib3d;
|
||||
import org.opencv.core.Core;
|
||||
import org.opencv.core.CvType;
|
||||
import org.opencv.core.Mat;
|
||||
import org.opencv.core.MatOfDouble;
|
||||
import org.opencv.core.MatOfPoint2f;
|
||||
import org.opencv.core.MatOfPoint3f;
|
||||
import org.opencv.core.Point;
|
||||
import org.opencv.core.Scalar;
|
||||
import org.opencv.core.Size;
|
||||
|
||||
import android.util.Log;
|
||||
|
||||
public class CameraCalibrator {
|
||||
private static final String TAG = "OCVSample::CameraCalibrator";
|
||||
|
||||
private final Size mPatternSize = new Size(4, 11);
|
||||
private final int mCornersSize = (int)(mPatternSize.width * mPatternSize.height);
|
||||
private boolean mPatternWasFound = false;
|
||||
private MatOfPoint2f mCorners = new MatOfPoint2f();
|
||||
private List<Mat> mCornersBuffer = new ArrayList<Mat>();
|
||||
private boolean mIsCalibrated = false;
|
||||
|
||||
private Mat mCameraMatrix = new Mat();
|
||||
private Mat mDistortionCoefficients = new Mat();
|
||||
private int mFlags;
|
||||
private double mRms;
|
||||
private double mSquareSize = 0.0181;
|
||||
private Size mImageSize;
|
||||
|
||||
public CameraCalibrator(int width, int height) {
|
||||
mImageSize = new Size(width, height);
|
||||
mFlags = Calib3d.CALIB_FIX_PRINCIPAL_POINT +
|
||||
Calib3d.CALIB_ZERO_TANGENT_DIST +
|
||||
Calib3d.CALIB_FIX_ASPECT_RATIO +
|
||||
Calib3d.CALIB_FIX_K4 +
|
||||
Calib3d.CALIB_FIX_K5;
|
||||
Mat.eye(3, 3, CvType.CV_64FC1).copyTo(mCameraMatrix);
|
||||
mCameraMatrix.put(0, 0, 1.0);
|
||||
Mat.zeros(5, 1, CvType.CV_64FC1).copyTo(mDistortionCoefficients);
|
||||
Log.i(TAG, "Instantiated new " + this.getClass());
|
||||
}
|
||||
|
||||
public void processFrame(Mat grayFrame, Mat rgbaFrame) {
|
||||
findPattern(grayFrame);
|
||||
renderFrame(rgbaFrame);
|
||||
}
|
||||
|
||||
public void calibrate() {
|
||||
ArrayList<Mat> rvecs = new ArrayList<Mat>();
|
||||
ArrayList<Mat> tvecs = new ArrayList<Mat>();
|
||||
Mat reprojectionErrors = new Mat();
|
||||
ArrayList<Mat> objectPoints = new ArrayList<Mat>();
|
||||
objectPoints.add(Mat.zeros(mCornersSize, 1, CvType.CV_32FC3));
|
||||
calcBoardCornerPositions(objectPoints.get(0));
|
||||
for (int i = 1; i < mCornersBuffer.size(); i++) {
|
||||
objectPoints.add(objectPoints.get(0));
|
||||
}
|
||||
|
||||
Calib3d.calibrateCamera(objectPoints, mCornersBuffer, mImageSize,
|
||||
mCameraMatrix, mDistortionCoefficients, rvecs, tvecs, mFlags);
|
||||
|
||||
mIsCalibrated = Core.checkRange(mCameraMatrix)
|
||||
&& Core.checkRange(mDistortionCoefficients);
|
||||
|
||||
mRms = computeReprojectionErrors(objectPoints, rvecs, tvecs, reprojectionErrors);
|
||||
Log.i(TAG, String.format("Average re-projection error: %f", mRms));
|
||||
Log.i(TAG, "Camera matrix: " + mCameraMatrix.dump());
|
||||
Log.i(TAG, "Distortion coefficients: " + mDistortionCoefficients.dump());
|
||||
}
|
||||
|
||||
public void clearCorners() {
|
||||
mCornersBuffer.clear();
|
||||
}
|
||||
|
||||
private void calcBoardCornerPositions(Mat corners) {
|
||||
final int cn = 3;
|
||||
float positions[] = new float[mCornersSize * cn];
|
||||
|
||||
for (int i = 0; i < mPatternSize.height; i++) {
|
||||
for (int j = 0; j < mPatternSize.width * cn; j += cn) {
|
||||
positions[(int) (i * mPatternSize.width * cn + j + 0)] =
|
||||
(2 * (j / cn) + i % 2) * (float) mSquareSize;
|
||||
positions[(int) (i * mPatternSize.width * cn + j + 1)] =
|
||||
i * (float) mSquareSize;
|
||||
positions[(int) (i * mPatternSize.width * cn + j + 2)] = 0;
|
||||
}
|
||||
}
|
||||
corners.create(mCornersSize, 1, CvType.CV_32FC3);
|
||||
corners.put(0, 0, positions);
|
||||
}
|
||||
|
||||
private double computeReprojectionErrors(List<Mat> objectPoints,
|
||||
List<Mat> rvecs, List<Mat> tvecs, Mat perViewErrors) {
|
||||
MatOfPoint2f cornersProjected = new MatOfPoint2f();
|
||||
double totalError = 0;
|
||||
double error;
|
||||
float viewErrors[] = new float[objectPoints.size()];
|
||||
|
||||
MatOfDouble distortionCoefficients = new MatOfDouble(mDistortionCoefficients);
|
||||
int totalPoints = 0;
|
||||
for (int i = 0; i < objectPoints.size(); i++) {
|
||||
MatOfPoint3f points = new MatOfPoint3f(objectPoints.get(i));
|
||||
Calib3d.projectPoints(points, rvecs.get(i), tvecs.get(i),
|
||||
mCameraMatrix, distortionCoefficients, cornersProjected);
|
||||
error = Core.norm(mCornersBuffer.get(i), cornersProjected, Core.NORM_L2);
|
||||
|
||||
int n = objectPoints.get(i).rows();
|
||||
viewErrors[i] = (float) Math.sqrt(error * error / n);
|
||||
totalError += error * error;
|
||||
totalPoints += n;
|
||||
}
|
||||
perViewErrors.create(objectPoints.size(), 1, CvType.CV_32FC1);
|
||||
perViewErrors.put(0, 0, viewErrors);
|
||||
|
||||
return Math.sqrt(totalError / totalPoints);
|
||||
}
|
||||
|
||||
private void findPattern(Mat grayFrame) {
|
||||
mPatternWasFound = Calib3d.findCirclesGridDefault(grayFrame, mPatternSize,
|
||||
mCorners, Calib3d.CALIB_CB_ASYMMETRIC_GRID);
|
||||
}
|
||||
|
||||
public void addCorners() {
|
||||
if (mPatternWasFound) {
|
||||
mCornersBuffer.add(mCorners.clone());
|
||||
}
|
||||
}
|
||||
|
||||
private void drawPoints(Mat rgbaFrame) {
|
||||
Calib3d.drawChessboardCorners(rgbaFrame, mPatternSize, mCorners, mPatternWasFound);
|
||||
}
|
||||
|
||||
private void renderFrame(Mat rgbaFrame) {
|
||||
drawPoints(rgbaFrame);
|
||||
|
||||
Core.putText(rgbaFrame, "Captured: " + mCornersBuffer.size(), new Point(rgbaFrame.cols() / 3 * 2, rgbaFrame.rows() * 0.1),
|
||||
Core.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar(255, 255, 0));
|
||||
}
|
||||
|
||||
public Mat getCameraMatrix() {
|
||||
return mCameraMatrix;
|
||||
}
|
||||
|
||||
public Mat getDistortionCoefficients() {
|
||||
return mDistortionCoefficients;
|
||||
}
|
||||
|
||||
public int getCornersBufferSize() {
|
||||
return mCornersBuffer.size();
|
||||
}
|
||||
|
||||
public double getAvgReprojectionError() {
|
||||
return mRms;
|
||||
}
|
||||
|
||||
public boolean isCalibrated() {
|
||||
return mIsCalibrated;
|
||||
}
|
||||
|
||||
public void setCalibrated() {
|
||||
mIsCalibrated = true;
|
||||
}
|
||||
}
|
||||
@ -0,0 +1,102 @@
|
||||
package org.opencv.samples.cameracalibration;
|
||||
|
||||
import java.util.ArrayList;
|
||||
import java.util.List;
|
||||
|
||||
import org.opencv.android.CameraBridgeViewBase.CvCameraViewFrame;
|
||||
import org.opencv.core.Core;
|
||||
import org.opencv.core.Mat;
|
||||
import org.opencv.core.MatOfPoint;
|
||||
import org.opencv.core.Point;
|
||||
import org.opencv.core.Range;
|
||||
import org.opencv.core.Scalar;
|
||||
import org.opencv.imgproc.Imgproc;
|
||||
|
||||
import android.content.res.Resources;
|
||||
|
||||
abstract class FrameRender {
|
||||
protected CameraCalibrator mCalibrator;
|
||||
|
||||
public abstract Mat render(CvCameraViewFrame inputFrame);
|
||||
}
|
||||
|
||||
class PreviewFrameRender extends FrameRender {
|
||||
@Override
|
||||
public Mat render(CvCameraViewFrame inputFrame) {
|
||||
return inputFrame.rgba();
|
||||
}
|
||||
}
|
||||
|
||||
class CalibrationFrameRender extends FrameRender {
|
||||
public CalibrationFrameRender(CameraCalibrator calibrator) {
|
||||
mCalibrator = calibrator;
|
||||
}
|
||||
|
||||
@Override
|
||||
public Mat render(CvCameraViewFrame inputFrame) {
|
||||
Mat rgbaFrame = inputFrame.rgba();
|
||||
Mat grayFrame = inputFrame.gray();
|
||||
mCalibrator.processFrame(grayFrame, rgbaFrame);
|
||||
|
||||
return rgbaFrame;
|
||||
}
|
||||
}
|
||||
|
||||
class UndistortionFrameRender extends FrameRender {
|
||||
public UndistortionFrameRender(CameraCalibrator calibrator) {
|
||||
mCalibrator = calibrator;
|
||||
}
|
||||
|
||||
@Override
|
||||
public Mat render(CvCameraViewFrame inputFrame) {
|
||||
Mat renderedFrame = new Mat(inputFrame.rgba().size(), inputFrame.rgba().type());
|
||||
Imgproc.undistort(inputFrame.rgba(), renderedFrame,
|
||||
mCalibrator.getCameraMatrix(), mCalibrator.getDistortionCoefficients());
|
||||
|
||||
return renderedFrame;
|
||||
}
|
||||
}
|
||||
|
||||
class ComparisonFrameRender extends FrameRender {
|
||||
private int mWidth;
|
||||
private int mHeight;
|
||||
private Resources mResources;
|
||||
public ComparisonFrameRender(CameraCalibrator calibrator, int width, int height, Resources resources) {
|
||||
mCalibrator = calibrator;
|
||||
mWidth = width;
|
||||
mHeight = height;
|
||||
mResources = resources;
|
||||
}
|
||||
|
||||
@Override
|
||||
public Mat render(CvCameraViewFrame inputFrame) {
|
||||
Mat undistortedFrame = new Mat(inputFrame.rgba().size(), inputFrame.rgba().type());
|
||||
Imgproc.undistort(inputFrame.rgba(), undistortedFrame,
|
||||
mCalibrator.getCameraMatrix(), mCalibrator.getDistortionCoefficients());
|
||||
|
||||
Mat comparisonFrame = inputFrame.rgba();
|
||||
undistortedFrame.colRange(new Range(0, mWidth / 2)).copyTo(comparisonFrame.colRange(new Range(mWidth / 2, mWidth)));
|
||||
List<MatOfPoint> border = new ArrayList<MatOfPoint>();
|
||||
final int shift = (int)(mWidth * 0.005);
|
||||
border.add(new MatOfPoint(new Point(mWidth / 2 - shift, 0), new Point(mWidth / 2 + shift, 0),
|
||||
new Point(mWidth / 2 + shift, mHeight), new Point(mWidth / 2 - shift, mHeight)));
|
||||
Core.fillPoly(comparisonFrame, border, new Scalar(255, 255, 255));
|
||||
|
||||
Core.putText(comparisonFrame, mResources.getString(R.string.original), new Point(mWidth * 0.1, mHeight * 0.1),
|
||||
Core.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar(255, 255, 0));
|
||||
Core.putText(comparisonFrame, mResources.getString(R.string.undistorted), new Point(mWidth * 0.6, mHeight * 0.1),
|
||||
Core.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar(255, 255, 0));
|
||||
|
||||
return comparisonFrame;
|
||||
}
|
||||
}
|
||||
|
||||
class OnCameraFrameRender {
|
||||
private FrameRender mFrameRender;
|
||||
public OnCameraFrameRender(FrameRender frameRender) {
|
||||
mFrameRender = frameRender;
|
||||
}
|
||||
public Mat render(CvCameraViewFrame inputFrame) {
|
||||
return mFrameRender.render(inputFrame);
|
||||
}
|
||||
}
|
||||
Loading…
Reference in New Issue
Block a user