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Improvements in camera_calibration tutorial code

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This commit is contained in:
Vladislav Sovrasov 2016-08-04 14:10:15 +03:00
parent 6a69852df1
commit 46c8b09453
2 changed files with 81 additions and 32 deletions
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100
samples/cpp/tutorial_code/calib3d/camera_calibration/camera_calibration.cpp
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@ -1,7 +1,8 @@
#include <iostream> #include <iostream>
#include <sstream> #include <sstream>
#include <time.h> #include <string>
#include <stdio.h> #include <ctime>
#include <cstdio>
#include <opencv2/core.hpp> #include <opencv2/core.hpp>
#include <opencv2/core/utility.hpp> #include <opencv2/core/utility.hpp>
@ -11,10 +12,6 @@
#include <opencv2/videoio.hpp> #include <opencv2/videoio.hpp>
#include <opencv2/highgui.hpp> #include <opencv2/highgui.hpp>
#ifndef _CRT_SECURE_NO_WARNINGS
# define _CRT_SECURE_NO_WARNINGS
#endif
using namespace cv; using namespace cv;
using namespace std; using namespace std;
@ -73,6 +70,12 @@ public:
node["Show_UndistortedImage"] >> showUndistorsed; node["Show_UndistortedImage"] >> showUndistorsed;
node["Input"] >> input; node["Input"] >> input;
node["Input_Delay"] >> delay; node["Input_Delay"] >> delay;
node["Fix_K1"] >> fixK1;
node["Fix_K2"] >> fixK2;
node["Fix_K3"] >> fixK3;
node["Fix_K4"] >> fixK4;
node["Fix_K5"] >> fixK5;
validate(); validate();
} }
void validate() void validate()
@ -127,16 +130,23 @@ public:
goodInput = false; goodInput = false;
} }
flag = CALIB_FIX_K4 | CALIB_FIX_K5; flag = 0;
if(calibFixPrincipalPoint) flag |= CALIB_FIX_PRINCIPAL_POINT; if(calibFixPrincipalPoint) flag |= CALIB_FIX_PRINCIPAL_POINT;
if(calibZeroTangentDist) flag |= CALIB_ZERO_TANGENT_DIST; if(calibZeroTangentDist) flag |= CALIB_ZERO_TANGENT_DIST;
if(aspectRatio) flag |= CALIB_FIX_ASPECT_RATIO; if(aspectRatio) flag |= CALIB_FIX_ASPECT_RATIO;
if(fixK1) flag |= CALIB_FIX_K1;
if(fixK2) flag |= CALIB_FIX_K2;
if(fixK3) flag |= CALIB_FIX_K3;
if(fixK4) flag |= CALIB_FIX_K4;
if(fixK5) flag |= CALIB_FIX_K5;
if (useFisheye) { if (useFisheye) {
// the fisheye model has its own enum, so overwrite the flags // the fisheye model has its own enum, so overwrite the flags
flag = fisheye::CALIB_FIX_SKEW | fisheye::CALIB_RECOMPUTE_EXTRINSIC | flag = fisheye::CALIB_FIX_SKEW | fisheye::CALIB_RECOMPUTE_EXTRINSIC;
// fisheye::CALIB_FIX_K1 | if(fixK1) flag |= fisheye::CALIB_FIX_K1;
fisheye::CALIB_FIX_K2 | fisheye::CALIB_FIX_K3 | fisheye::CALIB_FIX_K4; if(fixK2) flag |= fisheye::CALIB_FIX_K2;
if(fixK3) flag |= fisheye::CALIB_FIX_K3;
if(fixK4) flag |= fisheye::CALIB_FIX_K4;
} }
calibrationPattern = NOT_EXISTING; calibrationPattern = NOT_EXISTING;
@ -196,6 +206,11 @@ public:
bool showUndistorsed; // Show undistorted images after calibration bool showUndistorsed; // Show undistorted images after calibration
string input; // The input -> string input; // The input ->
bool useFisheye; // use fisheye camera model for calibration bool useFisheye; // use fisheye camera model for calibration
bool fixK1; // fix K1 distortion coefficient
bool fixK2; // fix K2 distortion coefficient
bool fixK3; // fix K3 distortion coefficient
bool fixK4; // fix K4 distortion coefficient
bool fixK5; // fix K5 distortion coefficient
int cameraID; int cameraID;
vector<string> imageList; vector<string> imageList;
@ -369,7 +384,10 @@ int main(int argc, char* argv[])
if( mode == CALIBRATED && s.showUndistorsed ) if( mode == CALIBRATED && s.showUndistorsed )
{ {
Mat temp = view.clone(); Mat temp = view.clone();
undistort(temp, view, cameraMatrix, distCoeffs); if (s.useFisheye)
cv::fisheye::undistortImage(temp, view, cameraMatrix, distCoeffs);
else
undistort(temp, view, cameraMatrix, distCoeffs);
} }
//! [output_undistorted] //! [output_undistorted]
//------------------------------ Show image and check for input commands ------------------- //------------------------------ Show image and check for input commands -------------------
@ -567,25 +585,31 @@ static void saveCameraParams( Settings& s, Size& imageSize, Mat& cameraMatrix, M
if (s.flag) if (s.flag)
{ {
std::stringstream flagsStringStream;
if (s.useFisheye) if (s.useFisheye)
{ {
sprintf(buf, "flags:%s%s%s%s%s%s", flagsStringStream << "flags:"
s.flag & fisheye::CALIB_FIX_SKEW ? " +fix_skew" : "", << (s.flag & fisheye::CALIB_FIX_SKEW ? " +fix_skew" : "")
s.flag & fisheye::CALIB_FIX_K1 ? " +fix_k1" : "", << (s.flag & fisheye::CALIB_FIX_K1 ? " +fix_k1" : "")
s.flag & fisheye::CALIB_FIX_K2 ? " +fix_k2" : "", << (s.flag & fisheye::CALIB_FIX_K2 ? " +fix_k2" : "")
s.flag & fisheye::CALIB_FIX_K3 ? " +fix_k3" : "", << (s.flag & fisheye::CALIB_FIX_K3 ? " +fix_k3" : "")
s.flag & fisheye::CALIB_FIX_K4 ? " +fix_k4" : "", << (s.flag & fisheye::CALIB_FIX_K4 ? " +fix_k4" : "")
s.flag & fisheye::CALIB_RECOMPUTE_EXTRINSIC ? " +recompute_extrinsic" : ""); << (s.flag & fisheye::CALIB_RECOMPUTE_EXTRINSIC ? " +recompute_extrinsic" : "");
} }
else else
{ {
sprintf(buf, "flags:%s%s%s%s", flagsStringStream << "flags:"
s.flag & CALIB_USE_INTRINSIC_GUESS ? " +use_intrinsic_guess" : "", << (s.flag & CALIB_USE_INTRINSIC_GUESS ? " +use_intrinsic_guess" : "")
s.flag & CALIB_FIX_ASPECT_RATIO ? " +fix_aspectRatio" : "", << (s.flag & CALIB_FIX_ASPECT_RATIO ? " +fix_aspectRatio" : "")
s.flag & CALIB_FIX_PRINCIPAL_POINT ? " +fix_principal_point" : "", << (s.flag & CALIB_FIX_PRINCIPAL_POINT ? " +fix_principal_point" : "")
s.flag & CALIB_ZERO_TANGENT_DIST ? " +zero_tangent_dist" : ""); << (s.flag & CALIB_ZERO_TANGENT_DIST ? " +zero_tangent_dist" : "")
<< (s.flag & CALIB_FIX_K1 ? " +fix_k1" : "")
<< (s.flag & CALIB_FIX_K2 ? " +fix_k2" : "")
<< (s.flag & CALIB_FIX_K3 ? " +fix_k3" : "")
<< (s.flag & CALIB_FIX_K4 ? " +fix_k4" : "")
<< (s.flag & CALIB_FIX_K5 ? " +fix_k5" : "");
} }
cvWriteComment(*fs, buf, 0); fs.writeComment(flagsStringStream.str());
} }
fs << "flags" << s.flag; fs << "flags" << s.flag;
@ -602,19 +626,33 @@ static void saveCameraParams( Settings& s, Size& imageSize, Mat& cameraMatrix, M
if(s.writeExtrinsics && !rvecs.empty() && !tvecs.empty() ) if(s.writeExtrinsics && !rvecs.empty() && !tvecs.empty() )
{ {
CV_Assert(rvecs[0].type() == tvecs[0].type()); CV_Assert(rvecs[0].type() == tvecs[0].type());
Mat bigmat((int)rvecs.size(), 6, rvecs[0].type()); Mat bigmat((int)rvecs.size(), 6, CV_MAKETYPE(rvecs[0].type(), 1));
bool needReshapeR = rvecs[0].depth() != 1 ? true : false;
bool needReshapeT = tvecs[0].depth() != 1 ? true : false;
for( size_t i = 0; i < rvecs.size(); i++ ) for( size_t i = 0; i < rvecs.size(); i++ )
{ {
Mat r = bigmat(Range(int(i), int(i+1)), Range(0,3)); Mat r = bigmat(Range(int(i), int(i+1)), Range(0,3));
Mat t = bigmat(Range(int(i), int(i+1)), Range(3,6)); Mat t = bigmat(Range(int(i), int(i+1)), Range(3,6));
CV_Assert(rvecs[i].rows == 3 && rvecs[i].cols == 1); if(needReshapeR)
CV_Assert(tvecs[i].rows == 3 && tvecs[i].cols == 1); rvecs[i].reshape(1, 1).copyTo(r);
//*.t() is MatExpr (not Mat) so we can use assignment operator else
r = rvecs[i].t(); {
t = tvecs[i].t(); //*.t() is MatExpr (not Mat) so we can use assignment operator
CV_Assert(rvecs[i].rows == 3 && rvecs[i].cols == 1);
r = rvecs[i].t();
}
if(needReshapeT)
tvecs[i].reshape(1, 1).copyTo(t);
else
{
CV_Assert(tvecs[i].rows == 3 && tvecs[i].cols == 1);
t = tvecs[i].t();
}
} }
//cvWriteComment( *fs, "a set of 6-tuples (rotation vector + translation vector) for each view", 0 ); fs.writeComment("a set of 6-tuples (rotation vector + translation vector) for each view");
fs << "extrinsic_parameters" << bigmat; fs << "extrinsic_parameters" << bigmat;
} }

13
samples/cpp/tutorial_code/calib3d/camera_calibration/in_VID5.xml
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@ -41,6 +41,17 @@
<Write_extrinsicParameters>1</Write_extrinsicParameters> <Write_extrinsicParameters>1</Write_extrinsicParameters>
<!-- If true (non-zero) we show after calibration the undistorted images.--> <!-- If true (non-zero) we show after calibration the undistorted images.-->
<Show_UndistortedImage>1</Show_UndistortedImage> <Show_UndistortedImage>1</Show_UndistortedImage>
<!-- If true (non-zero) will be used fisheye camera model.-->
<Calibrate_UseFisheyeModel>0</Calibrate_UseFisheyeModel>
<!-- If true (non-zero) distortion coefficient k1 will be equals to zero.-->
<Fix_K1>0</Fix_K1>
<!-- If true (non-zero) distortion coefficient k2 will be equals to zero.-->
<Fix_K2>0</Fix_K2>
<!-- If true (non-zero) distortion coefficient k3 will be equals to zero.-->
<Fix_K3>0</Fix_K3>
<!-- If true (non-zero) distortion coefficient k4 will be equals to zero.-->
<Fix_K4>1</Fix_K4>
<!-- If true (non-zero) distortion coefficient k5 will be equals to zero.-->
<Fix_K5>1</Fix_K5>
</Settings> </Settings>
</opencv_storage> </opencv_storage>