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https://github.com/opencv/opencv.git
synced 2025-07-31 01:47:12 +08:00
Add -ws flag for cornerSubPix params (backported from 4.x).
Add flags to set the camera intrinsic parameters as an initial guess (can allow converging to the correct camera intrinsic parameters). Add -imshow-scale flag to resize the image when displaying the results. Add -enable-k3 flag to enable or disable the estimation of the K3 distortion coefficient.
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catree
parent
8eb4f72531
commit
837e41f9a7
@ -10,6 +10,7 @@
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#include <stdio.h>
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#include <string.h>
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#include <time.h>
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#include <iostream>
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using namespace cv;
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using namespace std;
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@ -37,9 +38,6 @@ const char * usage =
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"</images>\n"
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"</opencv_storage>\n";
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const char* liveCaptureHelp =
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"When the live video from camera is used as input, the following hot-keys may be used:\n"
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" <ESC>, 'q' - quit the program\n"
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@ -58,17 +56,24 @@ static void help(char** argv)
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" # of board views actually available)\n"
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" [-d=<delay>] # a minimum delay in ms between subsequent attempts to capture a next view\n"
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" # (used only for video capturing)\n"
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" [-s=<squareSize>] # square size in some user-defined units (1 by default)\n"
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" [-s=<squareSize>] # square size in some user-defined units (1 by default)\n"
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" [-o=<out_camera_params>] # the output filename for intrinsic [and extrinsic] parameters\n"
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" [-op] # write detected feature points\n"
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" [-oe] # write extrinsic parameters\n"
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" [-zt] # assume zero tangential distortion\n"
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" [-a=<aspectRatio>] # fix aspect ratio (fx/fy)\n"
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" [-a=<aspectRatio>] # fix aspect ratio (fx/fy)\n"
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" [-p] # fix the principal point at the center\n"
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" [-v] # flip the captured images around the horizontal axis\n"
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" [-V] # use a video file, and not an image list, uses\n"
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" # [input_data] string for the video file name\n"
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" [-su] # show undistorted images after calibration\n"
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" [-ws=<number_of_pixel>] # half of search window for cornerSubPix (11 by default)\n"
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" [-fx=<X focal length>] # focal length in X-dir as an initial intrinsic guess (if this flag is used, fx, fy, cx, cy must be set)\n"
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" [-fy=<Y focal length>] # focal length in Y-dir as an initial intrinsic guess (if this flag is used, fx, fy, cx, cy must be set)\n"
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" [-cx=<X center point>] # camera center point in X-dir as an initial intrinsic guess (if this flag is used, fx, fy, cx, cy must be set)\n"
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" [-cy=<Y center point>] # camera center point in Y-dir as an initial intrinsic guess (if this flag is used, fx, fy, cx, cy must be set)\n"
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" [-imshow-scale # image resize scaling factor when displaying the results (must be >= 1)\n"
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" [-enable-k3=<0/1> # to enable (1) or disable (0) K3 coefficient for the distortion model\n"
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" [input_data] # input data, one of the following:\n"
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" # - text file with a list of the images of the board\n"
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" # the text file can be generated with imagelist_creator\n"
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@ -142,7 +147,6 @@ static bool runCalibration( vector<vector<Point2f> > imagePoints,
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vector<float>& reprojErrs,
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double& totalAvgErr)
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{
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cameraMatrix = Mat::eye(3, 3, CV_64F);
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if( flags & CALIB_FIX_ASPECT_RATIO )
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cameraMatrix.at<double>(0,0) = aspectRatio;
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@ -154,8 +158,7 @@ static bool runCalibration( vector<vector<Point2f> > imagePoints,
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objectPoints.resize(imagePoints.size(),objectPoints[0]);
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double rms = calibrateCamera(objectPoints, imagePoints, imageSize, cameraMatrix,
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distCoeffs, rvecs, tvecs, flags|CALIB_FIX_K4|CALIB_FIX_K5);
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///*|CALIB_FIX_K3*/|CALIB_FIX_K4|CALIB_FIX_K5);
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distCoeffs, rvecs, tvecs, flags | CALIB_USE_LU);
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printf("RMS error reported by calibrateCamera: %g\n", rms);
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bool ok = checkRange(cameraMatrix) && checkRange(distCoeffs);
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@ -166,7 +169,6 @@ static bool runCalibration( vector<vector<Point2f> > imagePoints,
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return ok;
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}
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static void saveCameraParams( const string& filename,
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Size imageSize, Size boardSize,
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float squareSize, float aspectRatio, int flags,
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@ -199,7 +201,7 @@ static void saveCameraParams( const string& filename,
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if( flags != 0 )
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{
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sprintf( buf, "flags: %s%s%s%s",
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snprintf( buf, sizeof(buf), "flags: %s%s%s%s",
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flags & CALIB_USE_INTRINSIC_GUESS ? "+use_intrinsic_guess" : "",
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flags & CALIB_FIX_ASPECT_RATIO ? "+fix_aspectRatio" : "",
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flags & CALIB_FIX_PRINCIPAL_POINT ? "+fix_principal_point" : "",
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@ -296,7 +298,7 @@ static bool runAndSave(const string& outputFilename,
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bool ok = runCalibration(imagePoints, imageSize, boardSize, patternType, squareSize,
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aspectRatio, flags, cameraMatrix, distCoeffs,
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rvecs, tvecs, reprojErrs, totalAvgErr);
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printf("%s. avg reprojection error = %.2f\n",
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printf("%s. avg reprojection error = %.7f\n",
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ok ? "Calibration succeeded" : "Calibration failed",
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totalAvgErr);
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@ -312,11 +314,10 @@ static bool runAndSave(const string& outputFilename,
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return ok;
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}
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int main( int argc, char** argv )
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{
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Size boardSize, imageSize;
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float squareSize, aspectRatio;
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float squareSize, aspectRatio = 1;
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Mat cameraMatrix, distCoeffs;
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string outputFilename;
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string inputFilename = "";
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@ -339,7 +340,10 @@ int main( int argc, char** argv )
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cv::CommandLineParser parser(argc, argv,
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"{help ||}{w||}{h||}{pt|chessboard|}{n|10|}{d|1000|}{s|1|}{o|out_camera_data.yml|}"
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"{op||}{oe||}{zt||}{a|1|}{p||}{v||}{V||}{su||}"
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"{op||}{oe||}{zt||}{a||}{p||}{v||}{V||}{su||}"
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"{ws|11|}"
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"{fx||}{fy||}{cx||}{cy||}"
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"{imshow-scale|1|}{enable-k3|1|}"
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"{@input_data|0|}");
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if (parser.has("help"))
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{
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@ -362,12 +366,13 @@ int main( int argc, char** argv )
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}
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squareSize = parser.get<float>("s");
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nframes = parser.get<int>("n");
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aspectRatio = parser.get<float>("a");
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delay = parser.get<int>("d");
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writePoints = parser.has("op");
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writeExtrinsics = parser.has("oe");
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if (parser.has("a"))
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if (parser.has("a")) {
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flags |= CALIB_FIX_ASPECT_RATIO;
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aspectRatio = parser.get<float>("a");
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}
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if ( parser.has("zt") )
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flags |= CALIB_ZERO_TANGENT_DIST;
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if ( parser.has("p") )
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@ -381,6 +386,24 @@ int main( int argc, char** argv )
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cameraId = parser.get<int>("@input_data");
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else
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inputFilename = parser.get<string>("@input_data");
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int winSize = parser.get<int>("ws");
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cameraMatrix = Mat::eye(3, 3, CV_64F);
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if (parser.has("fx") && parser.has("fy") && parser.has("cx") && parser.has("cy"))
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{
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cameraMatrix.at<double>(0,0) = parser.get<double>("fx");
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cameraMatrix.at<double>(0,2) = parser.get<double>("cx");
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cameraMatrix.at<double>(1,1) = parser.get<double>("fy");
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cameraMatrix.at<double>(1,2) = parser.get<double>("cy");
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flags |= CALIB_USE_INTRINSIC_GUESS;
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std::cout << "Use the following camera matrix as an initial guess:\n" << cameraMatrix << std::endl;
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}
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int viewScaleFactor = parser.get<int>("imshow-scale");
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bool useK3 = parser.get<bool>("enable-k3");
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std::cout << "Use K3 distortion coefficient? " << useK3 << std::endl;
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if (!useK3)
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{
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flags |= CALIB_FIX_K3;
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}
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if (!parser.check())
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{
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help(argv);
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@ -471,8 +494,8 @@ int main( int argc, char** argv )
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}
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// improve the found corners' coordinate accuracy
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if( pattern == CHESSBOARD && found) cornerSubPix( viewGray, pointbuf, Size(11,11),
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Size(-1,-1), TermCriteria( TermCriteria::EPS+TermCriteria::COUNT, 30, 0.1 ));
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if( pattern == CHESSBOARD && found) cornerSubPix( viewGray, pointbuf, Size(winSize,winSize),
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Size(-1,-1), TermCriteria( TermCriteria::EPS+TermCriteria::COUNT, 30, 0.0001 ));
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if( mode == CAPTURING && found &&
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(!capture.isOpened() || clock() - prevTimestamp > delay*1e-3*CLOCKS_PER_SEC) )
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@ -494,9 +517,9 @@ int main( int argc, char** argv )
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if( mode == CAPTURING )
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{
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if(undistortImage)
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msg = format( "%d/%d Undist", (int)imagePoints.size(), nframes );
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msg = cv::format( "%d/%d Undist", (int)imagePoints.size(), nframes );
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else
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msg = format( "%d/%d", (int)imagePoints.size(), nframes );
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msg = cv::format( "%d/%d", (int)imagePoints.size(), nframes );
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}
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putText( view, msg, textOrigin, 1, 1,
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@ -510,8 +533,17 @@ int main( int argc, char** argv )
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Mat temp = view.clone();
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undistort(temp, view, cameraMatrix, distCoeffs);
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}
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if (viewScaleFactor > 1)
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{
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Mat viewScale;
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resize(view, viewScale, Size(), 1.0/viewScaleFactor, 1.0/viewScaleFactor, INTER_AREA);
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imshow("Image View", viewScale);
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}
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else
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{
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imshow("Image View", view);
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}
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imshow("Image View", view);
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char key = (char)waitKey(capture.isOpened() ? 50 : 500);
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if( key == 27 )
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@ -552,9 +584,17 @@ int main( int argc, char** argv )
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view = imread(imageList[i], 1);
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if(view.empty())
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continue;
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//undistort( view, rview, cameraMatrix, distCoeffs, cameraMatrix );
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remap(view, rview, map1, map2, INTER_LINEAR);
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imshow("Image View", rview);
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if (viewScaleFactor > 1)
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{
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Mat rviewScale;
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resize(rview, rviewScale, Size(), 1.0/viewScaleFactor, 1.0/viewScaleFactor, INTER_AREA);
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imshow("Image View", rviewScale);
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}
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else
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{
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imshow("Image View", rview);
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}
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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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