mirror/opencv
1
0
Fork 0
mirror of https://github.com/opencv/opencv.git synced 2025-08-01 02:18:01 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

Add -ws flag for cornerSubPix params (backported from 4.x).

Browse Source 
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.
This commit is contained in:
catree 2022-08-29 23:55:00 +02:00
parent 8eb4f72531
commit 837e41f9a7
1 changed files with 63 additions and 23 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

86
samples/cpp/calibration.cpp
View File

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