mirror of
https://github.com/opencv/opencv.git
synced 2024-11-25 19:50:38 +08:00
361 lines
12 KiB
C++
361 lines
12 KiB
C++
/*
|
|
* 3calibration.cpp -- Calibrate 3 cameras in a horizontal line together.
|
|
*/
|
|
|
|
#include "opencv2/calib3d/calib3d.hpp"
|
|
#include "opencv2/imgproc/imgproc.hpp"
|
|
#include "opencv2/imgcodecs/imgcodecs.hpp"
|
|
#include "opencv2/highgui/highgui.hpp"
|
|
#include "opencv2/core/utility.hpp"
|
|
|
|
#include <stdio.h>
|
|
#include <string.h>
|
|
#include <time.h>
|
|
|
|
using namespace cv;
|
|
using namespace std;
|
|
|
|
enum { DETECTION = 0, CAPTURING = 1, CALIBRATED = 2 };
|
|
|
|
static void help()
|
|
{
|
|
printf( "\nThis is a camera calibration sample that calibrates 3 horizontally placed cameras together.\n"
|
|
"Usage: 3calibration\n"
|
|
" -w=<board_width> # the number of inner corners per one of board dimension\n"
|
|
" -h=<board_height> # the number of inner corners per another board dimension\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"
|
|
" [-zt] # assume zero tangential distortion\n"
|
|
" [-a=<aspectRatio>] # fix aspect ratio (fx/fy)\n"
|
|
" [-p] # fix the principal point at the center\n"
|
|
" [input_data] # input data - text file with a list of the images of the board\n"
|
|
"\n" );
|
|
|
|
}
|
|
|
|
static void calcChessboardCorners(Size boardSize, float squareSize, vector<Point3f>& corners)
|
|
{
|
|
corners.resize(0);
|
|
|
|
for( int i = 0; i < boardSize.height; i++ )
|
|
for( int j = 0; j < boardSize.width; j++ )
|
|
corners.push_back(Point3f(float(j*squareSize),
|
|
float(i*squareSize), 0));
|
|
}
|
|
|
|
static bool run3Calibration(vector<vector<Point2f> > imagePoints1,
|
|
vector<vector<Point2f> > imagePoints2,
|
|
vector<vector<Point2f> > imagePoints3,
|
|
Size imageSize, Size boardSize,
|
|
float squareSize, float aspectRatio,
|
|
int flags,
|
|
Mat& cameraMatrix1, Mat& distCoeffs1,
|
|
Mat& cameraMatrix2, Mat& distCoeffs2,
|
|
Mat& cameraMatrix3, Mat& distCoeffs3,
|
|
Mat& R12, Mat& T12, Mat& R13, Mat& T13)
|
|
{
|
|
int c, i;
|
|
|
|
// step 1: calibrate each camera individually
|
|
vector<vector<Point3f> > objpt(1);
|
|
vector<vector<Point2f> > imgpt;
|
|
calcChessboardCorners(boardSize, squareSize, objpt[0]);
|
|
vector<Mat> rvecs, tvecs;
|
|
|
|
for( c = 1; c <= 3; c++ )
|
|
{
|
|
const vector<vector<Point2f> >& imgpt0 = c == 1 ? imagePoints1 : c == 2 ? imagePoints2 : imagePoints3;
|
|
imgpt.clear();
|
|
int N = 0;
|
|
for( i = 0; i < (int)imgpt0.size(); i++ )
|
|
if( !imgpt0[i].empty() )
|
|
{
|
|
imgpt.push_back(imgpt0[i]);
|
|
N += (int)imgpt0[i].size();
|
|
}
|
|
|
|
if( imgpt.size() < 3 )
|
|
{
|
|
printf("Error: not enough views for camera %d\n", c);
|
|
return false;
|
|
}
|
|
|
|
objpt.resize(imgpt.size(),objpt[0]);
|
|
|
|
Mat cameraMatrix = Mat::eye(3, 3, CV_64F);
|
|
if( flags & CALIB_FIX_ASPECT_RATIO )
|
|
cameraMatrix.at<double>(0,0) = aspectRatio;
|
|
|
|
Mat distCoeffs = Mat::zeros(5, 1, CV_64F);
|
|
|
|
double err = calibrateCamera(objpt, imgpt, imageSize, cameraMatrix,
|
|
distCoeffs, rvecs, tvecs,
|
|
flags|CALIB_FIX_K3/*|CALIB_FIX_K4|CALIB_FIX_K5|CALIB_FIX_K6*/);
|
|
bool ok = checkRange(cameraMatrix) && checkRange(distCoeffs);
|
|
if(!ok)
|
|
{
|
|
printf("Error: camera %d was not calibrated\n", c);
|
|
return false;
|
|
}
|
|
printf("Camera %d calibration reprojection error = %g\n", c, sqrt(err/N));
|
|
|
|
if( c == 1 )
|
|
cameraMatrix1 = cameraMatrix, distCoeffs1 = distCoeffs;
|
|
else if( c == 2 )
|
|
cameraMatrix2 = cameraMatrix, distCoeffs2 = distCoeffs;
|
|
else
|
|
cameraMatrix3 = cameraMatrix, distCoeffs3 = distCoeffs;
|
|
}
|
|
|
|
vector<vector<Point2f> > imgpt_right;
|
|
|
|
// step 2: calibrate (1,2) and (3,2) pairs
|
|
for( c = 2; c <= 3; c++ )
|
|
{
|
|
const vector<vector<Point2f> >& imgpt0 = c == 2 ? imagePoints2 : imagePoints3;
|
|
|
|
imgpt.clear();
|
|
imgpt_right.clear();
|
|
int N = 0;
|
|
|
|
for( i = 0; i < (int)std::min(imagePoints1.size(), imgpt0.size()); i++ )
|
|
if( !imagePoints1.empty() && !imgpt0[i].empty() )
|
|
{
|
|
imgpt.push_back(imagePoints1[i]);
|
|
imgpt_right.push_back(imgpt0[i]);
|
|
N += (int)imgpt0[i].size();
|
|
}
|
|
|
|
if( imgpt.size() < 3 )
|
|
{
|
|
printf("Error: not enough shared views for cameras 1 and %d\n", c);
|
|
return false;
|
|
}
|
|
|
|
objpt.resize(imgpt.size(),objpt[0]);
|
|
Mat cameraMatrix = c == 2 ? cameraMatrix2 : cameraMatrix3;
|
|
Mat distCoeffs = c == 2 ? distCoeffs2 : distCoeffs3;
|
|
Mat R, T, E, F;
|
|
double err = stereoCalibrate(objpt, imgpt, imgpt_right, cameraMatrix1, distCoeffs1,
|
|
cameraMatrix, distCoeffs,
|
|
imageSize, R, T, E, F,
|
|
CALIB_FIX_INTRINSIC,
|
|
TermCriteria(TermCriteria::COUNT, 30, 0));
|
|
printf("Pair (1,%d) calibration reprojection error = %g\n", c, sqrt(err/(N*2)));
|
|
if( c == 2 )
|
|
{
|
|
cameraMatrix2 = cameraMatrix;
|
|
distCoeffs2 = distCoeffs;
|
|
R12 = R; T12 = T;
|
|
}
|
|
else
|
|
{
|
|
R13 = R; T13 = T;
|
|
}
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
static bool readStringList( const string& filename, vector<string>& l )
|
|
{
|
|
l.resize(0);
|
|
FileStorage fs(filename, FileStorage::READ);
|
|
if( !fs.isOpened() )
|
|
return false;
|
|
FileNode n = fs.getFirstTopLevelNode();
|
|
if( n.type() != FileNode::SEQ )
|
|
return false;
|
|
FileNodeIterator it = n.begin(), it_end = n.end();
|
|
for( ; it != it_end; ++it )
|
|
l.push_back((string)*it);
|
|
return true;
|
|
}
|
|
|
|
|
|
int main( int argc, char** argv )
|
|
{
|
|
int i, k;
|
|
int flags = 0;
|
|
Size boardSize, imageSize;
|
|
float squareSize, aspectRatio;
|
|
string outputFilename;
|
|
string inputFilename = "";
|
|
|
|
vector<vector<Point2f> > imgpt[3];
|
|
vector<string> imageList;
|
|
|
|
cv::CommandLineParser parser(argc, argv,
|
|
"{help ||}{w||}{h||}{s|1|}{o|out_camera_data.yml|}"
|
|
"{zt||}{a|1|}{p||}{@input||}");
|
|
if (parser.has("help"))
|
|
{
|
|
help();
|
|
return 0;
|
|
}
|
|
boardSize.width = parser.get<int>("w");
|
|
boardSize.height = parser.get<int>("h");
|
|
squareSize = parser.get<float>("s");
|
|
aspectRatio = parser.get<float>("a");
|
|
if (parser.has("a"))
|
|
flags |= CALIB_FIX_ASPECT_RATIO;
|
|
if (parser.has("zt"))
|
|
flags |= CALIB_ZERO_TANGENT_DIST;
|
|
if (parser.has("p"))
|
|
flags |= CALIB_FIX_PRINCIPAL_POINT;
|
|
outputFilename = parser.get<string>("o");
|
|
inputFilename = parser.get<string>("@input");
|
|
if (!parser.check())
|
|
{
|
|
help();
|
|
parser.printErrors();
|
|
return -1;
|
|
}
|
|
if (boardSize.width <= 0)
|
|
return fprintf( stderr, "Invalid board width\n" ), -1;
|
|
if (boardSize.height <= 0)
|
|
return fprintf( stderr, "Invalid board height\n" ), -1;
|
|
if (squareSize <= 0)
|
|
return fprintf( stderr, "Invalid board square width\n" ), -1;
|
|
if (aspectRatio <= 0)
|
|
return printf("Invalid aspect ratio\n" ), -1;
|
|
if( inputFilename.empty() ||
|
|
!readStringList(inputFilename, imageList) ||
|
|
imageList.size() == 0 || imageList.size() % 3 != 0 )
|
|
{
|
|
printf("Error: the input image list is not specified, or can not be read, or the number of files is not divisible by 3\n");
|
|
return -1;
|
|
}
|
|
|
|
Mat view, viewGray;
|
|
Mat cameraMatrix[3], distCoeffs[3], R[3], P[3], R12, T12;
|
|
for( k = 0; k < 3; k++ )
|
|
{
|
|
cameraMatrix[k] = Mat_<double>::eye(3,3);
|
|
cameraMatrix[k].at<double>(0,0) = aspectRatio;
|
|
cameraMatrix[k].at<double>(1,1) = 1;
|
|
distCoeffs[k] = Mat_<double>::zeros(5,1);
|
|
}
|
|
Mat R13=Mat_<double>::eye(3,3), T13=Mat_<double>::zeros(3,1);
|
|
|
|
FileStorage fs;
|
|
namedWindow( "Image View", 0 );
|
|
|
|
for( k = 0; k < 3; k++ )
|
|
imgpt[k].resize(imageList.size()/3);
|
|
|
|
for( i = 0; i < (int)(imageList.size()/3); i++ )
|
|
{
|
|
for( k = 0; k < 3; k++ )
|
|
{
|
|
int k1 = k == 0 ? 2 : k == 1 ? 0 : 1;
|
|
printf("%s\n", imageList[i*3+k].c_str());
|
|
view = imread(imageList[i*3+k], 1);
|
|
|
|
if(!view.empty())
|
|
{
|
|
vector<Point2f> ptvec;
|
|
imageSize = view.size();
|
|
cvtColor(view, viewGray, COLOR_BGR2GRAY);
|
|
bool found = findChessboardCorners( view, boardSize, ptvec, CALIB_CB_ADAPTIVE_THRESH );
|
|
|
|
drawChessboardCorners( view, boardSize, Mat(ptvec), found );
|
|
if( found )
|
|
{
|
|
imgpt[k1][i].resize(ptvec.size());
|
|
std::copy(ptvec.begin(), ptvec.end(), imgpt[k1][i].begin());
|
|
}
|
|
//imshow("view", view);
|
|
//int c = waitKey(0) & 255;
|
|
//if( c == 27 || c == 'q' || c == 'Q' )
|
|
// return -1;
|
|
}
|
|
}
|
|
}
|
|
|
|
printf("Running calibration ...\n");
|
|
|
|
run3Calibration(imgpt[0], imgpt[1], imgpt[2], imageSize,
|
|
boardSize, squareSize, aspectRatio, flags|CALIB_FIX_K4|CALIB_FIX_K5,
|
|
cameraMatrix[0], distCoeffs[0],
|
|
cameraMatrix[1], distCoeffs[1],
|
|
cameraMatrix[2], distCoeffs[2],
|
|
R12, T12, R13, T13);
|
|
|
|
fs.open(outputFilename, FileStorage::WRITE);
|
|
|
|
fs << "cameraMatrix1" << cameraMatrix[0];
|
|
fs << "cameraMatrix2" << cameraMatrix[1];
|
|
fs << "cameraMatrix3" << cameraMatrix[2];
|
|
|
|
fs << "distCoeffs1" << distCoeffs[0];
|
|
fs << "distCoeffs2" << distCoeffs[1];
|
|
fs << "distCoeffs3" << distCoeffs[2];
|
|
|
|
fs << "R12" << R12;
|
|
fs << "T12" << T12;
|
|
fs << "R13" << R13;
|
|
fs << "T13" << T13;
|
|
|
|
fs << "imageWidth" << imageSize.width;
|
|
fs << "imageHeight" << imageSize.height;
|
|
|
|
Mat Q;
|
|
|
|
// step 3: find rectification transforms
|
|
double ratio = rectify3Collinear(cameraMatrix[0], distCoeffs[0], cameraMatrix[1],
|
|
distCoeffs[1], cameraMatrix[2], distCoeffs[2],
|
|
imgpt[0], imgpt[2],
|
|
imageSize, R12, T12, R13, T13,
|
|
R[0], R[1], R[2], P[0], P[1], P[2], Q, -1.,
|
|
imageSize, 0, 0, CALIB_ZERO_DISPARITY);
|
|
Mat map1[3], map2[3];
|
|
|
|
fs << "R1" << R[0];
|
|
fs << "R2" << R[1];
|
|
fs << "R3" << R[2];
|
|
|
|
fs << "P1" << P[0];
|
|
fs << "P2" << P[1];
|
|
fs << "P3" << P[2];
|
|
|
|
fs << "disparityRatio" << ratio;
|
|
fs.release();
|
|
|
|
printf("Disparity ratio = %g\n", ratio);
|
|
|
|
for( k = 0; k < 3; k++ )
|
|
initUndistortRectifyMap(cameraMatrix[k], distCoeffs[k], R[k], P[k], imageSize, CV_16SC2, map1[k], map2[k]);
|
|
|
|
Mat canvas(imageSize.height, imageSize.width*3, CV_8UC3), small_canvas;
|
|
destroyWindow("view");
|
|
canvas = Scalar::all(0);
|
|
|
|
for( i = 0; i < (int)(imageList.size()/3); i++ )
|
|
{
|
|
canvas = Scalar::all(0);
|
|
for( k = 0; k < 3; k++ )
|
|
{
|
|
int k1 = k == 0 ? 2 : k == 1 ? 0 : 1;
|
|
int k2 = k == 0 ? 1 : k == 1 ? 0 : 2;
|
|
view = imread(imageList[i*3+k], 1);
|
|
|
|
if(view.empty())
|
|
continue;
|
|
|
|
Mat rview = canvas.colRange(k2*imageSize.width, (k2+1)*imageSize.width);
|
|
remap(view, rview, map1[k1], map2[k1], INTER_LINEAR);
|
|
}
|
|
printf("%s %s %s\n", imageList[i*3].c_str(), imageList[i*3+1].c_str(), imageList[i*3+2].c_str());
|
|
resize( canvas, small_canvas, Size(1500, 1500/3) );
|
|
for( k = 0; k < small_canvas.rows; k += 16 )
|
|
line(small_canvas, Point(0, k), Point(small_canvas.cols, k), Scalar(0,255,0), 1);
|
|
imshow("rectified", small_canvas);
|
|
int c = waitKey(0);
|
|
if( c == 27 || c == 'q' || c == 'Q' )
|
|
break;
|
|
}
|
|
|
|
return 0;
|
|
}
|