mirror of
https://github.com/opencv/opencv.git
synced 2024-11-25 11:40:44 +08:00
334 lines
12 KiB
C++
334 lines
12 KiB
C++
#include <iostream>
|
|
#include <vector>
|
|
#include <algorithm>
|
|
#include <iterator>
|
|
|
|
#include "opencv2/calib3d/calib3d.hpp"
|
|
#include "opencv2/imgproc/imgproc.hpp"
|
|
#include "opencv2/highgui/highgui.hpp"
|
|
|
|
using namespace cv;
|
|
using namespace std;
|
|
void help()
|
|
{
|
|
printf( "\nThis code generates an artificial camera and artificial chessboard images,\n"
|
|
"and then calibrates. It is basically test code for calibration that shows\n"
|
|
"how to package calibration points and then calibrate the camera.\n"
|
|
"Usage:\n"
|
|
"./calibration_artificial\n\n");
|
|
}
|
|
namespace cv
|
|
{
|
|
|
|
/* copy of class defines int tests/cv/chessboardgenerator.h */
|
|
class ChessBoardGenerator
|
|
{
|
|
public:
|
|
double sensorWidth;
|
|
double sensorHeight;
|
|
size_t squareEdgePointsNum;
|
|
double min_cos;
|
|
mutable double cov;
|
|
Size patternSize;
|
|
int rendererResolutionMultiplier;
|
|
|
|
ChessBoardGenerator(const Size& patternSize = Size(8, 6));
|
|
Mat operator()(const Mat& bg, const Mat& camMat, const Mat& distCoeffs, vector<Point2f>& corners) const;
|
|
Size cornersSize() const;
|
|
private:
|
|
void generateEdge(const Point3f& p1, const Point3f& p2, vector<Point3f>& out) const;
|
|
Mat generageChessBoard(const Mat& bg, const Mat& camMat, const Mat& distCoeffs,
|
|
const Point3f& zero, const Point3f& pb1, const Point3f& pb2,
|
|
float sqWidth, float sqHeight, const vector<Point3f>& whole, vector<Point2f>& corners) const;
|
|
void generateBasis(Point3f& pb1, Point3f& pb2) const;
|
|
Point3f generateChessBoardCenter(const Mat& camMat, const Size& imgSize) const;
|
|
Mat rvec, tvec;
|
|
};
|
|
};
|
|
|
|
|
|
|
|
const Size imgSize(800, 600);
|
|
const Size brdSize(8, 7);
|
|
const size_t brds_num = 20;
|
|
|
|
template<class T> ostream& operator<<(ostream& out, const Mat_<T>& mat)
|
|
{
|
|
for(int j = 0; j < mat.rows; ++j)
|
|
for(int i = 0; i < mat.cols; ++i)
|
|
out << mat(j, i) << " ";
|
|
return out;
|
|
}
|
|
|
|
|
|
|
|
int main()
|
|
{
|
|
help();
|
|
cout << "Initializing background...";
|
|
Mat background(imgSize, CV_8UC3);
|
|
randu(background, Scalar::all(32), Scalar::all(255));
|
|
GaussianBlur(background, background, Size(5, 5), 2);
|
|
cout << "Done" << endl;
|
|
|
|
cout << "Initializing chess board generator...";
|
|
ChessBoardGenerator cbg(brdSize);
|
|
cbg.rendererResolutionMultiplier = 4;
|
|
cout << "Done" << endl;
|
|
|
|
/* camera params */
|
|
Mat_<double> camMat(3, 3);
|
|
camMat << 300., 0., background.cols/2., 0, 300., background.rows/2., 0., 0., 1.;
|
|
|
|
Mat_<double> distCoeffs(1, 5);
|
|
distCoeffs << 1.2, 0.2, 0., 0., 0.;
|
|
|
|
cout << "Generating chessboards...";
|
|
vector<Mat> boards(brds_num);
|
|
vector<Point2f> tmp;
|
|
for(size_t i = 0; i < brds_num; ++i)
|
|
cout << (boards[i] = cbg(background, camMat, distCoeffs, tmp), i) << " ";
|
|
cout << "Done" << endl;
|
|
|
|
vector<Point3f> chessboard3D;
|
|
for(int j = 0; j < cbg.cornersSize().height; ++j)
|
|
for(int i = 0; i < cbg.cornersSize().width; ++i)
|
|
chessboard3D.push_back(Point3i(i, j, 0));
|
|
|
|
/* init points */
|
|
vector< vector<Point3f> > objectPoints;
|
|
vector< vector<Point2f> > imagePoints;
|
|
|
|
cout << endl << "Finding chessboards' corners...";
|
|
for(size_t i = 0; i < brds_num; ++i)
|
|
{
|
|
cout << i;
|
|
namedWindow("Current chessboard"); imshow("Current chessboard", boards[i]); waitKey(100);
|
|
bool found = findChessboardCorners(boards[i], cbg.cornersSize(), tmp);
|
|
if (found)
|
|
{
|
|
imagePoints.push_back(tmp);
|
|
objectPoints.push_back(chessboard3D);
|
|
cout<< "-found ";
|
|
}
|
|
else
|
|
cout<< "-not-found ";
|
|
|
|
drawChessboardCorners(boards[i], cbg.cornersSize(), Mat(tmp), found);
|
|
imshow("Current chessboard", boards[i]); waitKey(1000);
|
|
}
|
|
cout << "Done" << endl;
|
|
cvDestroyAllWindows();
|
|
|
|
Mat camMat_est;
|
|
Mat distCoeffs_est;
|
|
vector<Mat> rvecs, tvecs;
|
|
|
|
cout << "Calibrating...";
|
|
double rep_err = calibrateCamera(objectPoints, imagePoints, imgSize, camMat_est, distCoeffs_est, rvecs, tvecs);
|
|
cout << "Done" << endl;
|
|
|
|
cout << endl << "Average Reprojection error: " << rep_err/brds_num/cbg.cornersSize().area() << endl;
|
|
cout << "==================================" << endl;
|
|
cout << "Original camera matrix:\n" << camMat << endl;
|
|
cout << "Original distCoeffs:\n" << distCoeffs << endl;
|
|
cout << "==================================" << endl;
|
|
cout << "Estiamted camera matrix:\n" << (Mat_<double>&)camMat_est << endl;
|
|
cout << "Estiamted distCoeffs:\n" << (Mat_<double>&)distCoeffs_est << endl;
|
|
|
|
return 0;
|
|
}
|
|
|
|
|
|
/////////////////////////////////////////////////////////////////////////////////////////////////
|
|
/////////////////////////////////////////////////////////////////////////////////////////////////
|
|
/////////////////////////////////////////////////////////////////////////////////////////////////
|
|
|
|
// Copy of tests/cv/src/chessboardgenerator code. Just do not want to add dependency.
|
|
|
|
|
|
ChessBoardGenerator::ChessBoardGenerator(const Size& _patternSize) : sensorWidth(32), sensorHeight(24),
|
|
squareEdgePointsNum(200), min_cos(sqrt(2.f)*0.5f), cov(0.5),
|
|
patternSize(_patternSize), rendererResolutionMultiplier(4), tvec(Mat::zeros(1, 3, CV_32F))
|
|
{
|
|
Rodrigues(Mat::eye(3, 3, CV_32F), rvec);
|
|
}
|
|
|
|
void cv::ChessBoardGenerator::generateEdge(const Point3f& p1, const Point3f& p2, vector<Point3f>& out) const
|
|
{
|
|
Point3f step = (p2 - p1) * (1.f/squareEdgePointsNum);
|
|
for(size_t n = 0; n < squareEdgePointsNum; ++n)
|
|
out.push_back( p1 + step * (float)n);
|
|
}
|
|
|
|
Size cv::ChessBoardGenerator::cornersSize() const
|
|
{
|
|
return Size(patternSize.width-1, patternSize.height-1);
|
|
}
|
|
|
|
struct Mult
|
|
{
|
|
float m;
|
|
Mult(int mult) : m((float)mult) {}
|
|
Point2f operator()(const Point2f& p)const { return p * m; }
|
|
};
|
|
|
|
void cv::ChessBoardGenerator::generateBasis(Point3f& pb1, Point3f& pb2) const
|
|
{
|
|
RNG& rng = theRNG();
|
|
|
|
Vec3f n;
|
|
for(;;)
|
|
{
|
|
n[0] = rng.uniform(-1.f, 1.f);
|
|
n[1] = rng.uniform(-1.f, 1.f);
|
|
n[2] = rng.uniform(-1.f, 1.f);
|
|
float len = (float)norm(n);
|
|
n[0]/=len;
|
|
n[1]/=len;
|
|
n[2]/=len;
|
|
|
|
if (fabs(n[2]) > min_cos)
|
|
break;
|
|
}
|
|
|
|
Vec3f n_temp = n; n_temp[0] += 100;
|
|
Vec3f b1 = n.cross(n_temp);
|
|
Vec3f b2 = n.cross(b1);
|
|
float len_b1 = (float)norm(b1);
|
|
float len_b2 = (float)norm(b2);
|
|
|
|
pb1 = Point3f(b1[0]/len_b1, b1[1]/len_b1, b1[2]/len_b1);
|
|
pb2 = Point3f(b2[0]/len_b1, b2[1]/len_b2, b2[2]/len_b2);
|
|
}
|
|
|
|
Mat cv::ChessBoardGenerator::generageChessBoard(const Mat& bg, const Mat& camMat, const Mat& distCoeffs,
|
|
const Point3f& zero, const Point3f& pb1, const Point3f& pb2,
|
|
float sqWidth, float sqHeight, const vector<Point3f>& whole,
|
|
vector<Point2f>& corners) const
|
|
{
|
|
vector< vector<Point> > squares_black;
|
|
for(int i = 0; i < patternSize.width; ++i)
|
|
for(int j = 0; j < patternSize.height; ++j)
|
|
if ( (i % 2 == 0 && j % 2 == 0) || (i % 2 != 0 && j % 2 != 0) )
|
|
{
|
|
vector<Point3f> pts_square3d;
|
|
vector<Point2f> pts_square2d;
|
|
|
|
Point3f p1 = zero + (i + 0) * sqWidth * pb1 + (j + 0) * sqHeight * pb2;
|
|
Point3f p2 = zero + (i + 1) * sqWidth * pb1 + (j + 0) * sqHeight * pb2;
|
|
Point3f p3 = zero + (i + 1) * sqWidth * pb1 + (j + 1) * sqHeight * pb2;
|
|
Point3f p4 = zero + (i + 0) * sqWidth * pb1 + (j + 1) * sqHeight * pb2;
|
|
generateEdge(p1, p2, pts_square3d);
|
|
generateEdge(p2, p3, pts_square3d);
|
|
generateEdge(p3, p4, pts_square3d);
|
|
generateEdge(p4, p1, pts_square3d);
|
|
|
|
projectPoints( Mat(pts_square3d), rvec, tvec, camMat, distCoeffs, pts_square2d);
|
|
squares_black.resize(squares_black.size() + 1);
|
|
vector<Point2f> temp;
|
|
approxPolyDP(Mat(pts_square2d), temp, 1.0, true);
|
|
transform(temp.begin(), temp.end(), back_inserter(squares_black.back()), Mult(rendererResolutionMultiplier));
|
|
}
|
|
|
|
/* calculate corners */
|
|
vector<Point3f> corners3d;
|
|
for(int j = 0; j < patternSize.height - 1; ++j)
|
|
for(int i = 0; i < patternSize.width - 1; ++i)
|
|
corners3d.push_back(zero + (i + 1) * sqWidth * pb1 + (j + 1) * sqHeight * pb2);
|
|
corners.clear();
|
|
projectPoints( Mat(corners3d), rvec, tvec, camMat, distCoeffs, corners);
|
|
|
|
vector<Point3f> whole3d;
|
|
vector<Point2f> whole2d;
|
|
generateEdge(whole[0], whole[1], whole3d);
|
|
generateEdge(whole[1], whole[2], whole3d);
|
|
generateEdge(whole[2], whole[3], whole3d);
|
|
generateEdge(whole[3], whole[0], whole3d);
|
|
projectPoints( Mat(whole3d), rvec, tvec, camMat, distCoeffs, whole2d);
|
|
vector<Point2f> temp_whole2d;
|
|
approxPolyDP(Mat(whole2d), temp_whole2d, 1.0, true);
|
|
|
|
vector< vector<Point > > whole_contour(1);
|
|
transform(temp_whole2d.begin(), temp_whole2d.end(),
|
|
back_inserter(whole_contour.front()), Mult(rendererResolutionMultiplier));
|
|
|
|
Mat result;
|
|
if (rendererResolutionMultiplier == 1)
|
|
{
|
|
result = bg.clone();
|
|
drawContours(result, whole_contour, -1, Scalar::all(255), CV_FILLED, CV_AA);
|
|
drawContours(result, squares_black, -1, Scalar::all(0), CV_FILLED, CV_AA);
|
|
}
|
|
else
|
|
{
|
|
Mat tmp;
|
|
resize(bg, tmp, bg.size() * rendererResolutionMultiplier);
|
|
drawContours(tmp, whole_contour, -1, Scalar::all(255), CV_FILLED, CV_AA);
|
|
drawContours(tmp, squares_black, -1, Scalar::all(0), CV_FILLED, CV_AA);
|
|
resize(tmp, result, bg.size(), 0, 0, INTER_AREA);
|
|
}
|
|
return result;
|
|
}
|
|
|
|
Mat cv::ChessBoardGenerator::operator ()(const Mat& bg, const Mat& camMat, const Mat& distCoeffs, vector<Point2f>& corners) const
|
|
{
|
|
cov = min(cov, 0.8);
|
|
double fovx, fovy, focalLen;
|
|
Point2d principalPoint;
|
|
double aspect;
|
|
calibrationMatrixValues( camMat, bg.size(), sensorWidth, sensorHeight,
|
|
fovx, fovy, focalLen, principalPoint, aspect);
|
|
|
|
RNG& rng = theRNG();
|
|
|
|
float d1 = static_cast<float>(rng.uniform(0.1, 10.0));
|
|
float ah = static_cast<float>(rng.uniform(-fovx/2 * cov, fovx/2 * cov) * CV_PI / 180);
|
|
float av = static_cast<float>(rng.uniform(-fovy/2 * cov, fovy/2 * cov) * CV_PI / 180);
|
|
|
|
Point3f p;
|
|
p.z = cos(ah) * d1;
|
|
p.x = sin(ah) * d1;
|
|
p.y = p.z * tan(av);
|
|
|
|
Point3f pb1, pb2;
|
|
generateBasis(pb1, pb2);
|
|
|
|
float cbHalfWidth = static_cast<float>(norm(p) * sin( min(fovx, fovy) * 0.5 * CV_PI / 180));
|
|
float cbHalfHeight = cbHalfWidth * patternSize.height / patternSize.width;
|
|
|
|
vector<Point3f> pts3d(4);
|
|
vector<Point2f> pts2d(4);
|
|
for(;;)
|
|
{
|
|
pts3d[0] = p + pb1 * cbHalfWidth + cbHalfHeight * pb2;
|
|
pts3d[1] = p + pb1 * cbHalfWidth - cbHalfHeight * pb2;
|
|
pts3d[2] = p - pb1 * cbHalfWidth - cbHalfHeight * pb2;
|
|
pts3d[3] = p - pb1 * cbHalfWidth + cbHalfHeight * pb2;
|
|
|
|
/* can remake with better perf */
|
|
projectPoints( Mat(pts3d), rvec, tvec, camMat, distCoeffs, pts2d);
|
|
|
|
bool inrect1 = pts2d[0].x < bg.cols && pts2d[0].y < bg.rows && pts2d[0].x > 0 && pts2d[0].y > 0;
|
|
bool inrect2 = pts2d[1].x < bg.cols && pts2d[1].y < bg.rows && pts2d[1].x > 0 && pts2d[1].y > 0;
|
|
bool inrect3 = pts2d[2].x < bg.cols && pts2d[2].y < bg.rows && pts2d[2].x > 0 && pts2d[2].y > 0;
|
|
bool inrect4 = pts2d[3].x < bg.cols && pts2d[3].y < bg.rows && pts2d[3].x > 0 && pts2d[3].y > 0;
|
|
|
|
if ( inrect1 && inrect2 && inrect3 && inrect4)
|
|
break;
|
|
|
|
cbHalfWidth*=0.8f;
|
|
cbHalfHeight = cbHalfWidth * patternSize.height / patternSize.width;
|
|
}
|
|
|
|
cbHalfWidth *= static_cast<float>(patternSize.width)/(patternSize.width + 1);
|
|
cbHalfHeight *= static_cast<float>(patternSize.height)/(patternSize.height + 1);
|
|
|
|
Point3f zero = p - pb1 * cbHalfWidth - cbHalfHeight * pb2;
|
|
float sqWidth = 2 * cbHalfWidth/patternSize.width;
|
|
float sqHeight = 2 * cbHalfHeight/patternSize.height;
|
|
|
|
return generageChessBoard(bg, camMat, distCoeffs, zero, pb1, pb2, sqWidth, sqHeight, pts3d, corners);
|
|
}
|
|
|