Chiebot-Mirror
/
opencv
mirror of https://github.com/opencv/opencv.git
8
0
Fork 0
Code Issues Projects Releases Wiki Activity

Merge pull request #22444 from catree:feat_calibrate_camera_exe_initial_guess_4.x

Browse Source 
Add flag to pass initial guess for camera intrinsics into the calibration exe
pull/22540/head
Alexander Smorkalov 2 years ago committed by GitHub
parent a6274647a4 1852d0b9b8
commit 0f1cb5ad7c
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 49 additions and 13 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 62
      samples/cpp/calibration.cpp

62
samples/cpp/calibration.cpp
Unescape View File

@ -38,9 +38,6 @@ const char * usage =
"</images>\n"
"</opencv_storage>\n";
const char* liveCaptureHelp =
"When the live video from camera is used as input, the following hot-keys may be used:\n"
" <ESC>, 'q' - quit the program\n"
@ -59,19 +56,25 @@ static void help(char** argv)
" # of board views actually available)\n"
" [-d=<delay>] # a minimum delay in ms between subsequent attempts to capture a next view\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"
" [-op] # write detected feature points\n"
" [-oe] # write extrinsic parameters\n"
" [-oo] # write refined 3D object points\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"
" [-v] # flip the captured images around the horizontal axis\n"
" [-V] # use a video file, and not an image list, uses\n"
" # [input_data] string for the video file name\n"
" [-su] # show undistorted images after calibration\n"
" [-ws=<number_of_pixel>] # Half of search window for cornerSubPix (11 by default)\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"
" [-dt=<distance>] # actual distance between top-left and top-right corners of\n"
" # the calibration grid. If this parameter is specified, a more\n"
" # accurate calibration method will be used which may be better\n"
@ -151,7 +154,6 @@ static bool runCalibration( vector<vector<Point2f> > imagePoints,
vector<Point3f>& newObjPoints,
double& totalAvgErr)
{
cameraMatrix = Mat::eye(3, 3, CV_64F);
if( flags & CALIB_FIX_ASPECT_RATIO )
cameraMatrix.at<double>(0,0) = aspectRatio;
@ -170,7 +172,7 @@ static bool runCalibration( vector<vector<Point2f> > imagePoints,
iFixedPoint = boardSize.width - 1;
rms = calibrateCameraRO(objectPoints, imagePoints, imageSize, iFixedPoint,
cameraMatrix, distCoeffs, rvecs, tvecs, newObjPoints,
flags | CALIB_FIX_K3 | CALIB_USE_LU);
flags | CALIB_USE_LU);
printf("RMS error reported by calibrateCamera: %g\n", rms);
bool ok = checkRange(cameraMatrix) && checkRange(distCoeffs);
@ -191,7 +193,6 @@ static bool runCalibration( vector<vector<Point2f> > imagePoints,
return ok;
}
static void saveCameraParams( const string& filename,
Size imageSize, Size boardSize,
float squareSize, float aspectRatio, int flags,
@ -346,7 +347,6 @@ static bool runAndSave(const string& outputFilename,
return ok;
}
int main( int argc, char** argv )
{
Size boardSize, imageSize;
@ -375,6 +375,8 @@ int main( int argc, char** argv )
"{help ||}{w||}{h||}{pt|chessboard|}{n|10|}{d|1000|}{s|1|}{o|out_camera_data.yml|}"
"{op||}{oe||}{zt||}{a||}{p||}{v||}{V||}{su||}"
"{oo||}{ws|11|}{dt||}"
"{fx||}{fy||}{cx||}{cy||}"
"{imshow-scale|1|}{enable-k3|0|}"
"{@input_data|0|}");
if (parser.has("help"))
{
@ -419,6 +421,23 @@ int main( int argc, char** argv )
else
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;
}
float grid_width = squareSize * (boardSize.width - 1);
bool release_object = false;
if (parser.has("dt")) {
@ -554,8 +573,17 @@ int main( int argc, char** argv )
Mat temp = view.clone();
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);
if( key == 27 )
@ -596,9 +624,17 @@ int main( int argc, char** argv )
view = imread(imageList[i], 1);
if(view.empty())
continue;
//undistort( view, rview, cameraMatrix, distCoeffs, cameraMatrix );
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();
if( c == 27 || c == 'q' || c == 'Q' )
break;

Write Preview
Loading…
Cancel
Save