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Add flags to set the camera intrinsic parameters as an initial guess (can allow converging to the correct camera intrinsic parameters).

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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.
pull/22444/head
catree 2 years ago
parent 1fd45a1b85
commit 1852d0b9b8
1 changed files with 49 additions and 13 deletions
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  1. 62
      samples/cpp/calibration.cpp

62
samples/cpp/calibration.cpp
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@ -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;

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