mirror of https://github.com/opencv/opencv.git
Merge pull request #1070 from Daniil-Osokin:calibrationSampleAndroid
Andrey Pavlenko
12 years ago
committed by
OpenCV Buildbot
commit
646e817b36
13 changed files with 698 additions and 0 deletions
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<?xml version="1.0" encoding="UTF-8"?> |
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<classpath> |
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<classpathentry exported="true" kind="con" path="com.android.ide.eclipse.adt.LIBRARIES"/> |
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<classpathentry kind="con" path="com.android.ide.eclipse.adt.ANDROID_FRAMEWORK"/> |
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<classpathentry exported="true" kind="con" path="com.android.ide.eclipse.adt.DEPENDENCIES"/> |
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<classpathentry kind="src" path="src"/> |
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<classpathentry kind="src" path="gen"/> |
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<classpathentry kind="output" path="bin/classes"/> |
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</classpath> |
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@ -0,0 +1,33 @@ |
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<?xml version="1.0" encoding="UTF-8"?> |
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<projectDescription> |
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<name>OpenCV Sample - camera-calibration</name> |
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<comment></comment> |
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<projects> |
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</projects> |
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<buildSpec> |
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<buildCommand> |
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<name>com.android.ide.eclipse.adt.ResourceManagerBuilder</name> |
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<arguments> |
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</arguments> |
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</buildCommand> |
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<buildCommand> |
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<name>com.android.ide.eclipse.adt.PreCompilerBuilder</name> |
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<arguments> |
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</arguments> |
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</buildCommand> |
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<buildCommand> |
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<name>org.eclipse.jdt.core.javabuilder</name> |
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<arguments> |
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</arguments> |
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</buildCommand> |
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<buildCommand> |
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<name>com.android.ide.eclipse.adt.ApkBuilder</name> |
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<arguments> |
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</arguments> |
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</buildCommand> |
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</buildSpec> |
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<natures> |
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<nature>com.android.ide.eclipse.adt.AndroidNature</nature> |
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<nature>org.eclipse.jdt.core.javanature</nature> |
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</natures> |
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</projectDescription> |
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@ -0,0 +1,4 @@ |
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eclipse.preferences.version=1 |
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org.eclipse.jdt.core.compiler.codegen.targetPlatform=1.6 |
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org.eclipse.jdt.core.compiler.compliance=1.6 |
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org.eclipse.jdt.core.compiler.source=1.6 |
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@ -0,0 +1,38 @@ |
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<?xml version="1.0" encoding="utf-8"?> |
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<manifest xmlns:android="http://schemas.android.com/apk/res/android" |
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package="org.opencv.samples.cameracalibration" |
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android:versionCode="1" |
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android:versionName="1.0" > |
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|
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<application |
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android:label="@string/app_name" |
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android:icon="@drawable/icon" |
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android:theme="@android:style/Theme.NoTitleBar.Fullscreen" > |
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|
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<activity android:name="CameraCalibrationActivity" |
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android:label="@string/app_name" |
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android:screenOrientation="landscape" |
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android:configChanges="keyboardHidden|orientation" > |
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<intent-filter> |
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<action android:name="android.intent.action.MAIN" /> |
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<category android:name="android.intent.category.LAUNCHER" /> |
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</intent-filter> |
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</activity> |
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</application> |
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|
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<supports-screens android:resizeable="true" |
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android:smallScreens="true" |
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android:normalScreens="true" |
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android:largeScreens="true" |
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android:anyDensity="true" /> |
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|
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<uses-sdk android:minSdkVersion="8" android:targetSdkVersion="11" /> |
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|
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<uses-permission android:name="android.permission.CAMERA"/> |
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|
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<uses-feature android:name="android.hardware.camera" android:required="false"/> |
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<uses-feature android:name="android.hardware.camera.autofocus" android:required="false"/> |
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<uses-feature android:name="android.hardware.camera.front" android:required="false"/> |
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<uses-feature android:name="android.hardware.camera.front.autofocus" android:required="false"/> |
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|
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</manifest> |
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@ -0,0 +1,6 @@ |
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set(sample example-camera-calibration) |
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|
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add_android_project(${sample} "${CMAKE_CURRENT_SOURCE_DIR}" LIBRARY_DEPS ${OpenCV_BINARY_DIR} SDK_TARGET 11 ${ANDROID_SDK_TARGET}) |
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if(TARGET ${sample}) |
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add_dependencies(opencv_android_examples ${sample}) |
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endif() |
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|
After Width: | Height: | Size: 2.1 KiB |
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<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android" |
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xmlns:tools="http://schemas.android.com/tools" |
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xmlns:opencv="http://schemas.android.com/apk/res-auto" |
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android:layout_width="match_parent" |
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android:layout_height="match_parent" > |
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|
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<org.opencv.android.JavaCameraView |
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android:layout_width="fill_parent" |
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android:layout_height="fill_parent" |
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android:id="@+id/camera_calibration_java_surface_view" /> |
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|
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</LinearLayout> |
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@ -0,0 +1,22 @@ |
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<?xml version="1.0" encoding="utf-8"?> |
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<menu xmlns:android="http://schemas.android.com/apk/res/android" > |
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<group android:checkableBehavior="single"> |
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<item android:id="@+id/calibrate" |
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android:title="@string/action_calibrate" |
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android:showAsAction="ifRoom|withText" /> |
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<item android:id="@+id/preview_mode" |
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android:title="@string/preview_mode"> |
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<menu> |
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<group android:checkableBehavior="single"> |
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<item android:id="@+id/calibration" |
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android:title="@string/calibration" |
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android:checked="true" /> |
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<item android:id="@+id/undistortion" |
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android:title="@string/undistortion" /> |
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<item android:id="@+id/comparison" |
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android:title="@string/comparison" /> |
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</group> |
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</menu> |
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</item> |
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</group> |
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</menu> |
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@ -0,0 +1,18 @@ |
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<?xml version="1.0" encoding="utf-8"?> |
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<resources> |
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|
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<string name="app_name">OCV Camera Calibration</string> |
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<string name="action_calibrate">Calibrate</string> |
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<string name="calibration">Calibration</string> |
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<string name="undistortion">Undistortion</string> |
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<string name="comparison">Comparison</string> |
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<string name="preview_mode">Preview mode</string> |
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<string name="calibration_successful">Successfully calibrated!\nAvg. re-projection error:</string> |
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<string name="calibration_unsuccessful">Unsuccessful calibration.\nTry again</string> |
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<string name="more_samples">Please, capture more samples</string> |
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<string name="calibrating">Calibrating...</string> |
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<string name="please_wait">Please, wait</string> |
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<string name="original">Original</string> |
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<string name="undistorted">Undistorted</string> |
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|
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</resources> |
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@ -0,0 +1,69 @@ |
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package org.opencv.samples.cameracalibration; |
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|
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import org.opencv.core.Mat; |
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|
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import android.app.Activity; |
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import android.content.Context; |
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import android.content.SharedPreferences; |
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import android.util.Log; |
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|
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public abstract class CalibrationResult { |
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private static final String TAG = "OCVSample::CalibrationResult"; |
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|
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private static final int CAMERA_MATRIX_ROWS = 3; |
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private static final int CAMERA_MATRIX_COLS = 3; |
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private static final int DISTORTION_COEFFICIENTS_SIZE = 5; |
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|
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public static void save(Activity activity, Mat cameraMatrix, Mat distortionCoefficients) { |
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SharedPreferences sharedPref = activity.getPreferences(Context.MODE_PRIVATE); |
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SharedPreferences.Editor editor = sharedPref.edit(); |
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|
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double[] cameraMatrixArray = new double[CAMERA_MATRIX_ROWS * CAMERA_MATRIX_COLS]; |
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cameraMatrix.get(0, 0, cameraMatrixArray); |
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for (int i = 0; i < CAMERA_MATRIX_ROWS; i++) { |
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for (int j = 0; j < CAMERA_MATRIX_COLS; j++) { |
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Integer id = i * CAMERA_MATRIX_ROWS + j; |
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editor.putFloat(id.toString(), (float)cameraMatrixArray[id]); |
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} |
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} |
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|
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double[] distortionCoefficientsArray = new double[DISTORTION_COEFFICIENTS_SIZE]; |
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distortionCoefficients.get(0, 0, distortionCoefficientsArray); |
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int shift = CAMERA_MATRIX_ROWS * CAMERA_MATRIX_COLS; |
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for (Integer i = shift; i < DISTORTION_COEFFICIENTS_SIZE + shift; i++) { |
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editor.putFloat(i.toString(), (float)distortionCoefficientsArray[i-shift]); |
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} |
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|
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editor.commit(); |
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Log.i(TAG, "Saved camera matrix: " + cameraMatrix.dump()); |
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Log.i(TAG, "Saved distortion coefficients: " + distortionCoefficients.dump()); |
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} |
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|
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public static boolean tryLoad(Activity activity, Mat cameraMatrix, Mat distortionCoefficients) { |
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SharedPreferences sharedPref = activity.getPreferences(Context.MODE_PRIVATE); |
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if (sharedPref.getFloat("0", -1) == -1) { |
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Log.i(TAG, "No previous calibration results found"); |
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return false; |
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} |
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|
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double[] cameraMatrixArray = new double[CAMERA_MATRIX_ROWS * CAMERA_MATRIX_COLS]; |
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for (int i = 0; i < CAMERA_MATRIX_ROWS; i++) { |
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for (int j = 0; j < CAMERA_MATRIX_COLS; j++) { |
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Integer id = i * CAMERA_MATRIX_ROWS + j; |
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cameraMatrixArray[id] = sharedPref.getFloat(id.toString(), -1); |
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} |
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} |
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cameraMatrix.put(0, 0, cameraMatrixArray); |
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Log.i(TAG, "Loaded camera matrix: " + cameraMatrix.dump()); |
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|
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double[] distortionCoefficientsArray = new double[DISTORTION_COEFFICIENTS_SIZE]; |
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int shift = CAMERA_MATRIX_ROWS * CAMERA_MATRIX_COLS; |
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for (Integer i = shift; i < DISTORTION_COEFFICIENTS_SIZE + shift; i++) { |
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distortionCoefficientsArray[i - shift] = sharedPref.getFloat(i.toString(), -1); |
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} |
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distortionCoefficients.put(0, 0, distortionCoefficientsArray); |
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Log.i(TAG, "Loaded distortion coefficients: " + distortionCoefficients.dump()); |
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|
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return true; |
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} |
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} |
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@ -0,0 +1,216 @@ |
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// This sample is based on "Camera calibration With OpenCV" tutorial:
|
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// http://docs.opencv.org/doc/tutorials/calib3d/camera_calibration/camera_calibration.html
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//
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// It uses standard OpenCV asymmetric circles grid pattern 11x4:
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// https://github.com/Itseez/opencv/blob/2.4/doc/acircles_pattern.png.
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// The results are the camera matrix and 5 distortion coefficients.
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//
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// Tap on highlighted pattern to capture pattern corners for calibration.
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// Move pattern along the whole screen and capture data.
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//
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// When you've captured necessary amount of pattern corners (usually ~20 are enough),
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// press "Calibrate" button for performing camera calibration.
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|
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package org.opencv.samples.cameracalibration; |
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|
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import org.opencv.android.BaseLoaderCallback; |
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import org.opencv.android.CameraBridgeViewBase; |
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import org.opencv.android.CameraBridgeViewBase.CvCameraViewFrame; |
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import org.opencv.android.CameraBridgeViewBase.CvCameraViewListener2; |
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import org.opencv.android.LoaderCallbackInterface; |
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import org.opencv.android.OpenCVLoader; |
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import org.opencv.core.Mat; |
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|
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import android.app.Activity; |
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import android.app.ProgressDialog; |
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import android.content.res.Resources; |
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import android.os.AsyncTask; |
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import android.os.Bundle; |
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import android.util.Log; |
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import android.view.Menu; |
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import android.view.MenuItem; |
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import android.view.MotionEvent; |
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import android.view.SurfaceView; |
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import android.view.View; |
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import android.view.View.OnTouchListener; |
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import android.view.WindowManager; |
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import android.widget.Toast; |
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|
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public class CameraCalibrationActivity extends Activity implements CvCameraViewListener2, OnTouchListener { |
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private static final String TAG = "OCVSample::Activity"; |
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|
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private CameraBridgeViewBase mOpenCvCameraView; |
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private CameraCalibrator mCalibrator; |
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private OnCameraFrameRender mOnCameraFrameRender; |
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private int mWidth; |
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private int mHeight; |
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|
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private BaseLoaderCallback mLoaderCallback = new BaseLoaderCallback(this) { |
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@Override |
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public void onManagerConnected(int status) { |
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switch (status) { |
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case LoaderCallbackInterface.SUCCESS: |
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{ |
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Log.i(TAG, "OpenCV loaded successfully"); |
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mOpenCvCameraView.enableView(); |
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mOpenCvCameraView.setOnTouchListener(CameraCalibrationActivity.this); |
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} break; |
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default: |
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{ |
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super.onManagerConnected(status); |
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} break; |
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} |
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} |
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}; |
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|
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public CameraCalibrationActivity() { |
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Log.i(TAG, "Instantiated new " + this.getClass()); |
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} |
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|
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@Override |
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public void onCreate(Bundle savedInstanceState) { |
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Log.i(TAG, "called onCreate"); |
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super.onCreate(savedInstanceState); |
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getWindow().addFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON); |
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setContentView(R.layout.camera_calibration_surface_view); |
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mOpenCvCameraView = (CameraBridgeViewBase) findViewById(R.id.camera_calibration_java_surface_view); |
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mOpenCvCameraView.setVisibility(SurfaceView.VISIBLE); |
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mOpenCvCameraView.setCvCameraViewListener(this); |
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} |
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|
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@Override |
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public void onPause() |
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{ |
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super.onPause(); |
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if (mOpenCvCameraView != null) |
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mOpenCvCameraView.disableView(); |
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} |
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|
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@Override |
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public void onResume() |
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{ |
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super.onResume(); |
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OpenCVLoader.initAsync(OpenCVLoader.OPENCV_VERSION_2_4_2, this, mLoaderCallback); |
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} |
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public void onDestroy() { |
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super.onDestroy(); |
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if (mOpenCvCameraView != null) |
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mOpenCvCameraView.disableView(); |
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} |
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|
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@Override |
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public boolean onCreateOptionsMenu(Menu menu) { |
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super.onCreateOptionsMenu(menu); |
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getMenuInflater().inflate(R.menu.calibration, menu); |
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return true; |
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} |
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@Override |
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public boolean onPrepareOptionsMenu (Menu menu) { |
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super.onPrepareOptionsMenu(menu); |
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menu.findItem(R.id.preview_mode).setEnabled(true); |
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if (!mCalibrator.isCalibrated()) |
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menu.findItem(R.id.preview_mode).setEnabled(false); |
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return true; |
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} |
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|
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@Override |
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public boolean onOptionsItemSelected(MenuItem item) { |
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switch (item.getItemId()) { |
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case R.id.calibration: |
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mOnCameraFrameRender = |
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new OnCameraFrameRender(new CalibrationFrameRender(mCalibrator)); |
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item.setChecked(true); |
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return true; |
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case R.id.undistortion: |
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mOnCameraFrameRender = |
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new OnCameraFrameRender(new UndistortionFrameRender(mCalibrator)); |
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item.setChecked(true); |
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return true; |
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case R.id.comparison: |
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mOnCameraFrameRender = |
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new OnCameraFrameRender(new ComparisonFrameRender(mCalibrator, mWidth, mHeight, getResources())); |
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item.setChecked(true); |
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return true; |
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case R.id.calibrate: |
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final Resources res = getResources(); |
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if (mCalibrator.getCornersBufferSize() < 2) { |
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(Toast.makeText(this, res.getString(R.string.more_samples), Toast.LENGTH_SHORT)).show(); |
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return true; |
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} |
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|
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mOnCameraFrameRender = new OnCameraFrameRender(new PreviewFrameRender()); |
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new AsyncTask<Void, Void, Void>() { |
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private ProgressDialog calibrationProgress; |
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|
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@Override |
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protected void onPreExecute() { |
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calibrationProgress = new ProgressDialog(CameraCalibrationActivity.this); |
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calibrationProgress.setTitle(res.getString(R.string.calibrating)); |
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calibrationProgress.setMessage(res.getString(R.string.please_wait)); |
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calibrationProgress.setCancelable(false); |
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calibrationProgress.setIndeterminate(true); |
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calibrationProgress.show(); |
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} |
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|
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@Override |
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protected Void doInBackground(Void... arg0) { |
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mCalibrator.calibrate(); |
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return null; |
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} |
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|
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@Override |
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protected void onPostExecute(Void result) { |
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calibrationProgress.dismiss(); |
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mCalibrator.clearCorners(); |
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mOnCameraFrameRender = new OnCameraFrameRender(new CalibrationFrameRender(mCalibrator)); |
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String resultMessage = (mCalibrator.isCalibrated()) ? |
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res.getString(R.string.calibration_successful) + " " + mCalibrator.getAvgReprojectionError() : |
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res.getString(R.string.calibration_unsuccessful); |
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(Toast.makeText(CameraCalibrationActivity.this, resultMessage, Toast.LENGTH_SHORT)).show(); |
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|
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if (mCalibrator.isCalibrated()) { |
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CalibrationResult.save(CameraCalibrationActivity.this, |
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mCalibrator.getCameraMatrix(), mCalibrator.getDistortionCoefficients()); |
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} |
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} |
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}.execute(); |
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return true; |
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default: |
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return super.onOptionsItemSelected(item); |
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} |
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} |
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|
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public void onCameraViewStarted(int width, int height) { |
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if (mWidth != width || mHeight != height) { |
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mWidth = width; |
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mHeight = height; |
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mCalibrator = new CameraCalibrator(mWidth, mHeight); |
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if (CalibrationResult.tryLoad(this, mCalibrator.getCameraMatrix(), mCalibrator.getDistortionCoefficients())) { |
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mCalibrator.setCalibrated(); |
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} |
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|
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mOnCameraFrameRender = new OnCameraFrameRender(new CalibrationFrameRender(mCalibrator)); |
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} |
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} |
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|
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public void onCameraViewStopped() { |
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} |
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|
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public Mat onCameraFrame(CvCameraViewFrame inputFrame) { |
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return mOnCameraFrameRender.render(inputFrame); |
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} |
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|
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@Override |
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public boolean onTouch(View v, MotionEvent event) { |
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Log.d(TAG, "onTouch invoked"); |
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|
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mCalibrator.addCorners(); |
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return false; |
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} |
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} |
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@ -0,0 +1,169 @@ |
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package org.opencv.samples.cameracalibration; |
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|
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import java.util.ArrayList; |
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import java.util.List; |
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|
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import org.opencv.calib3d.Calib3d; |
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import org.opencv.core.Core; |
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import org.opencv.core.CvType; |
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import org.opencv.core.Mat; |
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import org.opencv.core.MatOfDouble; |
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import org.opencv.core.MatOfPoint2f; |
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import org.opencv.core.MatOfPoint3f; |
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import org.opencv.core.Point; |
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import org.opencv.core.Scalar; |
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import org.opencv.core.Size; |
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|
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import android.util.Log; |
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|
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public class CameraCalibrator { |
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private static final String TAG = "OCVSample::CameraCalibrator"; |
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|
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private final Size mPatternSize = new Size(4, 11); |
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private final int mCornersSize = (int)(mPatternSize.width * mPatternSize.height); |
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private boolean mPatternWasFound = false; |
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private MatOfPoint2f mCorners = new MatOfPoint2f(); |
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private List<Mat> mCornersBuffer = new ArrayList<Mat>(); |
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private boolean mIsCalibrated = false; |
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|
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private Mat mCameraMatrix = new Mat(); |
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private Mat mDistortionCoefficients = new Mat(); |
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private int mFlags; |
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private double mRms; |
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private double mSquareSize = 0.0181; |
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private Size mImageSize; |
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|
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public CameraCalibrator(int width, int height) { |
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mImageSize = new Size(width, height); |
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mFlags = Calib3d.CALIB_FIX_PRINCIPAL_POINT + |
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Calib3d.CALIB_ZERO_TANGENT_DIST + |
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Calib3d.CALIB_FIX_ASPECT_RATIO + |
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Calib3d.CALIB_FIX_K4 + |
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Calib3d.CALIB_FIX_K5; |
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Mat.eye(3, 3, CvType.CV_64FC1).copyTo(mCameraMatrix); |
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mCameraMatrix.put(0, 0, 1.0); |
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Mat.zeros(5, 1, CvType.CV_64FC1).copyTo(mDistortionCoefficients); |
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Log.i(TAG, "Instantiated new " + this.getClass()); |
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} |
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|
||||
public void processFrame(Mat grayFrame, Mat rgbaFrame) { |
||||
findPattern(grayFrame); |
||||
renderFrame(rgbaFrame); |
||||
} |
||||
|
||||
public void calibrate() { |
||||
ArrayList<Mat> rvecs = new ArrayList<Mat>(); |
||||
ArrayList<Mat> tvecs = new ArrayList<Mat>(); |
||||
Mat reprojectionErrors = new Mat(); |
||||
ArrayList<Mat> objectPoints = new ArrayList<Mat>(); |
||||
objectPoints.add(Mat.zeros(mCornersSize, 1, CvType.CV_32FC3)); |
||||
calcBoardCornerPositions(objectPoints.get(0)); |
||||
for (int i = 1; i < mCornersBuffer.size(); i++) { |
||||
objectPoints.add(objectPoints.get(0)); |
||||
} |
||||
|
||||
Calib3d.calibrateCamera(objectPoints, mCornersBuffer, mImageSize, |
||||
mCameraMatrix, mDistortionCoefficients, rvecs, tvecs, mFlags); |
||||
|
||||
mIsCalibrated = Core.checkRange(mCameraMatrix) |
||||
&& Core.checkRange(mDistortionCoefficients); |
||||
|
||||
mRms = computeReprojectionErrors(objectPoints, rvecs, tvecs, reprojectionErrors); |
||||
Log.i(TAG, String.format("Average re-projection error: %f", mRms)); |
||||
Log.i(TAG, "Camera matrix: " + mCameraMatrix.dump()); |
||||
Log.i(TAG, "Distortion coefficients: " + mDistortionCoefficients.dump()); |
||||
} |
||||
|
||||
public void clearCorners() { |
||||
mCornersBuffer.clear(); |
||||
} |
||||
|
||||
private void calcBoardCornerPositions(Mat corners) { |
||||
final int cn = 3; |
||||
float positions[] = new float[mCornersSize * cn]; |
||||
|
||||
for (int i = 0; i < mPatternSize.height; i++) { |
||||
for (int j = 0; j < mPatternSize.width * cn; j += cn) { |
||||
positions[(int) (i * mPatternSize.width * cn + j + 0)] = |
||||
(2 * (j / cn) + i % 2) * (float) mSquareSize; |
||||
positions[(int) (i * mPatternSize.width * cn + j + 1)] = |
||||
i * (float) mSquareSize; |
||||
positions[(int) (i * mPatternSize.width * cn + j + 2)] = 0; |
||||
} |
||||
} |
||||
corners.create(mCornersSize, 1, CvType.CV_32FC3); |
||||
corners.put(0, 0, positions); |
||||
} |
||||
|
||||
private double computeReprojectionErrors(List<Mat> objectPoints, |
||||
List<Mat> rvecs, List<Mat> tvecs, Mat perViewErrors) { |
||||
MatOfPoint2f cornersProjected = new MatOfPoint2f(); |
||||
double totalError = 0; |
||||
double error; |
||||
float viewErrors[] = new float[objectPoints.size()]; |
||||
|
||||
MatOfDouble distortionCoefficients = new MatOfDouble(mDistortionCoefficients); |
||||
int totalPoints = 0; |
||||
for (int i = 0; i < objectPoints.size(); i++) { |
||||
MatOfPoint3f points = new MatOfPoint3f(objectPoints.get(i)); |
||||
Calib3d.projectPoints(points, rvecs.get(i), tvecs.get(i), |
||||
mCameraMatrix, distortionCoefficients, cornersProjected); |
||||
error = Core.norm(mCornersBuffer.get(i), cornersProjected, Core.NORM_L2); |
||||
|
||||
int n = objectPoints.get(i).rows(); |
||||
viewErrors[i] = (float) Math.sqrt(error * error / n); |
||||
totalError += error * error; |
||||
totalPoints += n; |
||||
} |
||||
perViewErrors.create(objectPoints.size(), 1, CvType.CV_32FC1); |
||||
perViewErrors.put(0, 0, viewErrors); |
||||
|
||||
return Math.sqrt(totalError / totalPoints); |
||||
} |
||||
|
||||
private void findPattern(Mat grayFrame) { |
||||
mPatternWasFound = Calib3d.findCirclesGridDefault(grayFrame, mPatternSize, |
||||
mCorners, Calib3d.CALIB_CB_ASYMMETRIC_GRID); |
||||
} |
||||
|
||||
public void addCorners() { |
||||
if (mPatternWasFound) { |
||||
mCornersBuffer.add(mCorners.clone()); |
||||
} |
||||
} |
||||
|
||||
private void drawPoints(Mat rgbaFrame) { |
||||
Calib3d.drawChessboardCorners(rgbaFrame, mPatternSize, mCorners, mPatternWasFound); |
||||
} |
||||
|
||||
private void renderFrame(Mat rgbaFrame) { |
||||
drawPoints(rgbaFrame); |
||||
|
||||
Core.putText(rgbaFrame, "Captured: " + mCornersBuffer.size(), new Point(rgbaFrame.cols() / 3 * 2, rgbaFrame.rows() * 0.1), |
||||
Core.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar(255, 255, 0)); |
||||
} |
||||
|
||||
public Mat getCameraMatrix() { |
||||
return mCameraMatrix; |
||||
} |
||||
|
||||
public Mat getDistortionCoefficients() { |
||||
return mDistortionCoefficients; |
||||
} |
||||
|
||||
public int getCornersBufferSize() { |
||||
return mCornersBuffer.size(); |
||||
} |
||||
|
||||
public double getAvgReprojectionError() { |
||||
return mRms; |
||||
} |
||||
|
||||
public boolean isCalibrated() { |
||||
return mIsCalibrated; |
||||
} |
||||
|
||||
public void setCalibrated() { |
||||
mIsCalibrated = true; |
||||
} |
||||
} |
||||
@ -0,0 +1,102 @@ |
||||
package org.opencv.samples.cameracalibration; |
||||
|
||||
import java.util.ArrayList; |
||||
import java.util.List; |
||||
|
||||
import org.opencv.android.CameraBridgeViewBase.CvCameraViewFrame; |
||||
import org.opencv.core.Core; |
||||
import org.opencv.core.Mat; |
||||
import org.opencv.core.MatOfPoint; |
||||
import org.opencv.core.Point; |
||||
import org.opencv.core.Range; |
||||
import org.opencv.core.Scalar; |
||||
import org.opencv.imgproc.Imgproc; |
||||
|
||||
import android.content.res.Resources; |
||||
|
||||
abstract class FrameRender { |
||||
protected CameraCalibrator mCalibrator; |
||||
|
||||
public abstract Mat render(CvCameraViewFrame inputFrame); |
||||
} |
||||
|
||||
class PreviewFrameRender extends FrameRender { |
||||
@Override |
||||
public Mat render(CvCameraViewFrame inputFrame) { |
||||
return inputFrame.rgba(); |
||||
} |
||||
} |
||||
|
||||
class CalibrationFrameRender extends FrameRender { |
||||
public CalibrationFrameRender(CameraCalibrator calibrator) { |
||||
mCalibrator = calibrator; |
||||
} |
||||
|
||||
@Override |
||||
public Mat render(CvCameraViewFrame inputFrame) { |
||||
Mat rgbaFrame = inputFrame.rgba(); |
||||
Mat grayFrame = inputFrame.gray(); |
||||
mCalibrator.processFrame(grayFrame, rgbaFrame); |
||||
|
||||
return rgbaFrame; |
||||
} |
||||
} |
||||
|
||||
class UndistortionFrameRender extends FrameRender { |
||||
public UndistortionFrameRender(CameraCalibrator calibrator) { |
||||
mCalibrator = calibrator; |
||||
} |
||||
|
||||
@Override |
||||
public Mat render(CvCameraViewFrame inputFrame) { |
||||
Mat renderedFrame = new Mat(inputFrame.rgba().size(), inputFrame.rgba().type()); |
||||
Imgproc.undistort(inputFrame.rgba(), renderedFrame, |
||||
mCalibrator.getCameraMatrix(), mCalibrator.getDistortionCoefficients()); |
||||
|
||||
return renderedFrame; |
||||
} |
||||
} |
||||
|
||||
class ComparisonFrameRender extends FrameRender { |
||||
private int mWidth; |
||||
private int mHeight; |
||||
private Resources mResources; |
||||
public ComparisonFrameRender(CameraCalibrator calibrator, int width, int height, Resources resources) { |
||||
mCalibrator = calibrator; |
||||
mWidth = width; |
||||
mHeight = height; |
||||
mResources = resources; |
||||
} |
||||
|
||||
@Override |
||||
public Mat render(CvCameraViewFrame inputFrame) { |
||||
Mat undistortedFrame = new Mat(inputFrame.rgba().size(), inputFrame.rgba().type()); |
||||
Imgproc.undistort(inputFrame.rgba(), undistortedFrame, |
||||
mCalibrator.getCameraMatrix(), mCalibrator.getDistortionCoefficients()); |
||||
|
||||
Mat comparisonFrame = inputFrame.rgba(); |
||||
undistortedFrame.colRange(new Range(0, mWidth / 2)).copyTo(comparisonFrame.colRange(new Range(mWidth / 2, mWidth))); |
||||
List<MatOfPoint> border = new ArrayList<MatOfPoint>(); |
||||
final int shift = (int)(mWidth * 0.005); |
||||
border.add(new MatOfPoint(new Point(mWidth / 2 - shift, 0), new Point(mWidth / 2 + shift, 0), |
||||
new Point(mWidth / 2 + shift, mHeight), new Point(mWidth / 2 - shift, mHeight))); |
||||
Core.fillPoly(comparisonFrame, border, new Scalar(255, 255, 255)); |
||||
|
||||
Core.putText(comparisonFrame, mResources.getString(R.string.original), new Point(mWidth * 0.1, mHeight * 0.1), |
||||
Core.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar(255, 255, 0)); |
||||
Core.putText(comparisonFrame, mResources.getString(R.string.undistorted), new Point(mWidth * 0.6, mHeight * 0.1), |
||||
Core.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar(255, 255, 0)); |
||||
|
||||
return comparisonFrame; |
||||
} |
||||
} |
||||
|
||||
class OnCameraFrameRender { |
||||
private FrameRender mFrameRender; |
||||
public OnCameraFrameRender(FrameRender frameRender) { |
||||
mFrameRender = frameRender; |
||||
} |
||||
public Mat render(CvCameraViewFrame inputFrame) { |
||||
return mFrameRender.render(inputFrame); |
||||
} |
||||
} |
||||
Loading…
Reference in new issue