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Merge pull request #22443 from catree:feat_calibrate_camera_exe_initial_guess

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pull/22511/head
Alexander Smorkalov 2 years ago
parent 8eb4f72531 837e41f9a7
commit 7834a465d5
1 changed files with 63 additions and 23 deletions
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  1. 86
      samples/cpp/calibration.cpp

86
samples/cpp/calibration.cpp
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@ -10,6 +10,7 @@
#include <stdio.h>
#include <string.h>
#include <time.h>
#include <iostream>
using namespace cv;
using namespace std;
@ -37,9 +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"
@ -58,17 +56,24 @@ 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"
" [-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"
" [-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"
" [input_data] # input data, one of the following:\n"
" # - text file with a list of the images of the board\n"
" # the text file can be generated with imagelist_creator\n"
@ -142,7 +147,6 @@ static bool runCalibration( vector<vector<Point2f> > imagePoints,
vector<float>& reprojErrs,
double& totalAvgErr)
{
cameraMatrix = Mat::eye(3, 3, CV_64F);
if( flags & CALIB_FIX_ASPECT_RATIO )
cameraMatrix.at<double>(0,0) = aspectRatio;
@ -154,8 +158,7 @@ static bool runCalibration( vector<vector<Point2f> > imagePoints,
objectPoints.resize(imagePoints.size(),objectPoints[0]);
double rms = calibrateCamera(objectPoints, imagePoints, imageSize, cameraMatrix,
distCoeffs, rvecs, tvecs, flags|CALIB_FIX_K4|CALIB_FIX_K5);
///*|CALIB_FIX_K3*/|CALIB_FIX_K4|CALIB_FIX_K5);
distCoeffs, rvecs, tvecs, flags | CALIB_USE_LU);
printf("RMS error reported by calibrateCamera: %g\n", rms);
bool ok = checkRange(cameraMatrix) && checkRange(distCoeffs);
@ -166,7 +169,6 @@ 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,
@ -199,7 +201,7 @@ static void saveCameraParams( const string& filename,
if( flags != 0 )
{
sprintf( buf, "flags: %s%s%s%s",
snprintf( buf, sizeof(buf), "flags: %s%s%s%s",
flags & CALIB_USE_INTRINSIC_GUESS ? "+use_intrinsic_guess" : "",
flags & CALIB_FIX_ASPECT_RATIO ? "+fix_aspectRatio" : "",
flags & CALIB_FIX_PRINCIPAL_POINT ? "+fix_principal_point" : "",
@ -296,7 +298,7 @@ static bool runAndSave(const string& outputFilename,
bool ok = runCalibration(imagePoints, imageSize, boardSize, patternType, squareSize,
aspectRatio, flags, cameraMatrix, distCoeffs,
rvecs, tvecs, reprojErrs, totalAvgErr);
printf("%s. avg reprojection error = %.2f\n",
printf("%s. avg reprojection error = %.7f\n",
ok ? "Calibration succeeded" : "Calibration failed",
totalAvgErr);
@ -312,11 +314,10 @@ static bool runAndSave(const string& outputFilename,
return ok;
}
int main( int argc, char** argv )
{
Size boardSize, imageSize;
float squareSize, aspectRatio;
float squareSize, aspectRatio = 1;
Mat cameraMatrix, distCoeffs;
string outputFilename;
string inputFilename = "";
@ -339,7 +340,10 @@ int main( int argc, char** argv )
cv::CommandLineParser parser(argc, argv,
"{help ||}{w||}{h||}{pt|chessboard|}{n|10|}{d|1000|}{s|1|}{o|out_camera_data.yml|}"
"{op||}{oe||}{zt||}{a|1|}{p||}{v||}{V||}{su||}"
"{op||}{oe||}{zt||}{a||}{p||}{v||}{V||}{su||}"
"{ws|11|}"
"{fx||}{fy||}{cx||}{cy||}"
"{imshow-scale|1|}{enable-k3|1|}"
"{@input_data|0|}");
if (parser.has("help"))
{
@ -362,12 +366,13 @@ int main( int argc, char** argv )
}
squareSize = parser.get<float>("s");
nframes = parser.get<int>("n");
aspectRatio = parser.get<float>("a");
delay = parser.get<int>("d");
writePoints = parser.has("op");
writeExtrinsics = parser.has("oe");
if (parser.has("a"))
if (parser.has("a")) {
flags |= CALIB_FIX_ASPECT_RATIO;
aspectRatio = parser.get<float>("a");
}
if ( parser.has("zt") )
flags |= CALIB_ZERO_TANGENT_DIST;
if ( parser.has("p") )
@ -381,6 +386,24 @@ int main( int argc, char** argv )
cameraId = parser.get<int>("@input_data");
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;
}
if (!parser.check())
{
help(argv);
@ -471,8 +494,8 @@ int main( int argc, char** argv )
}
// improve the found corners' coordinate accuracy
if( pattern == CHESSBOARD && found) cornerSubPix( viewGray, pointbuf, Size(11,11),
Size(-1,-1), TermCriteria( TermCriteria::EPS+TermCriteria::COUNT, 30, 0.1 ));
if( pattern == CHESSBOARD && found) cornerSubPix( viewGray, pointbuf, Size(winSize,winSize),
Size(-1,-1), TermCriteria( TermCriteria::EPS+TermCriteria::COUNT, 30, 0.0001 ));
if( mode == CAPTURING && found &&
(!capture.isOpened() || clock() - prevTimestamp > delay*1e-3*CLOCKS_PER_SEC) )
@ -494,9 +517,9 @@ int main( int argc, char** argv )
if( mode == CAPTURING )
{
if(undistortImage)
msg = format( "%d/%d Undist", (int)imagePoints.size(), nframes );
msg = cv::format( "%d/%d Undist", (int)imagePoints.size(), nframes );
else
msg = format( "%d/%d", (int)imagePoints.size(), nframes );
msg = cv::format( "%d/%d", (int)imagePoints.size(), nframes );
}
putText( view, msg, textOrigin, 1, 1,
@ -510,8 +533,17 @@ 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 )
@ -552,9 +584,17 @@ 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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