diff --git a/samples/cpp/calibration.cpp b/samples/cpp/calibration.cpp index e827e4c26b..5d67600239 100644 --- a/samples/cpp/calibration.cpp +++ b/samples/cpp/calibration.cpp @@ -10,6 +10,7 @@ #include #include #include +#include using namespace cv; using namespace std; @@ -37,9 +38,6 @@ const char * usage = "\n" "\n"; - - - const char* liveCaptureHelp = "When the live video from camera is used as input, the following hot-keys may be used:\n" " , 'q' - quit the program\n" @@ -58,17 +56,24 @@ static void help(char** argv) " # of board views actually available)\n" " [-d=] # a minimum delay in ms between subsequent attempts to capture a next view\n" " # (used only for video capturing)\n" - " [-s=] # square size in some user-defined units (1 by default)\n" + " [-s=] # square size in some user-defined units (1 by default)\n" " [-o=] # 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=] # fix aspect ratio (fx/fy)\n" + " [-a=] # 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=] # half of search window for cornerSubPix (11 by default)\n" + " [-fx=] # focal length in X-dir as an initial intrinsic guess (if this flag is used, fx, fy, cx, cy must be set)\n" + " [-fy=] # focal length in Y-dir as an initial intrinsic guess (if this flag is used, fx, fy, cx, cy must be set)\n" + " [-cx=] # 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=] # 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 > imagePoints, vector& reprojErrs, double& totalAvgErr) { - cameraMatrix = Mat::eye(3, 3, CV_64F); if( flags & CALIB_FIX_ASPECT_RATIO ) cameraMatrix.at(0,0) = aspectRatio; @@ -154,8 +158,7 @@ static bool runCalibration( vector > 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 > 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("s"); nframes = parser.get("n"); - aspectRatio = parser.get("a"); delay = parser.get("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("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("@input_data"); else inputFilename = parser.get("@input_data"); + int winSize = parser.get("ws"); + cameraMatrix = Mat::eye(3, 3, CV_64F); + if (parser.has("fx") && parser.has("fy") && parser.has("cx") && parser.has("cy")) + { + cameraMatrix.at(0,0) = parser.get("fx"); + cameraMatrix.at(0,2) = parser.get("cx"); + cameraMatrix.at(1,1) = parser.get("fy"); + cameraMatrix.at(1,2) = parser.get("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("imshow-scale"); + bool useK3 = parser.get("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;