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

Merge pull request #7040 from sovrasov:calib_tutorial_code_update

Browse Source
pull/7062/head
Alexander Alekhin 8 years ago
parent 5f30a0a076 46c8b09453
commit 9c90b6271c
2 changed files with 81 additions and 32 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. 100
      samples/cpp/tutorial_code/calib3d/camera_calibration/camera_calibration.cpp
  2. 13
      samples/cpp/tutorial_code/calib3d/camera_calibration/in_VID5.xml

100
samples/cpp/tutorial_code/calib3d/camera_calibration/camera_calibration.cpp
Unescape View File

@ -1,7 +1,8 @@
#include <iostream>
#include <sstream>
#include <time.h>
#include <stdio.h>
#include <string>
#include <ctime>
#include <cstdio>
#include <opencv2/core.hpp>
#include <opencv2/core/utility.hpp>
@ -11,10 +12,6 @@
#include <opencv2/videoio.hpp>
#include <opencv2/highgui.hpp>
#ifndef _CRT_SECURE_NO_WARNINGS
# define _CRT_SECURE_NO_WARNINGS
#endif
using namespace cv;
using namespace std;
@ -73,6 +70,12 @@ public:
node["Show_UndistortedImage"] >> showUndistorsed;
node["Input"] >> input;
node["Input_Delay"] >> delay;
node["Fix_K1"] >> fixK1;
node["Fix_K2"] >> fixK2;
node["Fix_K3"] >> fixK3;
node["Fix_K4"] >> fixK4;
node["Fix_K5"] >> fixK5;
validate();
}
void validate()
@ -127,16 +130,23 @@ public:
goodInput = false;
}
flag = CALIB_FIX_K4 | CALIB_FIX_K5;
flag = 0;
if(calibFixPrincipalPoint) flag |= CALIB_FIX_PRINCIPAL_POINT;
if(calibZeroTangentDist) flag |= CALIB_ZERO_TANGENT_DIST;
if(aspectRatio) flag |= CALIB_FIX_ASPECT_RATIO;
if(fixK1) flag |= CALIB_FIX_K1;
if(fixK2) flag |= CALIB_FIX_K2;
if(fixK3) flag |= CALIB_FIX_K3;
if(fixK4) flag |= CALIB_FIX_K4;
if(fixK5) flag |= CALIB_FIX_K5;
if (useFisheye) {
// the fisheye model has its own enum, so overwrite the flags
flag = fisheye::CALIB_FIX_SKEW | fisheye::CALIB_RECOMPUTE_EXTRINSIC |
// fisheye::CALIB_FIX_K1 |
fisheye::CALIB_FIX_K2 | fisheye::CALIB_FIX_K3 | fisheye::CALIB_FIX_K4;
flag = fisheye::CALIB_FIX_SKEW | fisheye::CALIB_RECOMPUTE_EXTRINSIC;
if(fixK1) flag |= fisheye::CALIB_FIX_K1;
if(fixK2) flag |= fisheye::CALIB_FIX_K2;
if(fixK3) flag |= fisheye::CALIB_FIX_K3;
if(fixK4) flag |= fisheye::CALIB_FIX_K4;
}
calibrationPattern = NOT_EXISTING;
@ -196,6 +206,11 @@ public:
bool showUndistorsed; // Show undistorted images after calibration
string input; // The input ->
bool useFisheye; // use fisheye camera model for calibration
bool fixK1; // fix K1 distortion coefficient
bool fixK2; // fix K2 distortion coefficient
bool fixK3; // fix K3 distortion coefficient
bool fixK4; // fix K4 distortion coefficient
bool fixK5; // fix K5 distortion coefficient
int cameraID;
vector<string> imageList;
@ -369,7 +384,10 @@ int main(int argc, char* argv[])
if( mode == CALIBRATED && s.showUndistorsed )
{
Mat temp = view.clone();
undistort(temp, view, cameraMatrix, distCoeffs);
if (s.useFisheye)
cv::fisheye::undistortImage(temp, view, cameraMatrix, distCoeffs);
else
undistort(temp, view, cameraMatrix, distCoeffs);
}
//! [output_undistorted]
//------------------------------ Show image and check for input commands -------------------
@ -567,25 +585,31 @@ static void saveCameraParams( Settings& s, Size& imageSize, Mat& cameraMatrix, M
if (s.flag)
{
std::stringstream flagsStringStream;
if (s.useFisheye)
{
sprintf(buf, "flags:%s%s%s%s%s%s",
s.flag & fisheye::CALIB_FIX_SKEW ? " +fix_skew" : "",
s.flag & fisheye::CALIB_FIX_K1 ? " +fix_k1" : "",
s.flag & fisheye::CALIB_FIX_K2 ? " +fix_k2" : "",
s.flag & fisheye::CALIB_FIX_K3 ? " +fix_k3" : "",
s.flag & fisheye::CALIB_FIX_K4 ? " +fix_k4" : "",
s.flag & fisheye::CALIB_RECOMPUTE_EXTRINSIC ? " +recompute_extrinsic" : "");
flagsStringStream << "flags:"
<< (s.flag & fisheye::CALIB_FIX_SKEW ? " +fix_skew" : "")
<< (s.flag & fisheye::CALIB_FIX_K1 ? " +fix_k1" : "")
<< (s.flag & fisheye::CALIB_FIX_K2 ? " +fix_k2" : "")
<< (s.flag & fisheye::CALIB_FIX_K3 ? " +fix_k3" : "")
<< (s.flag & fisheye::CALIB_FIX_K4 ? " +fix_k4" : "")
<< (s.flag & fisheye::CALIB_RECOMPUTE_EXTRINSIC ? " +recompute_extrinsic" : "");
}
else
{
sprintf(buf, "flags:%s%s%s%s",
s.flag & CALIB_USE_INTRINSIC_GUESS ? " +use_intrinsic_guess" : "",
s.flag & CALIB_FIX_ASPECT_RATIO ? " +fix_aspectRatio" : "",
s.flag & CALIB_FIX_PRINCIPAL_POINT ? " +fix_principal_point" : "",
s.flag & CALIB_ZERO_TANGENT_DIST ? " +zero_tangent_dist" : "");
flagsStringStream << "flags:"
<< (s.flag & CALIB_USE_INTRINSIC_GUESS ? " +use_intrinsic_guess" : "")
<< (s.flag & CALIB_FIX_ASPECT_RATIO ? " +fix_aspectRatio" : "")
<< (s.flag & CALIB_FIX_PRINCIPAL_POINT ? " +fix_principal_point" : "")
<< (s.flag & CALIB_ZERO_TANGENT_DIST ? " +zero_tangent_dist" : "")
<< (s.flag & CALIB_FIX_K1 ? " +fix_k1" : "")
<< (s.flag & CALIB_FIX_K2 ? " +fix_k2" : "")
<< (s.flag & CALIB_FIX_K3 ? " +fix_k3" : "")
<< (s.flag & CALIB_FIX_K4 ? " +fix_k4" : "")
<< (s.flag & CALIB_FIX_K5 ? " +fix_k5" : "");
}
cvWriteComment(*fs, buf, 0);
fs.writeComment(flagsStringStream.str());
}
fs << "flags" << s.flag;
@ -602,19 +626,33 @@ static void saveCameraParams( Settings& s, Size& imageSize, Mat& cameraMatrix, M
if(s.writeExtrinsics && !rvecs.empty() && !tvecs.empty() )
{
CV_Assert(rvecs[0].type() == tvecs[0].type());
Mat bigmat((int)rvecs.size(), 6, rvecs[0].type());
Mat bigmat((int)rvecs.size(), 6, CV_MAKETYPE(rvecs[0].type(), 1));
bool needReshapeR = rvecs[0].depth() != 1 ? true : false;
bool needReshapeT = tvecs[0].depth() != 1 ? true : false;
for( size_t i = 0; i < rvecs.size(); i++ )
{
Mat r = bigmat(Range(int(i), int(i+1)), Range(0,3));
Mat t = bigmat(Range(int(i), int(i+1)), Range(3,6));
CV_Assert(rvecs[i].rows == 3 && rvecs[i].cols == 1);
CV_Assert(tvecs[i].rows == 3 && tvecs[i].cols == 1);
//*.t() is MatExpr (not Mat) so we can use assignment operator
r = rvecs[i].t();
t = tvecs[i].t();
if(needReshapeR)
rvecs[i].reshape(1, 1).copyTo(r);
else
{
//*.t() is MatExpr (not Mat) so we can use assignment operator
CV_Assert(rvecs[i].rows == 3 && rvecs[i].cols == 1);
r = rvecs[i].t();
}
if(needReshapeT)
tvecs[i].reshape(1, 1).copyTo(t);
else
{
CV_Assert(tvecs[i].rows == 3 && tvecs[i].cols == 1);
t = tvecs[i].t();
}
}
//cvWriteComment( *fs, "a set of 6-tuples (rotation vector + translation vector) for each view", 0 );
fs.writeComment("a set of 6-tuples (rotation vector + translation vector) for each view");
fs << "extrinsic_parameters" << bigmat;
}

13
samples/cpp/tutorial_code/calib3d/camera_calibration/in_VID5.xml
Unescape View File

@ -41,6 +41,17 @@
<Write_extrinsicParameters>1</Write_extrinsicParameters>
<!-- If true (non-zero) we show after calibration the undistorted images.-->
<Show_UndistortedImage>1</Show_UndistortedImage>
<!-- If true (non-zero) will be used fisheye camera model.-->
<Calibrate_UseFisheyeModel>0</Calibrate_UseFisheyeModel>
<!-- If true (non-zero) distortion coefficient k1 will be equals to zero.-->
<Fix_K1>0</Fix_K1>
<!-- If true (non-zero) distortion coefficient k2 will be equals to zero.-->
<Fix_K2>0</Fix_K2>
<!-- If true (non-zero) distortion coefficient k3 will be equals to zero.-->
<Fix_K3>0</Fix_K3>
<!-- If true (non-zero) distortion coefficient k4 will be equals to zero.-->
<Fix_K4>1</Fix_K4>
<!-- If true (non-zero) distortion coefficient k5 will be equals to zero.-->
<Fix_K5>1</Fix_K5>
</Settings>
</opencv_storage>

Write Preview
Loading…
Cancel
Save