Vadim Pisarevsky
15 years ago
parent
4c160acc35
commit
f2a3e7e312
10 changed files with 830 additions and 976 deletions
@ -1,80 +0,0 @@ |
||||
#include "opencv2/highgui/highgui.hpp" |
||||
#include "opencv2/imgproc/imgproc_c.h" |
||||
|
||||
#include <stdio.h> |
||||
|
||||
IplImage* inpaint_mask = 0; |
||||
IplImage* img0 = 0, *img = 0, *inpainted = 0; |
||||
CvPoint prev_pt = {-1,-1}; |
||||
|
||||
void on_mouse( int event, int x, int y, int flags, void* ) |
||||
{ |
||||
if( !img ) |
||||
return; |
||||
|
||||
if( event == CV_EVENT_LBUTTONUP || !(flags & CV_EVENT_FLAG_LBUTTON) ) |
||||
prev_pt = cvPoint(-1,-1); |
||||
else if( event == CV_EVENT_LBUTTONDOWN ) |
||||
prev_pt = cvPoint(x,y); |
||||
else if( event == CV_EVENT_MOUSEMOVE && (flags & CV_EVENT_FLAG_LBUTTON) ) |
||||
{ |
||||
CvPoint pt = cvPoint(x,y); |
||||
if( prev_pt.x < 0 ) |
||||
prev_pt = pt; |
||||
cvLine( inpaint_mask, prev_pt, pt, cvScalarAll(255), 5, 8, 0 ); |
||||
cvLine( img, prev_pt, pt, cvScalarAll(255), 5, 8, 0 ); |
||||
prev_pt = pt; |
||||
cvShowImage( "image", img ); |
||||
} |
||||
} |
||||
|
||||
|
||||
int main( int argc, char** argv ) |
||||
{ |
||||
char* filename = argc >= 2 ? argv[1] : (char*)"fruits.jpg"; |
||||
|
||||
if( (img0 = cvLoadImage(filename,-1)) == 0 ) |
||||
return 0; |
||||
|
||||
printf( "Hot keys: \n" |
||||
"\tESC - quit the program\n" |
||||
"\tr - restore the original image\n" |
||||
"\ti or SPACE - run inpainting algorithm\n" |
||||
"\t\t(before running it, paint something on the image)\n" ); |
||||
|
||||
cvNamedWindow( "image", 1 ); |
||||
|
||||
img = cvCloneImage( img0 ); |
||||
inpainted = cvCloneImage( img0 ); |
||||
inpaint_mask = cvCreateImage( cvGetSize(img), 8, 1 ); |
||||
|
||||
cvZero( inpaint_mask ); |
||||
cvZero( inpainted ); |
||||
cvShowImage( "image", img ); |
||||
cvShowImage( "inpainted image", inpainted ); |
||||
cvSetMouseCallback( "image", on_mouse, 0 ); |
||||
|
||||
for(;;) |
||||
{ |
||||
int c = cvWaitKey(0); |
||||
|
||||
if( (char)c == 27 ) |
||||
break; |
||||
|
||||
if( (char)c == 'r' ) |
||||
{ |
||||
cvZero( inpaint_mask ); |
||||
cvCopy( img0, img ); |
||||
cvShowImage( "image", img ); |
||||
} |
||||
|
||||
if( (char)c == 'i' || (char)c == ' ' ) |
||||
{ |
||||
cvNamedWindow( "inpainted image", 1 ); |
||||
cvInpaint( img, inpaint_mask, inpainted, 3, CV_INPAINT_TELEA ); |
||||
cvShowImage( "inpainted image", inpainted ); |
||||
} |
||||
} |
||||
|
||||
return 1; |
||||
} |
||||
@ -1,323 +1,323 @@ |
||||
#include <iostream> |
||||
#include <vector> |
||||
#include <algorithm> |
||||
#include <iterator> |
||||
|
||||
#include <opencv2/calib3d/calib3d.hpp> |
||||
#include <opencv2/imgproc/imgproc.hpp> |
||||
#include <opencv2/highgui/highgui.hpp> |
||||
|
||||
using namespace cv; |
||||
using namespace std; |
||||
|
||||
namespace cv |
||||
{ |
||||
|
||||
/* copy of class defines int tests/cv/chessboardgenerator.h */ |
||||
class ChessBoardGenerator |
||||
{ |
||||
public: |
||||
double sensorWidth;
|
||||
double sensorHeight;
|
||||
size_t squareEdgePointsNum; |
||||
double min_cos; |
||||
mutable double cov; |
||||
Size patternSize; |
||||
int rendererResolutionMultiplier; |
||||
|
||||
ChessBoardGenerator(const Size& patternSize = Size(8, 6)); |
||||
Mat operator()(const Mat& bg, const Mat& camMat, const Mat& distCoeffs, vector<Point2f>& corners) const;
|
||||
Size cornersSize() const; |
||||
private: |
||||
void generateEdge(const Point3f& p1, const Point3f& p2, vector<Point3f>& out) const; |
||||
Mat generageChessBoard(const Mat& bg, const Mat& camMat, const Mat& distCoeffs,
|
||||
const Point3f& zero, const Point3f& pb1, const Point3f& pb2,
|
||||
float sqWidth, float sqHeight, const vector<Point3f>& whole, vector<Point2f>& corners) const; |
||||
void generateBasis(Point3f& pb1, Point3f& pb2) const;
|
||||
Point3f generateChessBoardCenter(const Mat& camMat, const Size& imgSize) const; |
||||
Mat rvec, tvec; |
||||
}; |
||||
}; |
||||
|
||||
|
||||
|
||||
const Size imgSize(800, 600); |
||||
const Size brdSize(8, 7); |
||||
const size_t brds_num = 20; |
||||
|
||||
template<class T> ostream& operator<<(ostream& out, const Mat_<T>& mat) |
||||
{
|
||||
for(int j = 0; j < mat.rows; ++j) |
||||
for(int i = 0; i < mat.cols; ++i) |
||||
out << mat(j, i) << " ";
|
||||
return out; |
||||
} |
||||
|
||||
int main() |
||||
{
|
||||
cout << "Initializing background...";
|
||||
Mat background(imgSize, CV_8UC3);
|
||||
randu(background, Scalar::all(32), Scalar::all(255));
|
||||
GaussianBlur(background, background, Size(5, 5), 2); |
||||
cout << "Done" << endl; |
||||
|
||||
cout << "Initializing chess board generator...";
|
||||
ChessBoardGenerator cbg(brdSize); |
||||
cbg.rendererResolutionMultiplier = 4; |
||||
cout << "Done" << endl; |
||||
|
||||
/* camera params */ |
||||
Mat_<double> camMat(3, 3); |
||||
camMat << 300., 0., background.cols/2., 0, 300., background.rows/2., 0., 0., 1.; |
||||
|
||||
Mat_<double> distCoeffs(1, 5); |
||||
distCoeffs << 1.2, 0.2, 0., 0., 0.; |
||||
|
||||
cout << "Generating chessboards...";
|
||||
vector<Mat> boards(brds_num); |
||||
vector<Point2f> tmp; |
||||
for(size_t i = 0; i < brds_num; ++i) |
||||
cout << (boards[i] = cbg(background, camMat, distCoeffs, tmp), i) << " "; |
||||
cout << "Done" << endl;
|
||||
|
||||
vector<Point3f> chessboard3D; |
||||
for(int j = 0; j < cbg.cornersSize().height; ++j) |
||||
for(int i = 0; i < cbg.cornersSize().width; ++i) |
||||
chessboard3D.push_back(Point3i(i, j, 0)); |
||||
|
||||
/* init points */ |
||||
vector< vector<Point3f> > objectPoints;
|
||||
vector< vector<Point2f> > imagePoints; |
||||
|
||||
cout << endl << "Finding chessboards' corners..."; |
||||
for(size_t i = 0; i < brds_num; ++i) |
||||
{ |
||||
cout << i; |
||||
namedWindow("Current chessboard"); imshow("Current chessboard", boards[i]); waitKey(100); |
||||
bool found = findChessboardCorners(boards[i], cbg.cornersSize(), tmp); |
||||
if (found) |
||||
{ |
||||
imagePoints.push_back(tmp); |
||||
objectPoints.push_back(chessboard3D);
|
||||
cout<< "-found ";
|
||||
} |
||||
else |
||||
cout<< "-not-found ";
|
||||
|
||||
drawChessboardCorners(boards[i], cbg.cornersSize(), Mat(tmp), found); |
||||
imshow("Current chessboard", boards[i]); waitKey(1000); |
||||
} |
||||
cout << "Done" << endl; |
||||
cvDestroyAllWindows(); |
||||
|
||||
Mat camMat_est; |
||||
Mat distCoeffs_est; |
||||
vector<Mat> rvecs, tvecs; |
||||
|
||||
cout << "Calibrating..."; |
||||
double rep_err = calibrateCamera(objectPoints, imagePoints, imgSize, camMat_est, distCoeffs_est, rvecs, tvecs); |
||||
cout << "Done" << endl; |
||||
|
||||
cout << endl << "Average Reprojection error: " << rep_err/brds_num/cbg.cornersSize().area() << endl; |
||||
cout << "==================================" << endl; |
||||
cout << "Original camera matrix:\n" << camMat << endl; |
||||
cout << "Original distCoeffs:\n" << distCoeffs << endl; |
||||
cout << "==================================" << endl; |
||||
cout << "Estiamted camera matrix:\n" << (Mat_<double>&)camMat_est << endl; |
||||
cout << "Estiamted distCoeffs:\n" << (Mat_<double>&)distCoeffs_est << endl; |
||||
|
||||
return 0; |
||||
} |
||||
|
||||
|
||||
/////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
/////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
/////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
// Copy of tests/cv/src/chessboardgenerator code. Just do not want to add dependency.
|
||||
|
||||
|
||||
ChessBoardGenerator::ChessBoardGenerator(const Size& _patternSize) : sensorWidth(32), sensorHeight(24), |
||||
squareEdgePointsNum(200), min_cos(sqrt(2.f)*0.5f), cov(0.5),
|
||||
patternSize(_patternSize), rendererResolutionMultiplier(4), tvec(Mat::zeros(1, 3, CV_32F)) |
||||
{
|
||||
Rodrigues(Mat::eye(3, 3, CV_32F), rvec); |
||||
} |
||||
|
||||
void cv::ChessBoardGenerator::generateEdge(const Point3f& p1, const Point3f& p2, vector<Point3f>& out) const |
||||
{
|
||||
Point3f step = (p2 - p1) * (1.f/squareEdgePointsNum);
|
||||
for(size_t n = 0; n < squareEdgePointsNum; ++n) |
||||
out.push_back( p1 + step * (float)n); |
||||
}
|
||||
|
||||
Size cv::ChessBoardGenerator::cornersSize() const |
||||
{ |
||||
return Size(patternSize.width-1, patternSize.height-1); |
||||
} |
||||
|
||||
struct Mult |
||||
{ |
||||
float m; |
||||
Mult(int mult) : m((float)mult) {} |
||||
Point2f operator()(const Point2f& p)const { return p * m; }
|
||||
}; |
||||
|
||||
void cv::ChessBoardGenerator::generateBasis(Point3f& pb1, Point3f& pb2) const |
||||
{ |
||||
RNG& rng = theRNG(); |
||||
|
||||
Vec3f n; |
||||
for(;;) |
||||
{
|
||||
n[0] = rng.uniform(-1.f, 1.f); |
||||
n[1] = rng.uniform(-1.f, 1.f); |
||||
n[2] = rng.uniform(-1.f, 1.f);
|
||||
float len = (float)norm(n);
|
||||
n[0]/=len;
|
||||
n[1]/=len;
|
||||
n[2]/=len; |
||||
|
||||
if (fabs(n[2]) > min_cos) |
||||
break; |
||||
} |
||||
|
||||
Vec3f n_temp = n; n_temp[0] += 100; |
||||
Vec3f b1 = n.cross(n_temp);
|
||||
Vec3f b2 = n.cross(b1); |
||||
float len_b1 = (float)norm(b1); |
||||
float len_b2 = (float)norm(b2);
|
||||
|
||||
pb1 = Point3f(b1[0]/len_b1, b1[1]/len_b1, b1[2]/len_b1); |
||||
pb2 = Point3f(b2[0]/len_b1, b2[1]/len_b2, b2[2]/len_b2); |
||||
} |
||||
|
||||
Mat cv::ChessBoardGenerator::generageChessBoard(const Mat& bg, const Mat& camMat, const Mat& distCoeffs,
|
||||
const Point3f& zero, const Point3f& pb1, const Point3f& pb2,
|
||||
float sqWidth, float sqHeight, const vector<Point3f>& whole, |
||||
vector<Point2f>& corners) const |
||||
{ |
||||
vector< vector<Point> > squares_black;
|
||||
for(int i = 0; i < patternSize.width; ++i) |
||||
for(int j = 0; j < patternSize.height; ++j) |
||||
if ( (i % 2 == 0 && j % 2 == 0) || (i % 2 != 0 && j % 2 != 0) )
|
||||
{
|
||||
vector<Point3f> pts_square3d; |
||||
vector<Point2f> pts_square2d; |
||||
|
||||
Point3f p1 = zero + (i + 0) * sqWidth * pb1 + (j + 0) * sqHeight * pb2; |
||||
Point3f p2 = zero + (i + 1) * sqWidth * pb1 + (j + 0) * sqHeight * pb2; |
||||
Point3f p3 = zero + (i + 1) * sqWidth * pb1 + (j + 1) * sqHeight * pb2; |
||||
Point3f p4 = zero + (i + 0) * sqWidth * pb1 + (j + 1) * sqHeight * pb2; |
||||
generateEdge(p1, p2, pts_square3d); |
||||
generateEdge(p2, p3, pts_square3d); |
||||
generateEdge(p3, p4, pts_square3d); |
||||
generateEdge(p4, p1, pts_square3d);
|
||||
|
||||
projectPoints( Mat(pts_square3d), rvec, tvec, camMat, distCoeffs, pts_square2d); |
||||
squares_black.resize(squares_black.size() + 1);
|
||||
vector<Point2f> temp;
|
||||
approxPolyDP(Mat(pts_square2d), temp, 1.0, true);
|
||||
transform(temp.begin(), temp.end(), back_inserter(squares_black.back()), Mult(rendererResolutionMultiplier));
|
||||
}
|
||||
|
||||
/* calculate corners */ |
||||
vector<Point3f> corners3d;
|
||||
for(int j = 0; j < patternSize.height - 1; ++j) |
||||
for(int i = 0; i < patternSize.width - 1; ++i) |
||||
corners3d.push_back(zero + (i + 1) * sqWidth * pb1 + (j + 1) * sqHeight * pb2); |
||||
corners.clear(); |
||||
projectPoints( Mat(corners3d), rvec, tvec, camMat, distCoeffs, corners); |
||||
|
||||
vector<Point3f> whole3d; |
||||
vector<Point2f> whole2d; |
||||
generateEdge(whole[0], whole[1], whole3d); |
||||
generateEdge(whole[1], whole[2], whole3d); |
||||
generateEdge(whole[2], whole[3], whole3d); |
||||
generateEdge(whole[3], whole[0], whole3d); |
||||
projectPoints( Mat(whole3d), rvec, tvec, camMat, distCoeffs, whole2d); |
||||
vector<Point2f> temp_whole2d;
|
||||
approxPolyDP(Mat(whole2d), temp_whole2d, 1.0, true);
|
||||
|
||||
vector< vector<Point > > whole_contour(1); |
||||
transform(temp_whole2d.begin(), temp_whole2d.end(),
|
||||
back_inserter(whole_contour.front()), Mult(rendererResolutionMultiplier));
|
||||
|
||||
Mat result; |
||||
if (rendererResolutionMultiplier == 1) |
||||
{
|
||||
result = bg.clone(); |
||||
drawContours(result, whole_contour, -1, Scalar::all(255), CV_FILLED, CV_AA);
|
||||
drawContours(result, squares_black, -1, Scalar::all(0), CV_FILLED, CV_AA); |
||||
} |
||||
else |
||||
{ |
||||
Mat tmp;
|
||||
resize(bg, tmp, bg.size() * rendererResolutionMultiplier); |
||||
drawContours(tmp, whole_contour, -1, Scalar::all(255), CV_FILLED, CV_AA);
|
||||
drawContours(tmp, squares_black, -1, Scalar::all(0), CV_FILLED, CV_AA); |
||||
resize(tmp, result, bg.size(), 0, 0, INTER_AREA); |
||||
}
|
||||
return result; |
||||
} |
||||
|
||||
Mat cv::ChessBoardGenerator::operator ()(const Mat& bg, const Mat& camMat, const Mat& distCoeffs, vector<Point2f>& corners) const |
||||
{
|
||||
cov = min(cov, 0.8); |
||||
double fovx, fovy, focalLen; |
||||
Point2d principalPoint; |
||||
double aspect; |
||||
calibrationMatrixValues( camMat, bg.size(), sensorWidth, sensorHeight,
|
||||
fovx, fovy, focalLen, principalPoint, aspect); |
||||
|
||||
RNG& rng = theRNG(); |
||||
|
||||
float d1 = static_cast<float>(rng.uniform(0.1, 10.0));
|
||||
float ah = static_cast<float>(rng.uniform(-fovx/2 * cov, fovx/2 * cov) * CV_PI / 180); |
||||
float av = static_cast<float>(rng.uniform(-fovy/2 * cov, fovy/2 * cov) * CV_PI / 180);
|
||||
|
||||
Point3f p; |
||||
p.z = cos(ah) * d1; |
||||
p.x = sin(ah) * d1; |
||||
p.y = p.z * tan(av);
|
||||
|
||||
Point3f pb1, pb2;
|
||||
generateBasis(pb1, pb2); |
||||
|
||||
float cbHalfWidth = static_cast<float>(norm(p) * sin( min(fovx, fovy) * 0.5 * CV_PI / 180)); |
||||
float cbHalfHeight = cbHalfWidth * patternSize.height / patternSize.width; |
||||
|
||||
vector<Point3f> pts3d(4); |
||||
vector<Point2f> pts2d(4); |
||||
for(;;) |
||||
{
|
||||
pts3d[0] = p + pb1 * cbHalfWidth + cbHalfHeight * pb2; |
||||
pts3d[1] = p + pb1 * cbHalfWidth - cbHalfHeight * pb2; |
||||
pts3d[2] = p - pb1 * cbHalfWidth - cbHalfHeight * pb2; |
||||
pts3d[3] = p - pb1 * cbHalfWidth + cbHalfHeight * pb2; |
||||
|
||||
/* can remake with better perf */ |
||||
projectPoints( Mat(pts3d), rvec, tvec, camMat, distCoeffs, pts2d); |
||||
|
||||
bool inrect1 = pts2d[0].x < bg.cols && pts2d[0].y < bg.rows && pts2d[0].x > 0 && pts2d[0].y > 0; |
||||
bool inrect2 = pts2d[1].x < bg.cols && pts2d[1].y < bg.rows && pts2d[1].x > 0 && pts2d[1].y > 0; |
||||
bool inrect3 = pts2d[2].x < bg.cols && pts2d[2].y < bg.rows && pts2d[2].x > 0 && pts2d[2].y > 0; |
||||
bool inrect4 = pts2d[3].x < bg.cols && pts2d[3].y < bg.rows && pts2d[3].x > 0 && pts2d[3].y > 0; |
||||
|
||||
if ( inrect1 && inrect2 && inrect3 && inrect4) |
||||
break; |
||||
|
||||
cbHalfWidth*=0.8f; |
||||
cbHalfHeight = cbHalfWidth * patternSize.height / patternSize.width;
|
||||
} |
||||
|
||||
cbHalfWidth *= static_cast<float>(patternSize.width)/(patternSize.width + 1); |
||||
cbHalfHeight *= static_cast<float>(patternSize.height)/(patternSize.height + 1); |
||||
|
||||
Point3f zero = p - pb1 * cbHalfWidth - cbHalfHeight * pb2; |
||||
float sqWidth = 2 * cbHalfWidth/patternSize.width; |
||||
float sqHeight = 2 * cbHalfHeight/patternSize.height; |
||||
|
||||
return generageChessBoard(bg, camMat, distCoeffs, zero, pb1, pb2, sqWidth, sqHeight, pts3d, corners);
|
||||
} |
||||
|
||||
#include <iostream> |
||||
#include <vector> |
||||
#include <algorithm> |
||||
#include <iterator> |
||||
|
||||
#include <opencv2/calib3d/calib3d.hpp> |
||||
#include <opencv2/imgproc/imgproc.hpp> |
||||
#include <opencv2/highgui/highgui.hpp> |
||||
|
||||
using namespace cv; |
||||
using namespace std; |
||||
|
||||
namespace cv |
||||
{ |
||||
|
||||
/* copy of class defines int tests/cv/chessboardgenerator.h */ |
||||
class ChessBoardGenerator |
||||
{ |
||||
public: |
||||
double sensorWidth;
|
||||
double sensorHeight;
|
||||
size_t squareEdgePointsNum; |
||||
double min_cos; |
||||
mutable double cov; |
||||
Size patternSize; |
||||
int rendererResolutionMultiplier; |
||||
|
||||
ChessBoardGenerator(const Size& patternSize = Size(8, 6)); |
||||
Mat operator()(const Mat& bg, const Mat& camMat, const Mat& distCoeffs, vector<Point2f>& corners) const;
|
||||
Size cornersSize() const; |
||||
private: |
||||
void generateEdge(const Point3f& p1, const Point3f& p2, vector<Point3f>& out) const; |
||||
Mat generageChessBoard(const Mat& bg, const Mat& camMat, const Mat& distCoeffs,
|
||||
const Point3f& zero, const Point3f& pb1, const Point3f& pb2,
|
||||
float sqWidth, float sqHeight, const vector<Point3f>& whole, vector<Point2f>& corners) const; |
||||
void generateBasis(Point3f& pb1, Point3f& pb2) const;
|
||||
Point3f generateChessBoardCenter(const Mat& camMat, const Size& imgSize) const; |
||||
Mat rvec, tvec; |
||||
}; |
||||
}; |
||||
|
||||
|
||||
|
||||
const Size imgSize(800, 600); |
||||
const Size brdSize(8, 7); |
||||
const size_t brds_num = 20; |
||||
|
||||
template<class T> ostream& operator<<(ostream& out, const Mat_<T>& mat) |
||||
{
|
||||
for(int j = 0; j < mat.rows; ++j) |
||||
for(int i = 0; i < mat.cols; ++i) |
||||
out << mat(j, i) << " ";
|
||||
return out; |
||||
} |
||||
|
||||
int main() |
||||
{
|
||||
cout << "Initializing background...";
|
||||
Mat background(imgSize, CV_8UC3);
|
||||
randu(background, Scalar::all(32), Scalar::all(255));
|
||||
GaussianBlur(background, background, Size(5, 5), 2); |
||||
cout << "Done" << endl; |
||||
|
||||
cout << "Initializing chess board generator...";
|
||||
ChessBoardGenerator cbg(brdSize); |
||||
cbg.rendererResolutionMultiplier = 4; |
||||
cout << "Done" << endl; |
||||
|
||||
/* camera params */ |
||||
Mat_<double> camMat(3, 3); |
||||
camMat << 300., 0., background.cols/2., 0, 300., background.rows/2., 0., 0., 1.; |
||||
|
||||
Mat_<double> distCoeffs(1, 5); |
||||
distCoeffs << 1.2, 0.2, 0., 0., 0.; |
||||
|
||||
cout << "Generating chessboards...";
|
||||
vector<Mat> boards(brds_num); |
||||
vector<Point2f> tmp; |
||||
for(size_t i = 0; i < brds_num; ++i) |
||||
cout << (boards[i] = cbg(background, camMat, distCoeffs, tmp), i) << " "; |
||||
cout << "Done" << endl;
|
||||
|
||||
vector<Point3f> chessboard3D; |
||||
for(int j = 0; j < cbg.cornersSize().height; ++j) |
||||
for(int i = 0; i < cbg.cornersSize().width; ++i) |
||||
chessboard3D.push_back(Point3i(i, j, 0)); |
||||
|
||||
/* init points */ |
||||
vector< vector<Point3f> > objectPoints;
|
||||
vector< vector<Point2f> > imagePoints; |
||||
|
||||
cout << endl << "Finding chessboards' corners..."; |
||||
for(size_t i = 0; i < brds_num; ++i) |
||||
{ |
||||
cout << i; |
||||
namedWindow("Current chessboard"); imshow("Current chessboard", boards[i]); waitKey(100); |
||||
bool found = findChessboardCorners(boards[i], cbg.cornersSize(), tmp); |
||||
if (found) |
||||
{ |
||||
imagePoints.push_back(tmp); |
||||
objectPoints.push_back(chessboard3D);
|
||||
cout<< "-found ";
|
||||
} |
||||
else |
||||
cout<< "-not-found ";
|
||||
|
||||
drawChessboardCorners(boards[i], cbg.cornersSize(), Mat(tmp), found); |
||||
imshow("Current chessboard", boards[i]); waitKey(1000); |
||||
} |
||||
cout << "Done" << endl; |
||||
cvDestroyAllWindows(); |
||||
|
||||
Mat camMat_est; |
||||
Mat distCoeffs_est; |
||||
vector<Mat> rvecs, tvecs; |
||||
|
||||
cout << "Calibrating..."; |
||||
double rep_err = calibrateCamera(objectPoints, imagePoints, imgSize, camMat_est, distCoeffs_est, rvecs, tvecs); |
||||
cout << "Done" << endl; |
||||
|
||||
cout << endl << "Average Reprojection error: " << rep_err/brds_num/cbg.cornersSize().area() << endl; |
||||
cout << "==================================" << endl; |
||||
cout << "Original camera matrix:\n" << camMat << endl; |
||||
cout << "Original distCoeffs:\n" << distCoeffs << endl; |
||||
cout << "==================================" << endl; |
||||
cout << "Estiamted camera matrix:\n" << (Mat_<double>&)camMat_est << endl; |
||||
cout << "Estiamted distCoeffs:\n" << (Mat_<double>&)distCoeffs_est << endl; |
||||
|
||||
return 0; |
||||
} |
||||
|
||||
|
||||
/////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
/////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
/////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
// Copy of tests/cv/src/chessboardgenerator code. Just do not want to add dependency.
|
||||
|
||||
|
||||
ChessBoardGenerator::ChessBoardGenerator(const Size& _patternSize) : sensorWidth(32), sensorHeight(24), |
||||
squareEdgePointsNum(200), min_cos(sqrt(2.f)*0.5f), cov(0.5),
|
||||
patternSize(_patternSize), rendererResolutionMultiplier(4), tvec(Mat::zeros(1, 3, CV_32F)) |
||||
{
|
||||
Rodrigues(Mat::eye(3, 3, CV_32F), rvec); |
||||
} |
||||
|
||||
void cv::ChessBoardGenerator::generateEdge(const Point3f& p1, const Point3f& p2, vector<Point3f>& out) const |
||||
{
|
||||
Point3f step = (p2 - p1) * (1.f/squareEdgePointsNum);
|
||||
for(size_t n = 0; n < squareEdgePointsNum; ++n) |
||||
out.push_back( p1 + step * (float)n); |
||||
}
|
||||
|
||||
Size cv::ChessBoardGenerator::cornersSize() const |
||||
{ |
||||
return Size(patternSize.width-1, patternSize.height-1); |
||||
} |
||||
|
||||
struct Mult |
||||
{ |
||||
float m; |
||||
Mult(int mult) : m((float)mult) {} |
||||
Point2f operator()(const Point2f& p)const { return p * m; }
|
||||
}; |
||||
|
||||
void cv::ChessBoardGenerator::generateBasis(Point3f& pb1, Point3f& pb2) const |
||||
{ |
||||
RNG& rng = theRNG(); |
||||
|
||||
Vec3f n; |
||||
for(;;) |
||||
{
|
||||
n[0] = rng.uniform(-1.f, 1.f); |
||||
n[1] = rng.uniform(-1.f, 1.f); |
||||
n[2] = rng.uniform(-1.f, 1.f);
|
||||
float len = (float)norm(n);
|
||||
n[0]/=len;
|
||||
n[1]/=len;
|
||||
n[2]/=len; |
||||
|
||||
if (fabs(n[2]) > min_cos) |
||||
break; |
||||
} |
||||
|
||||
Vec3f n_temp = n; n_temp[0] += 100; |
||||
Vec3f b1 = n.cross(n_temp);
|
||||
Vec3f b2 = n.cross(b1); |
||||
float len_b1 = (float)norm(b1); |
||||
float len_b2 = (float)norm(b2);
|
||||
|
||||
pb1 = Point3f(b1[0]/len_b1, b1[1]/len_b1, b1[2]/len_b1); |
||||
pb2 = Point3f(b2[0]/len_b1, b2[1]/len_b2, b2[2]/len_b2); |
||||
} |
||||
|
||||
Mat cv::ChessBoardGenerator::generageChessBoard(const Mat& bg, const Mat& camMat, const Mat& distCoeffs,
|
||||
const Point3f& zero, const Point3f& pb1, const Point3f& pb2,
|
||||
float sqWidth, float sqHeight, const vector<Point3f>& whole, |
||||
vector<Point2f>& corners) const |
||||
{ |
||||
vector< vector<Point> > squares_black;
|
||||
for(int i = 0; i < patternSize.width; ++i) |
||||
for(int j = 0; j < patternSize.height; ++j) |
||||
if ( (i % 2 == 0 && j % 2 == 0) || (i % 2 != 0 && j % 2 != 0) )
|
||||
{
|
||||
vector<Point3f> pts_square3d; |
||||
vector<Point2f> pts_square2d; |
||||
|
||||
Point3f p1 = zero + (i + 0) * sqWidth * pb1 + (j + 0) * sqHeight * pb2; |
||||
Point3f p2 = zero + (i + 1) * sqWidth * pb1 + (j + 0) * sqHeight * pb2; |
||||
Point3f p3 = zero + (i + 1) * sqWidth * pb1 + (j + 1) * sqHeight * pb2; |
||||
Point3f p4 = zero + (i + 0) * sqWidth * pb1 + (j + 1) * sqHeight * pb2; |
||||
generateEdge(p1, p2, pts_square3d); |
||||
generateEdge(p2, p3, pts_square3d); |
||||
generateEdge(p3, p4, pts_square3d); |
||||
generateEdge(p4, p1, pts_square3d);
|
||||
|
||||
projectPoints( Mat(pts_square3d), rvec, tvec, camMat, distCoeffs, pts_square2d); |
||||
squares_black.resize(squares_black.size() + 1);
|
||||
vector<Point2f> temp;
|
||||
approxPolyDP(Mat(pts_square2d), temp, 1.0, true);
|
||||
transform(temp.begin(), temp.end(), back_inserter(squares_black.back()), Mult(rendererResolutionMultiplier));
|
||||
}
|
||||
|
||||
/* calculate corners */ |
||||
vector<Point3f> corners3d;
|
||||
for(int j = 0; j < patternSize.height - 1; ++j) |
||||
for(int i = 0; i < patternSize.width - 1; ++i) |
||||
corners3d.push_back(zero + (i + 1) * sqWidth * pb1 + (j + 1) * sqHeight * pb2); |
||||
corners.clear(); |
||||
projectPoints( Mat(corners3d), rvec, tvec, camMat, distCoeffs, corners); |
||||
|
||||
vector<Point3f> whole3d; |
||||
vector<Point2f> whole2d; |
||||
generateEdge(whole[0], whole[1], whole3d); |
||||
generateEdge(whole[1], whole[2], whole3d); |
||||
generateEdge(whole[2], whole[3], whole3d); |
||||
generateEdge(whole[3], whole[0], whole3d); |
||||
projectPoints( Mat(whole3d), rvec, tvec, camMat, distCoeffs, whole2d); |
||||
vector<Point2f> temp_whole2d;
|
||||
approxPolyDP(Mat(whole2d), temp_whole2d, 1.0, true);
|
||||
|
||||
vector< vector<Point > > whole_contour(1); |
||||
transform(temp_whole2d.begin(), temp_whole2d.end(),
|
||||
back_inserter(whole_contour.front()), Mult(rendererResolutionMultiplier));
|
||||
|
||||
Mat result; |
||||
if (rendererResolutionMultiplier == 1) |
||||
{
|
||||
result = bg.clone(); |
||||
drawContours(result, whole_contour, -1, Scalar::all(255), CV_FILLED, CV_AA);
|
||||
drawContours(result, squares_black, -1, Scalar::all(0), CV_FILLED, CV_AA); |
||||
} |
||||
else |
||||
{ |
||||
Mat tmp;
|
||||
resize(bg, tmp, bg.size() * rendererResolutionMultiplier); |
||||
drawContours(tmp, whole_contour, -1, Scalar::all(255), CV_FILLED, CV_AA);
|
||||
drawContours(tmp, squares_black, -1, Scalar::all(0), CV_FILLED, CV_AA); |
||||
resize(tmp, result, bg.size(), 0, 0, INTER_AREA); |
||||
}
|
||||
return result; |
||||
} |
||||
|
||||
Mat cv::ChessBoardGenerator::operator ()(const Mat& bg, const Mat& camMat, const Mat& distCoeffs, vector<Point2f>& corners) const |
||||
{
|
||||
cov = min(cov, 0.8); |
||||
double fovx, fovy, focalLen; |
||||
Point2d principalPoint; |
||||
double aspect; |
||||
calibrationMatrixValues( camMat, bg.size(), sensorWidth, sensorHeight,
|
||||
fovx, fovy, focalLen, principalPoint, aspect); |
||||
|
||||
RNG& rng = theRNG(); |
||||
|
||||
float d1 = static_cast<float>(rng.uniform(0.1, 10.0));
|
||||
float ah = static_cast<float>(rng.uniform(-fovx/2 * cov, fovx/2 * cov) * CV_PI / 180); |
||||
float av = static_cast<float>(rng.uniform(-fovy/2 * cov, fovy/2 * cov) * CV_PI / 180);
|
||||
|
||||
Point3f p; |
||||
p.z = cos(ah) * d1; |
||||
p.x = sin(ah) * d1; |
||||
p.y = p.z * tan(av);
|
||||
|
||||
Point3f pb1, pb2;
|
||||
generateBasis(pb1, pb2); |
||||
|
||||
float cbHalfWidth = static_cast<float>(norm(p) * sin( min(fovx, fovy) * 0.5 * CV_PI / 180)); |
||||
float cbHalfHeight = cbHalfWidth * patternSize.height / patternSize.width; |
||||
|
||||
vector<Point3f> pts3d(4); |
||||
vector<Point2f> pts2d(4); |
||||
for(;;) |
||||
{
|
||||
pts3d[0] = p + pb1 * cbHalfWidth + cbHalfHeight * pb2; |
||||
pts3d[1] = p + pb1 * cbHalfWidth - cbHalfHeight * pb2; |
||||
pts3d[2] = p - pb1 * cbHalfWidth - cbHalfHeight * pb2; |
||||
pts3d[3] = p - pb1 * cbHalfWidth + cbHalfHeight * pb2; |
||||
|
||||
/* can remake with better perf */ |
||||
projectPoints( Mat(pts3d), rvec, tvec, camMat, distCoeffs, pts2d); |
||||
|
||||
bool inrect1 = pts2d[0].x < bg.cols && pts2d[0].y < bg.rows && pts2d[0].x > 0 && pts2d[0].y > 0; |
||||
bool inrect2 = pts2d[1].x < bg.cols && pts2d[1].y < bg.rows && pts2d[1].x > 0 && pts2d[1].y > 0; |
||||
bool inrect3 = pts2d[2].x < bg.cols && pts2d[2].y < bg.rows && pts2d[2].x > 0 && pts2d[2].y > 0; |
||||
bool inrect4 = pts2d[3].x < bg.cols && pts2d[3].y < bg.rows && pts2d[3].x > 0 && pts2d[3].y > 0; |
||||
|
||||
if ( inrect1 && inrect2 && inrect3 && inrect4) |
||||
break; |
||||
|
||||
cbHalfWidth*=0.8f; |
||||
cbHalfHeight = cbHalfWidth * patternSize.height / patternSize.width;
|
||||
} |
||||
|
||||
cbHalfWidth *= static_cast<float>(patternSize.width)/(patternSize.width + 1); |
||||
cbHalfHeight *= static_cast<float>(patternSize.height)/(patternSize.height + 1); |
||||
|
||||
Point3f zero = p - pb1 * cbHalfWidth - cbHalfHeight * pb2; |
||||
float sqWidth = 2 * cbHalfWidth/patternSize.width; |
||||
float sqHeight = 2 * cbHalfHeight/patternSize.height; |
||||
|
||||
return generageChessBoard(bg, camMat, distCoeffs, zero, pb1, pb2, sqWidth, sqHeight, pts3d, corners);
|
||||
} |
||||
|
||||
@ -0,0 +1,78 @@ |
||||
#include "opencv2/highgui/highgui.hpp" |
||||
#include "opencv2/imgproc/imgproc.hpp" |
||||
|
||||
#include <iostream> |
||||
|
||||
using namespace cv; |
||||
using namespace std; |
||||
|
||||
Mat img, inpaintMask; |
||||
Point prevPt(-1,-1); |
||||
|
||||
void onMouse( int event, int x, int y, int flags, void* ) |
||||
{ |
||||
if( event == CV_EVENT_LBUTTONUP || !(flags & CV_EVENT_FLAG_LBUTTON) ) |
||||
prevPt = Point(-1,-1); |
||||
else if( event == CV_EVENT_LBUTTONDOWN ) |
||||
prevPt = Point(x,y); |
||||
else if( event == CV_EVENT_MOUSEMOVE && (flags & CV_EVENT_FLAG_LBUTTON) ) |
||||
{ |
||||
Point pt(x,y); |
||||
if( prevPt.x < 0 ) |
||||
prevPt = pt; |
||||
line( inpaintMask, prevPt, pt, Scalar::all(255), 5, 8, 0 ); |
||||
line( img, prevPt, pt, Scalar::all(255), 5, 8, 0 ); |
||||
prevPt = pt; |
||||
imshow("image", img); |
||||
} |
||||
} |
||||
|
||||
|
||||
int main( int argc, char** argv ) |
||||
{ |
||||
char* filename = argc >= 2 ? argv[1] : (char*)"fruits.jpg"; |
||||
Mat img0 = imread(filename, -1); |
||||
if(img0.empty()) |
||||
{ |
||||
cout << "Usage: inpaint <image_name>\n"; |
||||
return 0; |
||||
} |
||||
|
||||
cout << "Hot keys: \n" |
||||
"\tESC - quit the program\n" |
||||
"\tr - restore the original image\n" |
||||
"\ti or SPACE - run inpainting algorithm\n" |
||||
"\t\t(before running it, paint something on the image)\n"; |
||||
|
||||
namedWindow( "image", 1 ); |
||||
|
||||
img = img0.clone(); |
||||
inpaintMask = Mat::zeros(img.size(), CV_8U); |
||||
|
||||
imshow("image", img); |
||||
setMouseCallback( "image", onMouse, 0 ); |
||||
|
||||
for(;;) |
||||
{ |
||||
char c = (char)waitKey(); |
||||
|
||||
if( c == 27 ) |
||||
break; |
||||
|
||||
if( c == 'r' ) |
||||
{ |
||||
inpaintMask = Scalar::all(0); |
||||
img0.copyTo(img); |
||||
imshow("image", img); |
||||
} |
||||
|
||||
if( c == 'i' || c == ' ' ) |
||||
{ |
||||
Mat inpainted; |
||||
inpaint(img, inpaintMask, inpainted, 3, CV_INPAINT_TELEA); |
||||
imshow("inpainted image", inpainted); |
||||
} |
||||
} |
||||
|
||||
return 0; |
||||
} |
||||
Loading…
Reference in new issue