mirror of https://github.com/opencv/opencv.git
Open Source Computer Vision Library
https://opencv.org/
You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
334 lines
12 KiB
334 lines
12 KiB
#include "opencv2/calib3d/calib3d.hpp" |
|
#include "opencv2/imgproc/imgproc.hpp" |
|
#include "opencv2/highgui/highgui.hpp" |
|
|
|
#include <iostream> |
|
#include <vector> |
|
#include <algorithm> |
|
#include <iterator> |
|
#include <stdio.h> |
|
|
|
using namespace cv; |
|
using namespace std; |
|
|
|
static void help() |
|
{ |
|
printf( "\nThis code generates an artificial camera and artificial chessboard images,\n" |
|
"and then calibrates. It is basically test code for calibration that shows\n" |
|
"how to package calibration points and then calibrate the camera.\n" |
|
"Usage:\n" |
|
"./calibration_artificial\n\n"); |
|
} |
|
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() |
|
{ |
|
help(); |
|
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; |
|
destroyAllWindows(); |
|
|
|
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 << "Estimated camera matrix:\n" << (Mat_<double>&)camMat_est << endl; |
|
cout << "Estimated 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(std::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), FILLED, LINE_AA); |
|
drawContours(result, squares_black, -1, Scalar::all(0), FILLED, LINE_AA); |
|
} |
|
else |
|
{ |
|
Mat tmp; |
|
resize(bg, tmp, bg.size() * rendererResolutionMultiplier); |
|
drawContours(tmp, whole_contour, -1, Scalar::all(255), FILLED, LINE_AA); |
|
drawContours(tmp, squares_black, -1, Scalar::all(0), FILLED, LINE_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 = std::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( std::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); |
|
}
|
|
|