3dpcp/.svn/pristine/03/030bad3185eda98f75fc45983c735f1cc9642160.svn-base

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2012-09-16 12:33:11 +00:00
/*
* calibrate implementation
*
* Copyright (C) Stanislav Serebryakov
*
* Released under the GPL version 3.
*
*/
#include <stdio.h>
#include <cv.h>
#include <highgui.h>
void usage(char *progName) {
printf("%s <board-size-x> <board-size-y> <square-size> <images-list>\n", progName);
printf("\twhere board-size-x and y is count of *inner* corners of the booard");
printf("i.e.: %s 6 4 0.04 image*\n", progName);
printf("Use more then ten images.\nPress space bar to proceed.\n");
}
void calibrate( CvMat *intrinsic, CvMat *distortion, CvSize imgSz, CvSize boardSz
, double boardSide, CvPoint2D32f **corners, int boardsCnt) {
int totalPoints = boardSz.width * boardSz.height;
// object points (model)
CvMat *objPts = cvCreateMat(totalPoints * boardsCnt, 3, CV_32FC1);
// found points
CvMat *imgPts = cvCreateMat(totalPoints * boardsCnt, 2, CV_32FC1);
// points count
CvMat *ptsCnt = cvCreateMat(boardsCnt, 1, CV_32SC1);
// copy corners to matrix and fill model matrix
for(int i = 0; i < boardsCnt; i++) {
for(int j = 0; j < totalPoints; j++) {
int s = i * totalPoints;
CV_MAT_ELEM(*imgPts, float, s+j, 0) = corners[i][j].x;
CV_MAT_ELEM(*imgPts, float, s+j, 1) = corners[i][j].y;
CV_MAT_ELEM(*objPts, float, s+j, 0) = boardSide * (j / boardSz.width);
CV_MAT_ELEM(*objPts, float, s+j, 1) = boardSide * (j % boardSz.width);
CV_MAT_ELEM(*objPts, float, s+j, 2) = 0.0f;
}
CV_MAT_ELEM(*ptsCnt, int, i, 0) = totalPoints;
}
// initial guess
CV_MAT_ELEM(*intrinsic, float, 0, 0) = 1.0f;
CV_MAT_ELEM(*intrinsic, float, 1, 1) = 1.0f;
cvCalibrateCamera2( objPts, imgPts, ptsCnt, imgSz
, intrinsic, distortion
, NULL, NULL, 0 );
return;
}
int main(int argc, char **argv)
{
if(argc < 5) {
usage(argv[0]);
exit(1);
}
int patx = atoi(argv[1]);
int paty = atoi(argv[2]);
CvSize boardSz = cvSize(patx, paty);
int loadImageCnt = argc - 4;
int cornersTotal = boardSz.width * boardSz.height;
float boardSide = atof(argv[3]);;
char **images = &argv[4];
// intrinsic matrices and ditortion params
CvMat *intrinsic = cvCreateMat(3, 3, CV_32F);
CvMat *distortion = cvCreateMat(1, 4, CV_32F);
IplImage *img = cvLoadImage(images[0], CV_LOAD_IMAGE_GRAYSCALE);
IplImage *imgColor = cvCreateImage(cvGetSize(img), 8, 3);
int subpixel;
if(cvGetSize(img).width < 300) {
subpixel = 4;
}
else {
subpixel = 11;
}
int imagesWithBoard = 0;
CvPoint2D32f **corners = (CvPoint2D32f**)calloc(100, sizeof(CvPoint2D32f*));
corners[0] = (CvPoint2D32f*) malloc(cornersTotal * sizeof(CvPoint2D32f));
cvNamedWindow("Cam", 0);
for(int imagesLoaded = 0; imagesLoaded < loadImageCnt; imagesLoaded++) {
img = cvLoadImage(images[imagesLoaded], CV_LOAD_IMAGE_GRAYSCALE);
cvCvtColor(img, imgColor, CV_GRAY2BGR);
int cornersCount;
int found = cvFindChessboardCorners(img, boardSz, corners[imagesWithBoard],
&cornersCount, CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS);
if(found) cvFindCornerSubPix(img, corners[imagesWithBoard], cornersCount, cvSize(subpixel, subpixel), cvSize(-1,-1),
cvTermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 30, 0.1));
if(found && (cornersCount == cornersTotal)) {
cvDrawChessboardCorners(imgColor, boardSz, corners[imagesWithBoard], cornersCount, found);
imagesWithBoard++;
corners[imagesWithBoard] = (CvPoint2D32f*) malloc(cornersTotal * sizeof(CvPoint2D32f));
}
cvShowImage("Cam", imgColor);
cvWaitKey(0);
}
cvDestroyAllWindows();
printf("calibrating...\n");
fflush(stdout);
//TODO: can be started in parallel to watch calibration on image undistortion :)
calibrate(intrinsic, distortion, cvGetSize(img), boardSz, boardSide, corners, imagesWithBoard);
// save to xml files
cvSave("./intrinsic.xml", intrinsic);
cvSave("./distortion.xml", distortion);
printf("matrices saved to xml files.\n");
// let OS clean all images and matrices
return 0;
}
/*void usage(char *progName) {
printf( "usage:\n \
%s <x> <y> <camera-id> [-s]\n \
\tcamera-id is v4l id or -1 for pmd cam \
\tpress space or 'a' to grab image\n \
\tpress 'n' to skip grabbed frame\n \
\tpress 'c' to finish frame grabbing start calibration\n \
or:\n \
%s <x> <y> <image1cam.jpg, image1pmd.jpg, image2cam.png...>\n", progName, progName);
fflush(stdout);
}*/