josch/calibrate_camera_opencv
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sanitize formatting, use 2 spaces instead of tabs

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josch 2012-09-18 20:16:01 +02:00
parent 7482fe9360
commit 0763819ffc
1 changed files with 88 additions and 81 deletions
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169
calibrate.cc
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@ -10,7 +10,7 @@
using namespace std; using namespace std;
using namespace cv; using namespace cv;
enum {INTERACTIVE_MODE, PRESPECIFIED_MODE}; enum { INTERACTIVE_MODE, PRESPECIFIED_MODE };
#define KEY_ESCAPE 1048603 #define KEY_ESCAPE 1048603
#define KEY_SPACE 1048608 #define KEY_SPACE 1048608
@ -19,92 +19,99 @@ enum {INTERACTIVE_MODE, PRESPECIFIED_MODE};
#define COUNT_SQUARES_X 4 #define COUNT_SQUARES_X 4
#define COUNT_SQUARES_Y 6 #define COUNT_SQUARES_Y 6
int main(int argc, char** argv) int main(int argc, char **argv)
{ {
int user_mode; int user_mode;
int specified_boards; int specified_boards;
if (argc > 2) if (argc > 2)
cerr << "Usage: ./calibrate [number of frames]\n"; cerr << "Usage: ./calibrate [number of frames]\n";
else if (argc == 1) else if (argc == 1) {
{ user_mode = INTERACTIVE_MODE;
user_mode = INTERACTIVE_MODE; cout <<
cout << "Camera calibration using interactive behavior. Press SPACE to grab frame.\n"; "Camera calibration using interactive behavior. Press SPACE to grab frame.\n";
} } else {
else user_mode = PRESPECIFIED_MODE;
{ stringstream ss;
user_mode = PRESPECIFIED_MODE; ss << argv[1];
stringstream ss; ss << argv[1]; ss >> specified_boards;
ss >> specified_boards; cout << "Camera calibration using " << specified_boards <<
cout << "Camera calibration using " << specified_boards << " frames.\n"; " frames.\n";
} }
VideoCapture capture(-1); // open the default camera VideoCapture capture(-1); // open the default camera
if (!capture.isOpened()) // check if opening camera stream succeeded if (!capture.isOpened()) // check if opening camera stream succeeded
{
cerr << "Camera could not be found. Exiting.\n";
return -1;
}
namedWindow("Camera Image", CV_WINDOW_KEEPRATIO);
vector< vector <Point3f> > object_points;
vector< vector <Point2f> > image_points;
Mat frame, gray_frame;
for(int count = 0; ; ++count)
{
cout << "Frame: " << count << "\n";
capture >> frame; // get a new frame from camera
cvtColor(frame, gray_frame, CV_BGR2GRAY);
imshow("Camera Image", frame);
int key_pressed = waitKey(0);
if (key_pressed == KEY_CLOSE_WINDOW || key_pressed == KEY_ESCAPE) break;
if ((user_mode == INTERACTIVE_MODE && key_pressed == KEY_SPACE) ||
user_mode == PRESPECIFIED_MODE && count < specified_boards)
{
Size pattern_size(COUNT_SQUARES_X, COUNT_SQUARES_Y); //interior number of corners
vector<Point2f> corners; //this will be filled by the detected corners
bool pattern_found = findChessboardCorners( gray_frame, pattern_size, corners, CALIB_CB_ADAPTIVE_THRESH + CALIB_CB_NORMALIZE_IMAGE + CALIB_CB_FAST_CHECK);
if (pattern_found) // to tweak params: http://bit.ly/QyoU3k
{
cornerSubPix(gray_frame, corners, Size(11, 11), Size(-1, -1), TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));
drawChessboardCorners(frame, pattern_size, Mat(corners), pattern_found);
vector< Point3f > obj;
for(int j = 0; j < COUNT_SQUARES_X * COUNT_SQUARES_Y; ++j)
obj.push_back(Point3f(j/COUNT_SQUARES_X, j%COUNT_SQUARES_X, 0.0f));
image_points.push_back(corners);
object_points.push_back(obj);
cout << "Frame " << count << " grabbed.\n";
}
}
}
Mat intrinsic = Mat(3, 3, CV_32FC1);
Mat distCoeffs;
vector<Mat> rvecs;
vector<Mat> tvecs;
calibrateCamera(object_points, image_points, frame.size(), intrinsic, distCoeffs, rvecs, tvecs);
Mat imageUndistorted;
while(1)
{ {
capture >> frame; cerr << "Camera could not be found. Exiting.\n";
undistort(frame, imageUndistorted, intrinsic, distCoeffs); return -1;
}
namedWindow("Camera Image", CV_WINDOW_KEEPRATIO);
vector < vector < Point3f > >object_points;
vector < vector < Point2f > >image_points;
Mat frame, gray_frame;
for (int count = 0;; ++count) {
cout << "Frame: " << count << "\n";
capture >> frame; // get a new frame from camera
cvtColor(frame, gray_frame, CV_BGR2GRAY);
imshow("Camera Image", frame);
int key_pressed = waitKey(0);
if (key_pressed == KEY_CLOSE_WINDOW || key_pressed == KEY_ESCAPE)
break;
if ((user_mode == INTERACTIVE_MODE && key_pressed == KEY_SPACE) ||
user_mode == PRESPECIFIED_MODE && count < specified_boards) {
Size pattern_size(COUNT_SQUARES_X, COUNT_SQUARES_Y); //interior number of corners
vector < Point2f > corners; //this will be filled by the detected corners
bool pattern_found =
findChessboardCorners(gray_frame, pattern_size, corners,
CALIB_CB_ADAPTIVE_THRESH +
CALIB_CB_NORMALIZE_IMAGE +
CALIB_CB_FAST_CHECK);
if (pattern_found) // to tweak params: http://bit.ly/QyoU3k
{
cornerSubPix(gray_frame, corners, Size(11, 11), Size(-1, -1),
TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30,
0.1));
drawChessboardCorners(frame, pattern_size, Mat(corners),
pattern_found);
vector < Point3f > obj;
for (int j = 0; j < COUNT_SQUARES_X * COUNT_SQUARES_Y; ++j)
obj.push_back(Point3f
(j / COUNT_SQUARES_X, j % COUNT_SQUARES_X, 0.0f));
image_points.push_back(corners);
object_points.push_back(obj);
cout << "Frame " << count << " grabbed.\n";
}
}
}
Mat intrinsic = Mat(3, 3, CV_32FC1);
Mat distCoeffs;
vector < Mat > rvecs;
vector < Mat > tvecs;
calibrateCamera(object_points, image_points, frame.size(), intrinsic,
distCoeffs, rvecs, tvecs);
Mat imageUndistorted;
while (1) {
capture >> frame;
undistort(frame, imageUndistorted, intrinsic, distCoeffs);
imshow("win1", frame); imshow("win1", frame);
imshow("win2", imageUndistorted); imshow("win2", imageUndistorted);
waitKey(1); waitKey(1);
} }
capture.release(); capture.release();
// the camera will be deinitialized automatically in VideoCapture destructor // the camera will be deinitialized automatically in VideoCapture destructor
return 0; return 0;
} }