Fix bugs in calibrate.cc
This commit is contained in:
Razvan Mihalyi
commit
285c65b6fb
2 changed files with 147 additions and 120 deletions
246
calibrate.cc
246
calibrate.cc
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@ -19,124 +19,144 @@ enum {INTERACTIVE_MODE, PRESPECIFIED_MODE};
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#define COUNT_SQUARES_X 4
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#define COUNT_SQUARES_Y 6
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int detect_pattern(Mat frame, vector< vector<Point3f> >& object_points, vector<vector<Point2f> >& image_points)
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{
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// interior number of corners
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Size pattern_size(COUNT_SQUARES_X, COUNT_SQUARES_Y);
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// will be filled by the detected corners
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vector<Point2f> corners;
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bool pattern_found = findChessboardCorners(
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frame, pattern_size, corners,
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CALIB_CB_ADAPTIVE_THRESH +
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CALIB_CB_NORMALIZE_IMAGE +
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CALIB_CB_FAST_CHECK);
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if (!pattern_found)
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return -1;
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// to tweak params: http://bit.ly/QyoU3k
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cornerSubPix(frame, corners, Size(11, 11), Size(-1, -1),
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TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 100,
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0.1));
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drawChessboardCorners(frame, pattern_size, Mat(corners),
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pattern_found);
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vector<Point3f> obj;
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for (int j = 0; j < COUNT_SQUARES_X * COUNT_SQUARES_Y; ++j)
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obj.push_back(Point3f(j / COUNT_SQUARES_X, j % COUNT_SQUARES_X, 0.0f));
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object_points.push_back(obj);
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image_points.push_back(corners);
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return 0;
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}
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int run_interactive()
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{
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namedWindow("Camera Image", CV_WINDOW_KEEPRATIO);
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int count = 0;
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Mat frame;
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vector<vector<Point3f> > object_points;
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vector<vector<Point2f> > image_points;
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Mat intrinsic = Mat(3, 3, CV_32FC1);
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Mat distCoeffs;
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vector<Mat> rvecs, tvecs;
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// open the default camera
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VideoCapture capture(-1);
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// check if opening camera stream succeeded
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if (!capture.isOpened()) {
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cerr << "Camera could not be found. Exiting.\n";
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return -1;
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}
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for (;;) {
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cout << "Frame: " << count << endl;
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Mat gray_frame;
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capture >> frame; // get a new frame from camera
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cvtColor(frame, gray_frame, CV_BGR2GRAY);
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imshow("Camera Image", frame);
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int key_pressed = waitKey(0);
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if (key_pressed == KEY_CLOSE_WINDOW || key_pressed == KEY_ESCAPE)
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break;
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if (key_pressed == KEY_SPACE) {
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if (detect_pattern(gray_frame, object_points, image_points) == 0) {
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cout << "Frame " << count << " grabbed." << endl;
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} else {
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cout << "pattern not found" << endl;
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}
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}
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}
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calibrateCamera(object_points, image_points, frame.size(), intrinsic,
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distCoeffs, rvecs, tvecs);
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for (;;) {
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capture >> frame;
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Mat imageUndistorted;
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undistort(frame, imageUndistorted, intrinsic, distCoeffs);
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imshow("win1", frame);
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imshow("win2", imageUndistorted);
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waitKey(1);
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}
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capture.release();
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}
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int run_prespecified(int argc, char **argv)
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{
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int count = 0;
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Mat frame;
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vector<vector<Point3f> > object_points;
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vector<vector<Point2f> > image_points;
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Mat intrinsic = Mat(3, 3, CV_32FC1);
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Mat distCoeffs;
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vector<Mat> rvecs, tvecs;
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for (int i = 0; i < argc; i++) {
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Mat gray_frame;
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cerr << endl << argv[i] << endl;
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frame = imread(argv[i], CV_LOAD_IMAGE_COLOR);
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cvtColor(frame, gray_frame, CV_BGR2GRAY);
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imshow("Camera Image", frame);
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if (detect_pattern(gray_frame, object_points, image_points) == 0) {
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cout << "Frame " << i << " grabbed." << endl;
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} else {
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cout << "Pattern not found in frame " << i << endl;
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}
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}
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cout << "Calibrating..." << endl;
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calibrateCamera(object_points, image_points, frame.size(), intrinsic,
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distCoeffs, rvecs, tvecs);
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for (int i = 0; i < argc; i++) {
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frame = imread(argv[i], CV_LOAD_IMAGE_COLOR);
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Mat imageUndistorted;
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undistort(frame, imageUndistorted, intrinsic, distCoeffs);
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imshow("win1", frame);
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imshow("win2", imageUndistorted);
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waitKey(0);
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}
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return 0;
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}
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int main(int argc, char **argv)
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{
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int user_mode;
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int specified_boards;
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if (argc > 2)
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cerr << "Usage: ./calibrate [number of frames]\n";
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else if (argc == 1)
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{
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user_mode = INTERACTIVE_MODE;
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cout << "Camera calibration using interactive behavior. Press SPACE to grab frame, ESC to quit.\n";
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}
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else
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{
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user_mode = PRESPECIFIED_MODE;
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stringstream ss; ss << argv[1];
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ss >> specified_boards;
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cout << "Camera calibration using " << specified_boards << " frames.\n";
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/* no arguments means interactive mode
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* one or more arguments are image filenames */
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if (argc == 1) {
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run_interactive();
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} else {
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run_prespecified(argc-1, ++argv);
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}
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VideoCapture capture(0); // open the default camera
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if (!capture.isOpened()) // check if opening camera stream succeeded
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{
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cerr << "Camera could not be found. Exiting.\n";
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return -1;
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}
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// set frame width and height by hand, defaults to 160x120
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capture.set (CV_CAP_PROP_FRAME_WIDTH, 640);
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capture.set (CV_CAP_PROP_FRAME_HEIGHT, 480);
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// show camera image in a separate window
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namedWindow("Camera Image", CV_WINDOW_KEEPRATIO);
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// store object points (world coords) and image points (image coords) for use in calibrateCamera
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vector< vector <Point3f> > object_points;
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vector< vector <Point2f> > image_points;
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/// current frame, its grayscale counterpart and storage for the first frame
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Mat frame, gray_frame, first_frame;
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// flag for determining whether pattern was detected in at least one of the camera grabs
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bool acquired_samples = false;
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// loop indefinitely and keep frame counter
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for(int count_frames = 0; ; ++count_frames)
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{
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capture >> frame; // get a new frame from camera
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cvtColor(frame, gray_frame, CV_BGR2GRAY); // convert current frame to grayscale
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imshow("Camera Image", frame); // update camera image
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int key_pressed = waitKey(0); // get user key press
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if (key_pressed == KEY_CLOSE_WINDOW || key_pressed == KEY_ESCAPE) break;
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if (user_mode == INTERACTIVE_MODE && key_pressed == KEY_SPACE)
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{
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Size pattern_size(COUNT_SQUARES_X, COUNT_SQUARES_Y); // number of squares in the pattern, a.k.a, interior number of corners
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vector <Point2f> corners; // storage for the detected corners in findChessboardConrners
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bool pattern_found = findChessboardCorners( gray_frame, pattern_size, corners, CALIB_CB_ADAPTIVE_THRESH + CALIB_CB_NORMALIZE_IMAGE + CALIB_CB_FAST_CHECK);
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if (pattern_found)
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{
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if (count_frames == 0) first_frame = frame;
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// if corners are detected, they are further refined by calculating subpixel corners from the grayscale image
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// this iterative process terminates after the given number of iterations and error epsilon
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cornerSubPix(gray_frame, corners, Size(11, 11), Size(-1, -1), TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 100, 0.1));
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// draw the detected corners for debugging purposes
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drawChessboardCorners(frame, pattern_size, Mat(corners), pattern_found);
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// show detected corners in a different window
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imshow("Detected pattern", frame);
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// build a grid of 3D points (z component is 0 because the pattern is in one plane) to fit the square pattern area (COUNT_SQUARES_X * COUNT_SQUARES_Y)
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vector< Point3f > pattern_points;
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for(int j = 0; j < COUNT_SQUARES_X * COUNT_SQUARES_Y; ++j)
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pattern_points.push_back(Point3f(j/COUNT_SQUARES_X, j%COUNT_SQUARES_X, 0.0f));
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// populate image points with corners and object points with grid points
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image_points.push_back(corners);
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object_points.push_back(pattern_points);
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cout << "Frame " << count_frames << " grabbed.\n";
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acquired_samples = true;
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}
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}
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}
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// if at least one video capture contains the pattern, perform calibration
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if (acquired_samples)
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{
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Mat intrinsic = Mat(3, 3, CV_32FC1);
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Mat distCoeffs;
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vector<Mat> rvecs;
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vector<Mat> tvecs;
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// perform calibration, obtain instrinsic parameters and distortion coefficients
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cout << "\nCalibrating...\n";
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calibrateCamera(object_points, image_points, frame.size(), intrinsic, distCoeffs, rvecs, tvecs);
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/*
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Mat grab2 = imread("./data/grab2.jpg"), grab2_undistorted;
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Mat grab4 = imread("./data/grab4.jpg"), grab4_undistorted;
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undistort(grab2, grab2_undistorted, intrinsic, distCoeffs);
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undistort(grab4, grab4_undistorted, intrinsic, distCoeffs);
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imwrite("./data/grab2_undistorted.jpg", grab2_undistorted);
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imwrite("./data/grab4_undistorted.jpg", grab4_undistorted);
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*/
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Mat undistorted_frame;
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// apply the calibration transformation to the first frame and store image on disk
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undistort(first_frame, undistorted_frame, intrinsic, distCoeffs);
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imwrite("capture.jpg", first_frame);
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imwrite("undistorted_frame.jpg", undistorted_frame);
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cout << "Saved first frame to undistorted_frame.jpg\n";
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cout << "Intrinsic parameters: \n" << intrinsic << "\n";
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cout << "Distortion coefficients: \n" << distCoeffs << "\n";
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}
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else
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{
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cerr << "No frames grabbed!\n";
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}
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// the camera will be deinitialized automatically in VideoCapture destructor
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return 0;
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}
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15
calibrate.py
15
calibrate.py
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@ -8,6 +8,7 @@ if __name__ == "__main__":
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im = cv.LoadImage(filename, cv.CV_LOAD_IMAGE_GRAYSCALE)
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im3 = cv.LoadImage(filename, cv.CV_LOAD_IMAGE_COLOR)
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board_width, board_height = (4, 6)
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square_size = 4
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corner_count = board_width * board_height
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found_all, corners = cv.FindChessboardCorners( im, (board_width, board_height))
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@ -24,19 +25,25 @@ if __name__ == "__main__":
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image_points = cv.CreateMat(corner_count, 2, cv.CV_32FC1)
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point_counts = cv.CreateMat(1, 1, cv.CV_32SC1)
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for jj in range(corner_count):
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cv.Set2D(object_points, jj, 0, float(jj/board_width))
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cv.Set2D(object_points, jj, 1, float(jj%board_width))
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cv.Set2D(object_points, jj, 2, float(0.0))
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#cv.Set2D(object_points, jj, 0, float(jj/board_width))
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#cv.Set2D(object_points, jj, 1, float(jj%board_width))
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#cv.Set2D(object_points, jj, 2, float(0.0))
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cv.Set2D(image_points, jj, 0, corners[jj][0])
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cv.Set2D(image_points, jj, 1, corners[jj][1])
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for i in range(board_height):
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for j in range(board_width):
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cv.Set2D(object_points, i*board_width+j, 0, float(i*square_size))
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cv.Set2D(object_points, i*board_width+j, 1, float(j*square_size))
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cv.Set2D(object_points, i*board_width+j, 2, float(0.0))
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print i*board_width+j, i*square_size, j*square_size
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cv.Set1D(point_counts, 0, corner_count)
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cv.CalibrateCamera2(object_points, image_points, point_counts, cv.GetSize(im3), camera_intrinsic_mat, distortion_mat, rotation_vecs, translation_vecs)
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undistorted = cv.CloneImage(im3);
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cv.Undistort2(im3, undistorted, camera_intrinsic_mat, distortion_mat)
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cv.ShowImage("win", undistorted);
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#cv.ShowImage("win", im3);
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cv.WaitKey()
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else:
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print "not found"
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