josch/calibrate_camera_opencv
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not working yet. implement reading of image files

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josch 2012-09-18 21:57:48 +02:00
parent 662929e1fb
commit 458a3e0fc9
1 changed files with 110 additions and 67 deletions
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177
calibrate.cc
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@ -19,40 +19,62 @@ 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 detect_pattern(Mat frame, vector<vector<Point3f> > object_points, vector<vector<Point2f> > image_points)
{ {
int user_mode; // interior number of corners
int specified_boards; Size pattern_size(COUNT_SQUARES_X, COUNT_SQUARES_Y);
if (argc > 2) // will be filled by the detected corners
cerr << "Usage: ./calibrate [number of frames]\n"; vector<Point2f> corners;
else if (argc == 1) {
user_mode = INTERACTIVE_MODE;
cout <<
"Camera calibration using interactive behavior. Press SPACE to grab frame.\n";
} else {
user_mode = PRESPECIFIED_MODE;
stringstream ss;
ss << argv[1];
ss >> specified_boards;
cout << "Camera calibration using " << specified_boards <<
" frames.\n";
}
VideoCapture capture(-1); // open the default camera bool pattern_found = findChessboardCorners(
if (!capture.isOpened()) // check if opening camera stream succeeded frame, pattern_size, corners,
{ CALIB_CB_ADAPTIVE_THRESH +
CALIB_CB_NORMALIZE_IMAGE +
CALIB_CB_FAST_CHECK);
if (!pattern_found)
return -1;
// to tweak params: http://bit.ly/QyoU3k
cornerSubPix(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));
object_points.push_back(obj);
image_points.push_back(corners);
return 0;
}
int run_interactive()
{
namedWindow("Camera Image", CV_WINDOW_KEEPRATIO);
int count = 0;
Mat frame;
vector<vector<Point3f> > object_points;
vector<vector<Point2f> > image_points;
Mat intrinsic = Mat(3, 3, CV_32FC1);
Mat distCoeffs;
vector<Mat> rvecs, tvecs;
// open the default camera
VideoCapture capture(-1);
// check if opening camera stream succeeded
if (!capture.isOpened()) {
cerr << "Camera could not be found. Exiting.\n"; cerr << "Camera could not be found. Exiting.\n";
return -1; return -1;
} }
namedWindow("Camera Image", CV_WINDOW_KEEPRATIO); for (;;) {
vector < vector < Point3f > >object_points; cout << "Frame: " << count << endl;
vector < vector < Point2f > >image_points; Mat gray_frame;
capture >> frame; // get a new frame from camera
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); cvtColor(frame, gray_frame, CV_BGR2GRAY);
imshow("Camera Image", frame); imshow("Camera Image", frame);
@ -60,58 +82,79 @@ int main(int argc, char **argv)
if (key_pressed == KEY_CLOSE_WINDOW || key_pressed == KEY_ESCAPE) if (key_pressed == KEY_CLOSE_WINDOW || key_pressed == KEY_ESCAPE)
break; break;
if ((user_mode == INTERACTIVE_MODE && key_pressed == KEY_SPACE) || if (key_pressed == KEY_SPACE) {
user_mode == PRESPECIFIED_MODE && count < specified_boards) { if (detect_pattern(gray_frame, object_points, image_points) == 0) {
Size pattern_size(COUNT_SQUARES_X, COUNT_SQUARES_Y); //interior number of corners cout << "Frame " << count << " grabbed." << endl;
vector < Point2f > corners; //this will be filled by the detected corners } else {
bool pattern_found = cout << "pattern not found" << endl;
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, calibrateCamera(object_points, image_points, frame.size(), intrinsic,
distCoeffs, rvecs, tvecs); distCoeffs, rvecs, tvecs);
Mat imageUndistorted; for (;;) {
while (1) {
capture >> frame; capture >> frame;
Mat imageUndistorted;
undistort(frame, imageUndistorted, intrinsic, distCoeffs); 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 }
int run_prespecified(int argc, char **argv)
{
int count = 0;
Mat frame;
vector<vector<Point3f> > object_points;
vector<vector<Point2f> > image_points;
Mat intrinsic = Mat(3, 3, CV_32FC1);
Mat distCoeffs;
vector<Mat> rvecs, tvecs;
for (int i; i < argc; i++) {
Mat gray_frame;
frame = imread(argv[i], CV_LOAD_IMAGE_COLOR);
cvtColor(frame, gray_frame, CV_BGR2GRAY);
imshow("Camera Image", frame);
if (detect_pattern(gray_frame, object_points, image_points) == 0) {
cout << "Frame " << count << " grabbed." << endl;
} else {
cout << "pattern not found" << endl;
}
}
calibrateCamera(object_points, image_points, frame.size(), intrinsic,
distCoeffs, rvecs, tvecs);
for (int i; i < argc; i++) {
frame = imread(argv[i], CV_LOAD_IMAGE_COLOR);
Mat imageUndistorted;
undistort(frame, imageUndistorted, intrinsic, distCoeffs);
imshow("win1", frame);
imshow("win2", imageUndistorted);
waitKey(1);
}
return 0;
}
int main(int argc, char **argv)
{
int user_mode;
int specified_boards;
/* no arguments means interactive mode
* one or more arguments are image filenames */
if (argc == 1) {
run_interactive();
} else {
run_prespecified(argc-1, ++argv);
}
return 0; return 0;
} }