josch/calibrate_camera_opencv
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Add C++ calibration and undistort implementation

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This commit is contained in:
Razvan Mihalyi 2012-09-18 15:26:25 +02:00
parent 9c3de4bcab
commit a4c92b0896
1 changed files with 57 additions and 20 deletions
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61
calibrate.cc
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@ -16,9 +16,13 @@ enum {INTERACTIVE_MODE, PRESPECIFIED_MODE};
#define KEY_SPACE 1048608 #define KEY_SPACE 1048608
#define KEY_CLOSE_WINDOW -1 #define KEY_CLOSE_WINDOW -1
#define COUNT_SQUARES_X 4
#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;
if (argc > 2) if (argc > 2)
cerr << "Usage: ./calibrate [number of frames]\n"; cerr << "Usage: ./calibrate [number of frames]\n";
else else
@ -30,31 +34,36 @@ int main(int argc, char** argv)
else else
{ {
user_mode = PRESPECIFIED_MODE; user_mode = PRESPECIFIED_MODE;
cout << "Camera calibration using " << argv[1] << " frames.\n"; stringstream ss; ss << argv[1];
ss >> specified_boards;
cout << "Camera calibration using " << specified_boards << " frames.\n";
} }
VideoCapture cap(-1); // open the default camera VideoCapture capture(-1); // open the default camera
if(!cap.isOpened()) // check if opening camera stream succeeded if(!capture.isOpened()) // check if opening camera stream succeeded
{ {
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); namedWindow("Camera Image", CV_WINDOW_KEEPRATIO);
vector< vector <Point3f> > object_points;
vector< vector <Point2f> > image_points;
Mat frame;
for(int count = 0; ; ++count) for(int count = 0; ; ++count)
{ {
cout << "Frame: " << count << "\n"; cout << "Frame: " << count << "\n";
Mat frame; capture >> frame; // get a new frame from camera
cap >> frame; // get a new frame from camera
imshow("Camera Image", frame); imshow("Camera Image", frame);
int key_pressed = waitKey(0); int key_pressed = waitKey(0);
if (key_pressed == KEY_CLOSE_WINDOW || key_pressed == KEY_ESCAPE) break; if (key_pressed == KEY_CLOSE_WINDOW || key_pressed == KEY_ESCAPE) break;
else
if (user_mode == INTERACTIVE_MODE) if ((user_mode == INTERACTIVE_MODE && key_pressed == KEY_SPACE) ||
user_mode == PRESPECIFIED_MODE && count < specified_boards)
{ {
if (key_pressed == KEY_SPACE) Size pattern_size(COUNT_SQUARES_X, COUNT_SQUARES_Y); //interior number of corners
{
Size pattern_size(4, 6); //interior number of corners
vector<Point2f> corners; //this will be filled by the detected corners vector<Point2f> corners; //this will be filled by the detected corners
bool pattern_found = findChessboardCorners( frame, pattern_size, corners, CALIB_CB_ADAPTIVE_THRESH + CALIB_CB_NORMALIZE_IMAGE + CALIB_CB_FAST_CHECK); bool pattern_found = findChessboardCorners( frame, pattern_size, corners, CALIB_CB_ADAPTIVE_THRESH + CALIB_CB_NORMALIZE_IMAGE + CALIB_CB_FAST_CHECK);
@ -62,12 +71,40 @@ int main(int argc, char** argv)
cornerSubPix(frame, corners, Size(11, 11), Size(-1, -1), TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1)); 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); drawChessboardCorners(frame, pattern_size, Mat(corners), pattern_found);
imshow("Calibrated", frame);
waitKey(30); 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));
if (pattern_found) {
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("win2", imageUndistorted);
waitKey(1);
}
capture.release();
// the camera will be deinitialized automatically in VideoCapture destructor // the camera will be deinitialized automatically in VideoCapture destructor
return 0; return 0;
} }