Merged android-experimental branch back to trunk.
This commit is contained in:
Andrey Kamaev
245
android/android-opencv/jni/Calibration.cpp
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245
android/android-opencv/jni/Calibration.cpp
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/*
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* Processor.cpp
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*
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* Created on: Jun 13, 2010
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* Author: ethan
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*/
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#include "Calibration.h"
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#include <sys/stat.h>
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using namespace cv;
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Calibration::Calibration() :
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patternsize(6, 8)
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{
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}
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Calibration::~Calibration()
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{
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}
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namespace
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{
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double computeReprojectionErrors(const vector<vector<Point3f> >& objectPoints,
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const vector<vector<Point2f> >& imagePoints, const vector<Mat>& rvecs, const vector<
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Mat>& tvecs, const Mat& cameraMatrix, const Mat& distCoeffs,
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vector<float>& perViewErrors)
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{
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vector<Point2f> imagePoints2;
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int i, totalPoints = 0;
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double totalErr = 0, err;
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perViewErrors.resize(objectPoints.size());
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for (i = 0; i < (int)objectPoints.size(); i++)
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{
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projectPoints(Mat(objectPoints[i]), rvecs[i], tvecs[i], cameraMatrix, distCoeffs, imagePoints2);
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err = norm(Mat(imagePoints[i]), Mat(imagePoints2), CV_L1);
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int n = (int)objectPoints[i].size();
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perViewErrors[i] = err / n;
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totalErr += err;
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totalPoints += n;
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}
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return totalErr / totalPoints;
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}
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void calcChessboardCorners(Size boardSize, float squareSize, vector<Point3f>& corners)
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{
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corners.resize(0);
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for (int i = 0; i < boardSize.height; i++)
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for (int j = 0; j < boardSize.width; j++)
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corners.push_back(Point3f(float(j * squareSize), float(i * squareSize), 0));
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}
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/**from opencv/samples/cpp/calibration.cpp
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*
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*/
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bool runCalibration(vector<vector<Point2f> > imagePoints, Size imageSize, Size boardSize, float squareSize,
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float aspectRatio, int flags, Mat& cameraMatrix, Mat& distCoeffs, vector<Mat>& rvecs,
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vector<Mat>& tvecs, vector<float>& reprojErrs, double& totalAvgErr)
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{
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cameraMatrix = Mat::eye(3, 3, CV_64F);
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if (flags & CV_CALIB_FIX_ASPECT_RATIO)
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cameraMatrix.at<double> (0, 0) = aspectRatio;
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distCoeffs = Mat::zeros(4, 1, CV_64F);
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vector<vector<Point3f> > objectPoints(1);
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calcChessboardCorners(boardSize, squareSize, objectPoints[0]);
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for (size_t i = 1; i < imagePoints.size(); i++)
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objectPoints.push_back(objectPoints[0]);
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calibrateCamera(objectPoints, imagePoints, imageSize, cameraMatrix, distCoeffs, rvecs, tvecs, flags);
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bool ok = checkRange(cameraMatrix, CV_CHECK_QUIET) && checkRange(distCoeffs, CV_CHECK_QUIET);
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totalAvgErr
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= computeReprojectionErrors(objectPoints, imagePoints, rvecs, tvecs, cameraMatrix, distCoeffs, reprojErrs);
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return ok;
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}
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void saveCameraParams(const string& filename, Size imageSize, Size boardSize, float squareSize, float aspectRatio,
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int flags, const Mat& cameraMatrix, const Mat& distCoeffs, const vector<Mat>& rvecs,
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const vector<Mat>& tvecs, const vector<float>& reprojErrs,
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const vector<vector<Point2f> >& imagePoints, double totalAvgErr)
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{
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FileStorage fs(filename, FileStorage::WRITE);
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time_t t;
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time(&t);
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struct tm *t2 = localtime(&t);
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char buf[1024];
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strftime(buf, sizeof(buf) - 1, "%c", t2);
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fs << "calibration_time" << buf;
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if (!rvecs.empty() || !reprojErrs.empty())
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fs << "nframes" << (int)std::max(rvecs.size(), reprojErrs.size());
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fs << "image_width" << imageSize.width;
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fs << "image_height" << imageSize.height;
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fs << "board_width" << boardSize.width;
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fs << "board_height" << boardSize.height;
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fs << "squareSize" << squareSize;
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if (flags & CV_CALIB_FIX_ASPECT_RATIO)
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fs << "aspectRatio" << aspectRatio;
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if (flags != 0)
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{
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sprintf(buf, "flags: %s%s%s%s", flags & CV_CALIB_USE_INTRINSIC_GUESS ? "+use_intrinsic_guess" : "", flags
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& CV_CALIB_FIX_ASPECT_RATIO ? "+fix_aspectRatio" : "", flags & CV_CALIB_FIX_PRINCIPAL_POINT
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? "+fix_principal_point" : "", flags & CV_CALIB_ZERO_TANGENT_DIST ? "+zero_tangent_dist" : "");
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cvWriteComment(*fs, buf, 0);
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}
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fs << "flags" << flags;
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fs << "camera_matrix" << cameraMatrix;
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fs << "distortion_coefficients" << distCoeffs;
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fs << "avg_reprojection_error" << totalAvgErr;
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if (!reprojErrs.empty())
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fs << "per_view_reprojection_errors" << Mat(reprojErrs);
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if (!rvecs.empty() && !tvecs.empty())
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{
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Mat bigmat(rvecs.size(), 6, CV_32F);
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for (size_t i = 0; i < rvecs.size(); i++)
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{
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Mat r = bigmat(Range(i, i + 1), Range(0, 3));
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Mat t = bigmat(Range(i, i + 1), Range(3, 6));
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rvecs[i].copyTo(r);
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tvecs[i].copyTo(t);
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}
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cvWriteComment(*fs, "a set of 6-tuples (rotation vector + translation vector) for each view", 0);
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fs << "extrinsic_parameters" << bigmat;
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}
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if (!imagePoints.empty())
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{
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Mat imagePtMat(imagePoints.size(), imagePoints[0].size(), CV_32FC2);
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for (size_t i = 0; i < imagePoints.size(); i++)
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{
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Mat r = imagePtMat.row(i).reshape(2, imagePtMat.cols);
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Mat(imagePoints[i]).copyTo(r);
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}
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fs << "image_points" << imagePtMat;
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}
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}
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}//anon namespace
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bool Calibration::detectAndDrawChessboard(int idx, image_pool* pool)
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{
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bool patternfound = false;
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Mat grey = pool->getGrey(idx);
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if (grey.empty())
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return false;
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vector<Point2f> corners;
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patternfound = findChessboardCorners(grey, patternsize, corners,CALIB_CB_FILTER_QUADS + CALIB_CB_ADAPTIVE_THRESH + CALIB_CB_NORMALIZE_IMAGE
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+ CALIB_CB_FAST_CHECK);
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Mat img = pool->getImage(idx);
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if (corners.size() < 1)
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return false;
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if (patternfound)
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{
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cornerSubPix(grey, corners, Size(11, 11), Size(-1, -1), TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));
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imagepoints.push_back(corners);
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}
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drawChessboardCorners(img, patternsize, Mat(corners), patternfound);
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imgsize = grey.size();
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return patternfound;
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}
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void Calibration::drawText(int i, image_pool* pool, const char* ctext)
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{
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// Use "y" to show that the baseLine is about
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string text = ctext;
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int fontFace = FONT_HERSHEY_COMPLEX_SMALL;
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double fontScale = .8;
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int thickness = .5;
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Mat img = pool->getImage(i);
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int baseline = 0;
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Size textSize = getTextSize(text, fontFace, fontScale, thickness, &baseline);
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baseline += thickness;
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// center the text
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Point textOrg((img.cols - textSize.width) / 2, (img.rows - textSize.height * 2));
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// draw the box
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rectangle(img, textOrg + Point(0, baseline), textOrg + Point(textSize.width, -textSize.height), Scalar(0, 0, 255),
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CV_FILLED);
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// ... and the baseline first
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line(img, textOrg + Point(0, thickness), textOrg + Point(textSize.width, thickness), Scalar(0, 0, 255));
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// then put the text itself
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putText(img, text, textOrg, fontFace, fontScale, Scalar::all(255), thickness, 8);
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}
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void Calibration::resetChess()
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{
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imagepoints.clear();
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}
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void Calibration::calibrate(const char* filename)
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{
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vector<Mat> rvecs, tvecs;
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vector<float> reprojErrs;
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double totalAvgErr = 0;
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int flags = 0;
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flags |= CV_CALIB_FIX_PRINCIPAL_POINT | CV_CALIB_FIX_ASPECT_RATIO;
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bool writeExtrinsics = true;
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bool writePoints = true;
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bool ok = runCalibration(imagepoints, imgsize, patternsize, 1.f, 1.f, flags, K, distortion, rvecs, tvecs, reprojErrs,
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totalAvgErr);
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if (ok)
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{
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saveCameraParams(filename, imgsize, patternsize, 1.f, 1.f, flags, K, distortion, writeExtrinsics ? rvecs : vector<
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Mat> (), writeExtrinsics ? tvecs : vector<Mat> (), writeExtrinsics ? reprojErrs : vector<float> (), writePoints
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? imagepoints : vector<vector<Point2f> > (), totalAvgErr);
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}
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}
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int Calibration::getNumberDetectedChessboards()
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{
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return imagepoints.size();
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}
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