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- update documentation

Browse Source 
* correct the part about fixed aspect
    * improve formatting
    * add snippet markers to source
    * replace inline code by @snippet
  - do not run calibration twice when using a imageList
  - make output consistent in itself (CamelCase vs no_camel_case) as well as with old camera calibrate sample
  - respect write extrinsic/ points flags
  - set the aspectRatio value when specified
  - fix writing of calibration settings. also update grammar.
  - fix intendation and remove some size_t -> int casts by using size_t
This commit is contained in:
Pavel Rojtberg
2015-03-25 16:11:53 +01:00
parent d2da7dc3e5
commit 7c5084e385
2 changed files with 159 additions and 341 deletions
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234
samples/cpp/tutorial_code/calib3d/camera_calibration/camera_calibration.cpp
View File

@@ -34,7 +34,8 @@ public:
void write(FileStorage& fs) const //Write serialization for this class
{
fs << "{" << "BoardSize_Width" << boardSize.width
fs << "{"
<< "BoardSize_Width" << boardSize.width
<< "BoardSize_Height" << boardSize.height
<< "Square_Size" << squareSize
<< "Calibrate_Pattern" << patternToUse
@@ -43,8 +44,8 @@ public:
<< "Calibrate_AssumeZeroTangentialDistortion" << calibZeroTangentDist
<< "Calibrate_FixPrincipalPointAtTheCenter" << calibFixPrincipalPoint
<< "Write_DetectedFeaturePoints" << bwritePoints
<< "Write_extrinsicParameters" << bwriteExtrinsics
<< "Write_DetectedFeaturePoints" << writePoints
<< "Write_extrinsicParameters" << writeExtrinsics
<< "Write_outputFileName" << outputFileName
<< "Show_UndistortedImage" << showUndistorsed
@@ -62,8 +63,8 @@ public:
node["Square_Size"] >> squareSize;
node["Calibrate_NrOfFrameToUse"] >> nrFrames;
node["Calibrate_FixAspectRatio"] >> aspectRatio;
node["Write_DetectedFeaturePoints"] >> bwritePoints;
node["Write_extrinsicParameters"] >> bwriteExtrinsics;
node["Write_DetectedFeaturePoints"] >> writePoints;
node["Write_extrinsicParameters"] >> writeExtrinsics;
node["Write_outputFileName"] >> outputFileName;
node["Calibrate_AssumeZeroTangentialDistortion"] >> calibZeroTangentDist;
node["Calibrate_FixPrincipalPointAtTheCenter"] >> calibFixPrincipalPoint;
@@ -71,9 +72,9 @@ public:
node["Show_UndistortedImage"] >> showUndistorsed;
node["Input"] >> input;
node["Input_Delay"] >> delay;
interprate();
validate();
}
void interprate()
void validate()
{
goodInput = true;
if (boardSize.width <= 0 || boardSize.height <= 0)
@@ -105,10 +106,10 @@ public:
else
{
if (readStringList(input, imageList))
{
inputType = IMAGE_LIST;
nrFrames = (nrFrames < (int)imageList.size()) ? nrFrames : (int)imageList.size();
}
{
inputType = IMAGE_LIST;
nrFrames = (nrFrames < (int)imageList.size()) ? nrFrames : (int)imageList.size();
}
else
inputType = VIDEO_FILE;
}
@@ -121,7 +122,7 @@ public:
}
if (inputType == INVALID)
{
cerr << " Inexistent input: " << input;
cerr << " Input does not exist: " << input;
goodInput = false;
}
@@ -136,10 +137,10 @@ public:
if (!patternToUse.compare("CIRCLES_GRID")) calibrationPattern = CIRCLES_GRID;
if (!patternToUse.compare("ASYMMETRIC_CIRCLES_GRID")) calibrationPattern = ASYMMETRIC_CIRCLES_GRID;
if (calibrationPattern == NOT_EXISTING)
{
cerr << " Inexistent camera calibration mode: " << patternToUse << endl;
goodInput = false;
}
{
cerr << " Camera calibration mode does not exist: " << patternToUse << endl;
goodInput = false;
}
atImageList = 0;
}
@@ -152,7 +153,7 @@ public:
inputCapture >> view0;
view0.copyTo(result);
}
else if( atImageList < (int)imageList.size() )
else if( atImageList < imageList.size() )
result = imread(imageList[atImageList++], IMREAD_COLOR);
return result;
@@ -173,26 +174,24 @@ public:
return true;
}
public:
Size boardSize; // The size of the board -> Number of items by width and height
Pattern calibrationPattern;// One of the Chessboard, circles, or asymmetric circle pattern
float squareSize; // The size of a square in your defined unit (point, millimeter,etc).
int nrFrames; // The number of frames to use from the input for calibration
float aspectRatio; // The aspect ratio
int delay; // In case of a video input
bool bwritePoints; // Write detected feature points
bool bwriteExtrinsics; // Write extrinsic parameters
bool calibZeroTangentDist; // Assume zero tangential distortion
bool calibFixPrincipalPoint;// Fix the principal point at the center
bool flipVertical; // Flip the captured images around the horizontal axis
string outputFileName; // The name of the file where to write
bool showUndistorsed; // Show undistorted images after calibration
string input; // The input ->
Size boardSize; // The size of the board -> Number of items by width and height
Pattern calibrationPattern; // One of the Chessboard, circles, or asymmetric circle pattern
float squareSize; // The size of a square in your defined unit (point, millimeter,etc).
int nrFrames; // The number of frames to use from the input for calibration
float aspectRatio; // The aspect ratio
int delay; // In case of a video input
bool writePoints; // Write detected feature points
bool writeExtrinsics; // Write extrinsic parameters
bool calibZeroTangentDist; // Assume zero tangential distortion
bool calibFixPrincipalPoint; // Fix the principal point at the center
bool flipVertical; // Flip the captured images around the horizontal axis
string outputFileName; // The name of the file where to write
bool showUndistorsed; // Show undistorted images after calibration
string input; // The input ->
int cameraID;
vector<string> imageList;
int atImageList;
size_t atImageList;
VideoCapture inputCapture;
InputType inputType;
bool goodInput;
@@ -204,7 +203,7 @@ private:
};
static void read(const FileNode& node, Settings& x, const Settings& default_value = Settings())
static inline void read(const FileNode& node, Settings& x, const Settings& default_value = Settings())
{
if(node.empty())
x = default_value;
@@ -212,6 +211,11 @@ static void read(const FileNode& node, Settings& x, const Settings& default_valu
x.read(node);
}
static inline void write(FileStorage& fs, const String&, const Settings& s )
{
s.write(fs);
}
enum { DETECTION = 0, CAPTURING = 1, CALIBRATED = 2 };
bool runCalibrationAndSave(Settings& s, Size imageSize, Mat& cameraMatrix, Mat& distCoeffs,
@@ -220,6 +224,8 @@ bool runCalibrationAndSave(Settings& s, Size imageSize, Mat& cameraMatrix, Mat&
int main(int argc, char* argv[])
{
help();
//! [file_read]
Settings s;
const string inputSettingsFile = argc > 1 ? argv[1] : "default.xml";
FileStorage fs(inputSettingsFile, FileStorage::READ); // Read the settings
@@ -230,6 +236,10 @@ int main(int argc, char* argv[])
}
fs["Settings"] >> s;
fs.release(); // close Settings file
//! [file_read]
//FileStorage fout("settings.yml", FileStorage::WRITE); // write config as YAML
//fout << "Settings" << s;
if (!s.goodInput)
{
@@ -245,32 +255,35 @@ int main(int argc, char* argv[])
const Scalar RED(0,0,255), GREEN(0,255,0);
const char ESC_KEY = 27;
for(int i = 0;;++i)
//! [get_input]
for(;;)
{
Mat view;
bool blinkOutput = false;
Mat view;
bool blinkOutput = false;
view = s.nextImage();
view = s.nextImage();
//----- If no more image, or got enough, then stop calibration and show result -------------
if( mode == CAPTURING && imagePoints.size() >= (unsigned)s.nrFrames )
{
//----- If no more image, or got enough, then stop calibration and show result -------------
if( mode == CAPTURING && imagePoints.size() >= (size_t)s.nrFrames )
{
if( runCalibrationAndSave(s, imageSize, cameraMatrix, distCoeffs, imagePoints))
mode = CALIBRATED;
else
mode = DETECTION;
}
if(view.empty()) // If no more images then run calibration, save and stop loop.
{
if( imagePoints.size() > 0 )
}
if(view.empty()) // If there are no more images stop the loop
{
// if calibration threshold was not reached yet, calibrate now
if( mode != CALIBRATED && !imagePoints.empty() )
runCalibrationAndSave(s, imageSize, cameraMatrix, distCoeffs, imagePoints);
break;
}
}
//! [get_input]
imageSize = view.size(); // Format input image.
if( s.flipVertical ) flip( view, view, 0 );
//! [find_pattern]
vector<Point2f> pointBuf;
bool found;
@@ -290,7 +303,8 @@ int main(int argc, char* argv[])
found = false;
break;
}
//! [find_pattern]
//! [pattern_found]
if ( found) // If done with success,
{
// improve the found corners' coordinate accuracy for chessboard
@@ -313,8 +327,9 @@ int main(int argc, char* argv[])
// Draw the corners.
drawChessboardCorners( view, s.boardSize, Mat(pointBuf), found );
}
//! [pattern_found]
//----------------------------- Output Text ------------------------------------------------
//! [output_text]
string msg = (mode == CAPTURING) ? "100/100" :
mode == CALIBRATED ? "Calibrated" : "Press 'g' to start";
int baseLine = 0;
@@ -333,15 +348,17 @@ int main(int argc, char* argv[])
if( blinkOutput )
bitwise_not(view, view);
//! [output_text]
//------------------------- Video capture output undistorted ------------------------------
//! [output_undistorted]
if( mode == CALIBRATED && s.showUndistorsed )
{
Mat temp = view.clone();
undistort(temp, view, cameraMatrix, distCoeffs);
}
//! [output_undistorted]
//------------------------------ Show image and check for input commands -------------------
//! [await_input]
imshow("Image View", view);
char key = (char)waitKey(s.inputCapture.isOpened() ? 50 : s.delay);
@@ -356,9 +373,11 @@ int main(int argc, char* argv[])
mode = CAPTURING;
imagePoints.clear();
}
//! [await_input]
}
// -----------------------Show the undistorted image for the image list ------------------------
//! [show_results]
if( s.inputType == Settings::IMAGE_LIST && s.showUndistorsed )
{
Mat view, rview, map1, map2;
@@ -366,7 +385,7 @@ int main(int argc, char* argv[])
getOptimalNewCameraMatrix(cameraMatrix, distCoeffs, imageSize, 1, imageSize, 0),
imageSize, CV_16SC2, map1, map2);
for(int i = 0; i < (int)s.imageList.size(); i++ )
for(size_t i = 0; i < s.imageList.size(); i++ )
{
view = imread(s.imageList[i], 1);
if(view.empty())
@@ -378,11 +397,12 @@ int main(int argc, char* argv[])
break;
}
}
//! [show_results]
return 0;
}
//! [compute_errors]
static double computeReprojectionErrors( const vector<vector<Point3f> >& objectPoints,
const vector<vector<Point2f> >& imagePoints,
const vector<Mat>& rvecs, const vector<Mat>& tvecs,
@@ -390,17 +410,16 @@ static double computeReprojectionErrors( const vector<vector<Point3f> >& objectP
vector<float>& perViewErrors)
{
vector<Point2f> imagePoints2;
int i, totalPoints = 0;
size_t totalPoints = 0;
double totalErr = 0, err;
perViewErrors.resize(objectPoints.size());
for( i = 0; i < (int)objectPoints.size(); ++i )
for(size_t i = 0; i < objectPoints.size(); ++i )
{
projectPoints( Mat(objectPoints[i]), rvecs[i], tvecs[i], cameraMatrix,
distCoeffs, imagePoints2);
err = norm(Mat(imagePoints[i]), Mat(imagePoints2), NORM_L2);
projectPoints(objectPoints[i], rvecs[i], tvecs[i], cameraMatrix, distCoeffs, imagePoints2);
err = norm(imagePoints[i], imagePoints2, NORM_L2);
int n = (int)objectPoints[i].size();
size_t n = objectPoints[i].size();
perViewErrors[i] = (float) std::sqrt(err*err/n);
totalErr += err*err;
totalPoints += n;
@@ -408,7 +427,8 @@ static double computeReprojectionErrors( const vector<vector<Point3f> >& objectP
return std::sqrt(totalErr/totalPoints);
}
//! [compute_errors]
//! [board_corners]
static void calcBoardCornerPositions(Size boardSize, float squareSize, vector<Point3f>& corners,
Settings::Pattern patternType /*= Settings::CHESSBOARD*/)
{
@@ -420,28 +440,28 @@ static void calcBoardCornerPositions(Size boardSize, float squareSize, vector<Po
case Settings::CIRCLES_GRID:
for( int i = 0; i < boardSize.height; ++i )
for( int j = 0; j < boardSize.width; ++j )
corners.push_back(Point3f(float( j*squareSize ), float( i*squareSize ), 0));
corners.push_back(Point3f(j*squareSize, i*squareSize, 0));
break;
case Settings::ASYMMETRIC_CIRCLES_GRID:
for( int i = 0; i < boardSize.height; i++ )
for( int j = 0; j < boardSize.width; j++ )
corners.push_back(Point3f(float((2*j + i % 2)*squareSize), float(i*squareSize), 0));
corners.push_back(Point3f((2*j + i % 2)*squareSize, i*squareSize, 0));
break;
default:
break;
}
}
//! [board_corners]
static bool runCalibration( Settings& s, Size& imageSize, Mat& cameraMatrix, Mat& distCoeffs,
vector<vector<Point2f> > imagePoints, vector<Mat>& rvecs, vector<Mat>& tvecs,
vector<float>& reprojErrs, double& totalAvgErr)
{
//! [fixed_aspect]
cameraMatrix = Mat::eye(3, 3, CV_64F);
if( s.flag & CALIB_FIX_ASPECT_RATIO )
cameraMatrix.at<double>(0,0) = 1.0;
cameraMatrix.at<double>(0,0) = s.aspectRatio;
//! [fixed_aspect]
distCoeffs = Mat::zeros(8, 1, CV_64F);
vector<vector<Point3f> > objectPoints(1);
@@ -475,49 +495,48 @@ static void saveCameraParams( Settings& s, Size& imageSize, Mat& cameraMatrix, M
time( &tm );
struct tm *t2 = localtime( &tm );
char buf[1024];
strftime( buf, sizeof(buf)-1, "%c", t2 );
strftime( buf, sizeof(buf), "%c", t2 );
fs << "calibration_Time" << buf;
fs << "calibration_time" << buf;
if( !rvecs.empty() || !reprojErrs.empty() )
fs << "nrOfFrames" << (int)std::max(rvecs.size(), reprojErrs.size());
fs << "image_Width" << imageSize.width;
fs << "image_Height" << imageSize.height;
fs << "board_Width" << s.boardSize.width;
fs << "board_Height" << s.boardSize.height;
fs << "square_Size" << s.squareSize;
fs << "nr_of_frames" << (int)std::max(rvecs.size(), reprojErrs.size());
fs << "image_width" << imageSize.width;
fs << "image_height" << imageSize.height;
fs << "board_width" << s.boardSize.width;
fs << "board_height" << s.boardSize.height;
fs << "square_size" << s.squareSize;
if( s.flag & CALIB_FIX_ASPECT_RATIO )
fs << "FixAspectRatio" << s.aspectRatio;
fs << "fix_aspect_ratio" << s.aspectRatio;
if( s.flag )
if (s.flag)
{
sprintf( buf, "flags: %s%s%s%s",
s.flag & CALIB_USE_INTRINSIC_GUESS ? " +use_intrinsic_guess" : "",
s.flag & CALIB_FIX_ASPECT_RATIO ? " +fix_aspectRatio" : "",
s.flag & CALIB_FIX_PRINCIPAL_POINT ? " +fix_principal_point" : "",
s.flag & CALIB_ZERO_TANGENT_DIST ? " +zero_tangent_dist" : "" );
//cvWriteComment( *fs, buf, 0 );
sprintf(buf, "flags: %s%s%s%s",
s.flag & CALIB_USE_INTRINSIC_GUESS ? " +use_intrinsic_guess" : "",
s.flag & CALIB_FIX_ASPECT_RATIO ? " +fix_aspect_ratio" : "",
s.flag & CALIB_FIX_PRINCIPAL_POINT ? " +fix_principal_point" : "",
s.flag & CALIB_ZERO_TANGENT_DIST ? " +zero_tangent_dist" : "");
cvWriteComment(*fs, buf, 0);
}
fs << "flagValue" << s.flag;
fs << "flags" << s.flag;
fs << "Camera_Matrix" << cameraMatrix;
fs << "Distortion_Coefficients" << distCoeffs;
fs << "camera_matrix" << cameraMatrix;
fs << "distortion_coefficients" << distCoeffs;
fs << "Avg_Reprojection_Error" << totalAvgErr;
if( !reprojErrs.empty() )
fs << "Per_View_Reprojection_Errors" << Mat(reprojErrs);
fs << "avg_reprojection_error" << totalAvgErr;
if (s.writeExtrinsics && !reprojErrs.empty())
fs << "per_view_reprojection_errors" << Mat(reprojErrs);
if( !rvecs.empty() && !tvecs.empty() )
if(s.writeExtrinsics && !rvecs.empty() && !tvecs.empty() )
{
CV_Assert(rvecs[0].type() == tvecs[0].type());
Mat bigmat((int)rvecs.size(), 6, rvecs[0].type());
for( int i = 0; i < (int)rvecs.size(); i++ )
for( size_t i = 0; i < rvecs.size(); i++ )
{
Mat r = bigmat(Range(i, i+1), Range(0,3));
Mat t = bigmat(Range(i, i+1), Range(3,6));
Mat r = bigmat(Range(int(i), int(i+1)), Range(0,3));
Mat t = bigmat(Range(int(i), int(i+1)), Range(3,6));
CV_Assert(rvecs[i].rows == 3 && rvecs[i].cols == 1);
CV_Assert(tvecs[i].rows == 3 && tvecs[i].cols == 1);
@@ -526,35 +545,38 @@ static void saveCameraParams( Settings& s, Size& imageSize, Mat& cameraMatrix, M
t = tvecs[i].t();
}
//cvWriteComment( *fs, "a set of 6-tuples (rotation vector + translation vector) for each view", 0 );
fs << "Extrinsic_Parameters" << bigmat;
fs << "extrinsic_parameters" << bigmat;
}
if( !imagePoints.empty() )
if(s.writePoints && !imagePoints.empty() )
{
Mat imagePtMat((int)imagePoints.size(), (int)imagePoints[0].size(), CV_32FC2);
for( int i = 0; i < (int)imagePoints.size(); i++ )
for( size_t i = 0; i < imagePoints.size(); i++ )
{
Mat r = imagePtMat.row(i).reshape(2, imagePtMat.cols);
Mat r = imagePtMat.row(int(i)).reshape(2, imagePtMat.cols);
Mat imgpti(imagePoints[i]);
imgpti.copyTo(r);
}
fs << "Image_points" << imagePtMat;
fs << "image_points" << imagePtMat;
}
}
bool runCalibrationAndSave(Settings& s, Size imageSize, Mat& cameraMatrix, Mat& distCoeffs,vector<vector<Point2f> > imagePoints )
//! [run_and_save]
bool runCalibrationAndSave(Settings& s, Size imageSize, Mat& cameraMatrix, Mat& distCoeffs,
vector<vector<Point2f> > imagePoints)
{
vector<Mat> rvecs, tvecs;
vector<float> reprojErrs;
double totalAvgErr = 0;
bool ok = runCalibration(s,imageSize, cameraMatrix, distCoeffs, imagePoints, rvecs, tvecs,
reprojErrs, totalAvgErr);
bool ok = runCalibration(s, imageSize, cameraMatrix, distCoeffs, imagePoints, rvecs, tvecs, reprojErrs,
totalAvgErr);
cout << (ok ? "Calibration succeeded" : "Calibration failed")
<< ". avg re projection error = " << totalAvgErr ;
<< ". avg re projection error = " << totalAvgErr << endl;
if( ok )
saveCameraParams( s, imageSize, cameraMatrix, distCoeffs, rvecs ,tvecs, reprojErrs,
imagePoints, totalAvgErr);
if (ok)
saveCameraParams(s, imageSize, cameraMatrix, distCoeffs, rvecs, tvecs, reprojErrs, imagePoints,
totalAvgErr);
return ok;
}
//! [run_and_save]