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add support for fisheye camera model

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This commit is contained in:
Pavel Rojtberg 2015-03-30 16:53:10 +02:00
parent 9c3f95782d
commit d0e16b21d4
1 changed files with 88 additions and 18 deletions
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94
samples/cpp/tutorial_code/calib3d/camera_calibration/camera_calibration.cpp
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@ -68,6 +68,7 @@ public:
node["Write_outputFileName"] >> outputFileName;
node["Calibrate_AssumeZeroTangentialDistortion"] >> calibZeroTangentDist;
node["Calibrate_FixPrincipalPointAtTheCenter"] >> calibFixPrincipalPoint;
node["Calibrate_UseFisheyeModel"] >> useFisheye;
node["Input_FlipAroundHorizontalAxis"] >> flipVertical;
node["Show_UndistortedImage"] >> showUndistorsed;
node["Input"] >> input;
@ -126,11 +127,17 @@ public:
goodInput = false;
}
flag = 0;
flag = CALIB_FIX_K4 | CALIB_FIX_K5;
if(calibFixPrincipalPoint) flag |= CALIB_FIX_PRINCIPAL_POINT;
if(calibZeroTangentDist) flag |= CALIB_ZERO_TANGENT_DIST;
if(aspectRatio) flag |= CALIB_FIX_ASPECT_RATIO;
if (useFisheye) {
// the fisheye model has its own enum, so overwrite the flags
flag = fisheye::CALIB_FIX_SKEW | fisheye::CALIB_RECOMPUTE_EXTRINSIC |
// fisheye::CALIB_FIX_K1 |
fisheye::CALIB_FIX_K2 | fisheye::CALIB_FIX_K3 | fisheye::CALIB_FIX_K4;
}
calibrationPattern = NOT_EXISTING;
if (!patternToUse.compare("CHESSBOARD")) calibrationPattern = CHESSBOARD;
@ -188,6 +195,7 @@ public:
string outputFileName; // The name of the file where to write
bool showUndistorsed; // Show undistorted images after calibration
string input; // The input ->
bool useFisheye; // use fisheye camera model for calibration
int cameraID;
vector<string> imageList;
@ -287,11 +295,18 @@ int main(int argc, char* argv[])
vector<Point2f> pointBuf;
bool found;
int chessBoardFlags = CALIB_CB_ADAPTIVE_THRESH | CALIB_CB_NORMALIZE_IMAGE;
if(!s.useFisheye) {
// fast check erroneously fails with high distortions like fisheye
chessBoardFlags |= CALIB_CB_FAST_CHECK;
}
switch( s.calibrationPattern ) // Find feature points on the input format
{
case Settings::CHESSBOARD:
found = findChessboardCorners( view, s.boardSize, pointBuf,
CALIB_CB_ADAPTIVE_THRESH | CALIB_CB_FAST_CHECK | CALIB_CB_NORMALIZE_IMAGE);
found = findChessboardCorners( view, s.boardSize, pointBuf, chessBoardFlags);
break;
case Settings::CIRCLES_GRID:
found = findCirclesGrid( view, s.boardSize, pointBuf );
@ -381,9 +396,22 @@ int main(int argc, char* argv[])
if( s.inputType == Settings::IMAGE_LIST && s.showUndistorsed )
{
Mat view, rview, map1, map2;
initUndistortRectifyMap(cameraMatrix, distCoeffs, Mat(),
getOptimalNewCameraMatrix(cameraMatrix, distCoeffs, imageSize, 1, imageSize, 0),
imageSize, CV_16SC2, map1, map2);
if (s.useFisheye)
{
Mat newCamMat;
fisheye::estimateNewCameraMatrixForUndistortRectify(cameraMatrix, distCoeffs, imageSize,
Matx33d::eye(), newCamMat, 1);
fisheye::initUndistortRectifyMap(cameraMatrix, distCoeffs, Matx33d::eye(), newCamMat, imageSize,
CV_16SC2, map1, map2);
}
else
{
initUndistortRectifyMap(
cameraMatrix, distCoeffs, Mat(),
getOptimalNewCameraMatrix(cameraMatrix, distCoeffs, imageSize, 1, imageSize, 0), imageSize,
CV_16SC2, map1, map2);
}
for(size_t i = 0; i < s.imageList.size(); i++ )
{
@ -407,7 +435,7 @@ static double computeReprojectionErrors( const vector<vector<Point3f> >& objectP
const vector<vector<Point2f> >& imagePoints,
const vector<Mat>& rvecs, const vector<Mat>& tvecs,
const Mat& cameraMatrix , const Mat& distCoeffs,
vector<float>& perViewErrors)
vector<float>& perViewErrors, bool fisheye)
{
vector<Point2f> imagePoints2;
size_t totalPoints = 0;
@ -415,8 +443,16 @@ static double computeReprojectionErrors( const vector<vector<Point3f> >& objectP
perViewErrors.resize(objectPoints.size());
for(size_t i = 0; i < objectPoints.size(); ++i )
{
if (fisheye)
{
fisheye::projectPoints(objectPoints[i], imagePoints2, rvecs[i], tvecs[i], cameraMatrix,
distCoeffs);
}
else
{
projectPoints(objectPoints[i], rvecs[i], tvecs[i], cameraMatrix, distCoeffs, imagePoints2);
}
err = norm(imagePoints[i], imagePoints2, NORM_L2);
size_t n = objectPoints[i].size();
@ -462,7 +498,11 @@ static bool runCalibration( Settings& s, Size& imageSize, Mat& cameraMatrix, Mat
if( s.flag & CALIB_FIX_ASPECT_RATIO )
cameraMatrix.at<double>(0,0) = s.aspectRatio;
//! [fixed_aspect]
if (s.useFisheye) {
distCoeffs = Mat::zeros(4, 1, CV_64F);
} else {
distCoeffs = Mat::zeros(8, 1, CV_64F);
}
vector<vector<Point3f> > objectPoints(1);
calcBoardCornerPositions(s.boardSize, s.squareSize, objectPoints[0], s.calibrationPattern);
@ -470,15 +510,30 @@ static bool runCalibration( Settings& s, Size& imageSize, Mat& cameraMatrix, Mat
objectPoints.resize(imagePoints.size(),objectPoints[0]);
//Find intrinsic and extrinsic camera parameters
double rms = calibrateCamera(objectPoints, imagePoints, imageSize, cameraMatrix,
distCoeffs, rvecs, tvecs, s.flag|CALIB_FIX_K4|CALIB_FIX_K5);
double rms;
if (s.useFisheye) {
Mat _rvecs, _tvecs;
rms = fisheye::calibrate(objectPoints, imagePoints, imageSize, cameraMatrix, distCoeffs, _rvecs,
_tvecs, s.flag);
rvecs.reserve(_rvecs.rows);
tvecs.reserve(_tvecs.rows);
for(int i = 0; i < int(objectPoints.size()); i++){
rvecs.push_back(_rvecs.row(i));
tvecs.push_back(_tvecs.row(i));
}
} else {
rms = calibrateCamera(objectPoints, imagePoints, imageSize, cameraMatrix, distCoeffs, rvecs, tvecs,
s.flag);
}
cout << "Re-projection error reported by calibrateCamera: "<< rms << endl;
bool ok = checkRange(cameraMatrix) && checkRange(distCoeffs);
totalAvgErr = computeReprojectionErrors(objectPoints, imagePoints,
rvecs, tvecs, cameraMatrix, distCoeffs, reprojErrs);
totalAvgErr = computeReprojectionErrors(objectPoints, imagePoints, rvecs, tvecs, cameraMatrix,
distCoeffs, reprojErrs, s.useFisheye);
return ok;
}
@ -511,17 +566,32 @@ static void saveCameraParams( Settings& s, Size& imageSize, Mat& cameraMatrix, M
fs << "fix_aspect_ratio" << s.aspectRatio;
if (s.flag)
{
if (s.useFisheye)
{
sprintf(buf, "flags:%s%s%s%s%s%s",
s.flag & fisheye::CALIB_FIX_SKEW ? " +fix_skew" : "",
s.flag & fisheye::CALIB_FIX_K1 ? " +fix_k1" : "",
s.flag & fisheye::CALIB_FIX_K2 ? " +fix_k2" : "",
s.flag & fisheye::CALIB_FIX_K3 ? " +fix_k3" : "",
s.flag & fisheye::CALIB_FIX_K4 ? " +fix_k4" : "",
s.flag & fisheye::CALIB_RECOMPUTE_EXTRINSIC ? " +recompute_extrinsic" : "");
}
else
{
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_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);
}
fs << "flags" << s.flag;
fs << "fisheye_model" << s.useFisheye;
fs << "camera_matrix" << cameraMatrix;
fs << "distortion_coefficients" << distCoeffs;