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rewrote stereo_calib in C++

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This commit is contained in:
Vadim Pisarevsky
2010-11-29 13:31:52 +00:00
parent 54ef68e7f4
commit d61464a756
5 changed files with 109 additions and 459 deletions
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94
samples/cpp/stereo_calib.cpp
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@@ -57,7 +57,7 @@ StereoCalib(const vector<string>& imagelist, Size boardSize, bool useCalibrated=
return;
}
bool displayCorners = true;
bool displayCorners = false;//true;
const int maxScale = 2;
const float squareSize = 1.f; // Set this to your actual square size
// ARRAY AND VECTOR STORAGE:
@@ -172,7 +172,7 @@ StereoCalib(const vector<string>& imagelist, Size boardSize, bool useCalibrated=
CV_CALIB_FIX_ASPECT_RATIO +
CV_CALIB_ZERO_TANGENT_DIST +
CV_CALIB_SAME_FOCAL_LENGTH +
CV_CALIB_FIX_K3);
CV_CALIB_FIX_K3 + CV_CALIB_FIX_K4 + CV_CALIB_FIX_K5);
cout << "done\n";
// CALIBRATION QUALITY CHECK
@@ -217,13 +217,13 @@ StereoCalib(const vector<string>& imagelist, Size boardSize, bool useCalibrated=
cout << "Error: can not save the intrinsic parameters\n";
Mat R1, R2, P1, P2, Q;
Rect roi1, roi2;
Rect validRoi[2];
stereoRectify(cameraMatrix[0], distCoeffs[0],
cameraMatrix[1], distCoeffs[1],
imageSize, R, T, R1, R2, P1, P2, Q,
1, imageSize, &roi1, &roi2);
1, imageSize, &validRoi[0], &validRoi[1]);
fs.open("extrinsics.yml", CV_STORAGE_WRITE);
if( fs.isOpened() )
{
@@ -237,17 +237,17 @@ StereoCalib(const vector<string>& imagelist, Size boardSize, bool useCalibrated=
// or up-down camera arrangements
bool isVerticalStereo = fabs(P2.at<double>(1, 3)) > fabs(P2.at<double>(0, 3));
//COMPUTE AND DISPLAY RECTIFICATION
// COMPUTE AND DISPLAY RECTIFICATION
if( !showRectified )
return;
Mat rmap[2][2];
// IF BY CALIBRATED (BOUGUET'S METHOD)
if( !useCalibrated )
if( useCalibrated )
{
// we already computed everything
}
//OR ELSE HARTLEY'S METHOD
// OR ELSE HARTLEY'S METHOD
else
// use intrinsic parameters of each camera, but
// compute the rectification transformation directly
@@ -265,17 +265,60 @@ StereoCalib(const vector<string>& imagelist, Size boardSize, bool useCalibrated=
R1 = cameraMatrix[0].inv()*H1*cameraMatrix[0];
R2 = cameraMatrix[1].inv()*H2*cameraMatrix[1];
P1 = cameraMatrix[0];
P2 = cameraMatrix[1];
}
//Precompute maps for cv::remap()
initUndistortRectifyMap(cameraMatrix[0], distCoeffs[0], R1, P1, imageSize, CV_16SC2, rmap[0][0], rmap[0][1]);
initUndistortRectifyMap(cameraMatrix[1], distCoeffs[1], R2, P2, imageSize, CV_16SC2, rmap[1][0], rmap[1][1]);
/*for( i = 0; i < nimages; i++ )
Mat canvas;
double sf;
int w, h;
if( !isVerticalStereo )
{
Mat img =
sf = 1;//600./MAX(imageSize.width, imageSize.height);
w = cvRound(imageSize.width*sf);
h = cvRound(imageSize.height*sf);
canvas.create(h, w*2, CV_8UC3);
}
else
{
sf = 1;//300./MAX(imageSize.width, imageSize.height);
w = cvRound(imageSize.width*sf);
h = cvRound(imageSize.height*sf);
canvas.create(h*2, w, CV_8UC3);
}
for( i = 0; i < nimages; i++ )
{
for( k = 0; k < 2; k++ )
{
Mat img = imread(goodImageList[i*2+k], 0), rimg, cimg;
remap(img, rimg, rmap[k][0], rmap[k][1], CV_INTER_LINEAR);
cvtColor(rimg, cimg, CV_GRAY2BGR);
Mat canvasPart = !isVerticalStereo ? canvas(Rect(w*k, 0, w, h)) : canvas(Rect(0, h*k, w, h));
resize(cimg, canvasPart, canvasPart.size(), 0, 0, CV_INTER_AREA);
if( useCalibrated )
{
Rect vroi(cvRound(validRoi[k].x*sf), cvRound(validRoi[k].y*sf),
cvRound(validRoi[k].width*sf), cvRound(validRoi[k].height*sf));
rectangle(canvasPart, vroi, Scalar(0,0,255), 3, 8);
}
}
}*/
if( !isVerticalStereo )
for( j = 0; j < canvas.rows; j += 16 )
line(canvas, Point(0, j), Point(canvas.cols, j), Scalar(0, 255, 0), 1, 8);
else
for( j = 0; j < canvas.cols; j += 16 )
line(canvas, Point(j, 0), Point(j, canvas.rows), Scalar(0, 255, 0), 1, 8);
imshow("rectified", canvas);
char c = (char)waitKey();
if( c == 27 || c == 'q' || c == 'Q' )
break;
}
}
@@ -297,7 +340,7 @@ static bool readStringList( const string& filename, vector<string>& l )
int print_help()
{
cout << "Usage:\n ./stereo_calib -w board_width -h board_height <image list XML/YML file>\n";
cout << "Usage:\n ./stereo_calib -w board_width -h board_height [-nr /*dot not view results*/] <image list XML/YML file>\n";
return 0;
}
@@ -306,13 +349,28 @@ int main(int argc, char** argv)
{
Size boardSize;
string imagelistfn;
bool showRectified = true;
for( int i = 1; i < argc; i++ )
{
if( string(argv[i]) == "-w" )
sscanf(argv[++i], "%d", &boardSize.width);
{
if( sscanf(argv[++i], "%d", &boardSize.width) != 1 || boardSize.width <= 0 )
{
cout << "invalid board width" << endl;
return print_help();
}
}
else if( string(argv[i]) == "-h" )
sscanf(argv[++i], "%d", &boardSize.height);
{
if( sscanf(argv[++i], "%d", &boardSize.height) != 1 || boardSize.height <= 0 )
{
cout << "invalid board height" << endl;
return print_help();
}
}
else if( string(argv[i]) == "-nr" )
showRectified = false;
else if( string(argv[i]) == "--help" )
return print_help();
else if( argv[i][0] == '-' )
@@ -332,11 +390,13 @@ int main(int argc, char** argv)
vector<string> imagelist;
bool ok = readStringList(imagelistfn, imagelist);
if( !ok || imagelist.empty() || boardSize.width <= 0 || boardSize.height <= 0 )
if(!ok || imagelist.empty())
{
cout << "can not open " << imagelistfn << " or the string list is empty" << endl;
return print_help();
}
StereoCalib(imagelist, boardSize);
StereoCalib(imagelist, boardSize, true, showRectified);
return 0;
}