376 lines
12 KiB
C++
376 lines
12 KiB
C++
/*
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* 3calibration.cpp -- Calibrate 3 cameras in a horizontal line together.
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*/
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#include "opencv2/calib3d/calib3d.hpp"
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#include "opencv2/imgproc/imgproc.hpp"
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#include "opencv2/highgui/highgui.hpp"
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#include <stdio.h>
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#include <string.h>
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#include <time.h>
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using namespace cv;
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using namespace std;
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enum { DETECTION = 0, CAPTURING = 1, CALIBRATED = 2 };
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static void help()
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{
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printf( "\nThis is a camera calibration sample that calibrates 3 horizontally placed cameras together.\n"
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"Usage: 3calibration\n"
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" -w <board_width> # the number of inner corners per one of board dimension\n"
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" -h <board_height> # the number of inner corners per another board dimension\n"
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" [-s <squareSize>] # square size in some user-defined units (1 by default)\n"
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" [-o <out_camera_params>] # the output filename for intrinsic [and extrinsic] parameters\n"
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" [-zt] # assume zero tangential distortion\n"
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" [-a <aspectRatio>] # fix aspect ratio (fx/fy)\n"
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" [-p] # fix the principal point at the center\n"
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" [input_data] # input data - text file with a list of the images of the board\n"
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"\n" );
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}
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static 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),
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float(i*squareSize), 0));
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}
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static bool run3Calibration( vector<vector<Point2f> > imagePoints1,
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vector<vector<Point2f> > imagePoints2,
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vector<vector<Point2f> > imagePoints3,
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Size imageSize, Size boardSize,
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float squareSize, float aspectRatio,
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int flags,
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Mat& cameraMatrix1, Mat& distCoeffs1,
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Mat& cameraMatrix2, Mat& distCoeffs2,
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Mat& cameraMatrix3, Mat& distCoeffs3,
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Mat& R12, Mat& T12, Mat& R13, Mat& T13)
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{
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int c, i;
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// step 1: calibrate each camera individually
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vector<vector<Point3f> > objpt(1);
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vector<vector<Point2f> > imgpt;
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calcChessboardCorners(boardSize, squareSize, objpt[0]);
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vector<Mat> rvecs, tvecs;
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for( c = 1; c <= 3; c++ )
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{
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const vector<vector<Point2f> >& imgpt0 = c == 1 ? imagePoints1 : c == 2 ? imagePoints2 : imagePoints3;
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imgpt.clear();
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int N = 0;
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for( i = 0; i < (int)imgpt0.size(); i++ )
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if( !imgpt0[i].empty() )
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{
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imgpt.push_back(imgpt0[i]);
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N += (int)imgpt0[i].size();
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}
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if( imgpt.size() < 3 )
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{
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printf("Error: not enough views for camera %d\n", c);
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return false;
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}
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objpt.resize(imgpt.size(),objpt[0]);
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Mat cameraMatrix = Mat::eye(3, 3, CV_64F);
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if( flags & CALIB_FIX_ASPECT_RATIO )
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cameraMatrix.at<double>(0,0) = aspectRatio;
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Mat distCoeffs = Mat::zeros(5, 1, CV_64F);
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double err = calibrateCamera(objpt, imgpt, imageSize, cameraMatrix,
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distCoeffs, rvecs, tvecs,
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flags|CALIB_FIX_K3/*|CALIB_FIX_K4|CALIB_FIX_K5|CALIB_FIX_K6*/);
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bool ok = checkRange(cameraMatrix) && checkRange(distCoeffs);
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if(!ok)
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{
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printf("Error: camera %d was not calibrated\n", c);
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return false;
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}
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printf("Camera %d calibration reprojection error = %g\n", c, sqrt(err/N));
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if( c == 1 )
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cameraMatrix1 = cameraMatrix, distCoeffs1 = distCoeffs;
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else if( c == 2 )
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cameraMatrix2 = cameraMatrix, distCoeffs2 = distCoeffs;
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else
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cameraMatrix3 = cameraMatrix, distCoeffs3 = distCoeffs;
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}
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vector<vector<Point2f> > imgpt_right;
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// step 2: calibrate (1,2) and (3,2) pairs
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for( c = 2; c <= 3; c++ )
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{
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const vector<vector<Point2f> >& imgpt0 = c == 2 ? imagePoints2 : imagePoints3;
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imgpt.clear();
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imgpt_right.clear();
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int N = 0;
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for( i = 0; i < (int)std::min(imagePoints1.size(), imgpt0.size()); i++ )
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if( !imagePoints1.empty() && !imgpt0[i].empty() )
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{
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imgpt.push_back(imagePoints1[i]);
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imgpt_right.push_back(imgpt0[i]);
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N += (int)imgpt0[i].size();
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}
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if( imgpt.size() < 3 )
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{
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printf("Error: not enough shared views for cameras 1 and %d\n", c);
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return false;
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}
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objpt.resize(imgpt.size(),objpt[0]);
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Mat cameraMatrix = c == 2 ? cameraMatrix2 : cameraMatrix3;
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Mat distCoeffs = c == 2 ? distCoeffs2 : distCoeffs3;
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Mat R, T, E, F;
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double err = stereoCalibrate(objpt, imgpt, imgpt_right, cameraMatrix1, distCoeffs1,
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cameraMatrix, distCoeffs,
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imageSize, R, T, E, F,
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CALIB_FIX_INTRINSIC,
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TermCriteria(TermCriteria::COUNT, 30, 0));
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printf("Pair (1,%d) calibration reprojection error = %g\n", c, sqrt(err/(N*2)));
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if( c == 2 )
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{
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cameraMatrix2 = cameraMatrix;
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distCoeffs2 = distCoeffs;
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R12 = R; T12 = T;
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}
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else
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{
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R13 = R; T13 = T;
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}
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}
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return true;
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}
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static bool readStringList( const string& filename, vector<string>& l )
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{
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l.resize(0);
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FileStorage fs(filename, FileStorage::READ);
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if( !fs.isOpened() )
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return false;
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FileNode n = fs.getFirstTopLevelNode();
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if( n.type() != FileNode::SEQ )
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return false;
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FileNodeIterator it = n.begin(), it_end = n.end();
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for( ; it != it_end; ++it )
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l.push_back((string)*it);
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return true;
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}
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int main( int argc, char** argv )
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{
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int i, k;
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int flags = 0;
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Size boardSize, imageSize;
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float squareSize = 1.f, aspectRatio = 1.f;
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const char* outputFilename = "out_camera_data.yml";
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const char* inputFilename = 0;
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vector<vector<Point2f> > imgpt[3];
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vector<string> imageList;
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if(argc < 2)
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{
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help();
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return 1;
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}
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for( i = 1; i < argc; i++ )
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{
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const char* s = argv[i];
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if( strcmp( s, "-w" ) == 0 )
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{
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if( sscanf( argv[++i], "%u", &boardSize.width ) != 1 || boardSize.width <= 0 )
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return fprintf( stderr, "Invalid board width\n" ), -1;
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}
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else if( strcmp( s, "-h" ) == 0 )
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{
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if( sscanf( argv[++i], "%u", &boardSize.height ) != 1 || boardSize.height <= 0 )
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return fprintf( stderr, "Invalid board height\n" ), -1;
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}
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else if( strcmp( s, "-s" ) == 0 )
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{
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if( sscanf( argv[++i], "%f", &squareSize ) != 1 || squareSize <= 0 )
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return fprintf( stderr, "Invalid board square width\n" ), -1;
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}
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else if( strcmp( s, "-a" ) == 0 )
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{
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if( sscanf( argv[++i], "%f", &aspectRatio ) != 1 || aspectRatio <= 0 )
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return printf("Invalid aspect ratio\n" ), -1;
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flags |= CALIB_FIX_ASPECT_RATIO;
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}
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else if( strcmp( s, "-zt" ) == 0 )
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{
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flags |= CALIB_ZERO_TANGENT_DIST;
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}
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else if( strcmp( s, "-p" ) == 0 )
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{
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flags |= CALIB_FIX_PRINCIPAL_POINT;
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}
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else if( strcmp( s, "-o" ) == 0 )
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{
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outputFilename = argv[++i];
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}
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else if( s[0] != '-' )
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{
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inputFilename = s;
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}
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else
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return fprintf( stderr, "Unknown option %s", s ), -1;
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}
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if( !inputFilename ||
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!readStringList(inputFilename, imageList) ||
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imageList.size() == 0 || imageList.size() % 3 != 0 )
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{
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printf("Error: the input image list is not specified, or can not be read, or the number of files is not divisible by 3\n");
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return -1;
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}
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Mat view, viewGray;
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Mat cameraMatrix[3], distCoeffs[3], R[3], P[3], R12, T12;
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for( k = 0; k < 3; k++ )
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{
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cameraMatrix[k] = Mat_<double>::eye(3,3);
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cameraMatrix[k].at<double>(0,0) = aspectRatio;
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cameraMatrix[k].at<double>(1,1) = 1;
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distCoeffs[k] = Mat_<double>::zeros(5,1);
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}
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Mat R13=Mat_<double>::eye(3,3), T13=Mat_<double>::zeros(3,1);
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FileStorage fs;
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namedWindow( "Image View", 0 );
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for( k = 0; k < 3; k++ )
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imgpt[k].resize(imageList.size()/3);
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for( i = 0; i < (int)(imageList.size()/3); i++ )
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{
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for( k = 0; k < 3; k++ )
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{
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int k1 = k == 0 ? 2 : k == 1 ? 0 : 1;
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printf("%s\n", imageList[i*3+k].c_str());
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view = imread(imageList[i*3+k], 1);
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if(view.data)
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{
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vector<Point2f> ptvec;
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imageSize = view.size();
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cvtColor(view, viewGray, COLOR_BGR2GRAY);
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bool found = findChessboardCorners( view, boardSize, ptvec, CALIB_CB_ADAPTIVE_THRESH );
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drawChessboardCorners( view, boardSize, Mat(ptvec), found );
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if( found )
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{
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imgpt[k1][i].resize(ptvec.size());
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std::copy(ptvec.begin(), ptvec.end(), imgpt[k1][i].begin());
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}
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//imshow("view", view);
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//int c = waitKey(0) & 255;
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//if( c == 27 || c == 'q' || c == 'Q' )
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// return -1;
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}
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}
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}
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printf("Running calibration ...\n");
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run3Calibration(imgpt[0], imgpt[1], imgpt[2], imageSize,
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boardSize, squareSize, aspectRatio, flags|CALIB_FIX_K4|CALIB_FIX_K5,
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cameraMatrix[0], distCoeffs[0],
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cameraMatrix[1], distCoeffs[1],
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cameraMatrix[2], distCoeffs[2],
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R12, T12, R13, T13);
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fs.open(outputFilename, FileStorage::WRITE);
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fs << "cameraMatrix1" << cameraMatrix[0];
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fs << "cameraMatrix2" << cameraMatrix[1];
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fs << "cameraMatrix3" << cameraMatrix[2];
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fs << "distCoeffs1" << distCoeffs[0];
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fs << "distCoeffs2" << distCoeffs[1];
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fs << "distCoeffs3" << distCoeffs[2];
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fs << "R12" << R12;
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fs << "T12" << T12;
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fs << "R13" << R13;
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fs << "T13" << T13;
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fs << "imageWidth" << imageSize.width;
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fs << "imageHeight" << imageSize.height;
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Mat Q;
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// step 3: find rectification transforms
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double ratio = rectify3Collinear(cameraMatrix[0], distCoeffs[0], cameraMatrix[1],
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distCoeffs[1], cameraMatrix[2], distCoeffs[2],
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imgpt[0], imgpt[2],
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imageSize, R12, T12, R13, T13,
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R[0], R[1], R[2], P[0], P[1], P[2], Q, -1.,
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imageSize, 0, 0, CALIB_ZERO_DISPARITY);
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Mat map1[3], map2[3];
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fs << "R1" << R[0];
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fs << "R2" << R[1];
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fs << "R3" << R[2];
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fs << "P1" << P[0];
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fs << "P2" << P[1];
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fs << "P3" << P[2];
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fs << "disparityRatio" << ratio;
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fs.release();
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printf("Disparity ratio = %g\n", ratio);
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for( k = 0; k < 3; k++ )
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initUndistortRectifyMap(cameraMatrix[k], distCoeffs[k], R[k], P[k], imageSize, CV_16SC2, map1[k], map2[k]);
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Mat canvas(imageSize.height, imageSize.width*3, CV_8UC3), small_canvas;
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destroyWindow("view");
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canvas = Scalar::all(0);
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for( i = 0; i < (int)(imageList.size()/3); i++ )
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{
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canvas = Scalar::all(0);
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for( k = 0; k < 3; k++ )
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{
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int k1 = k == 0 ? 2 : k == 1 ? 0 : 1;
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int k2 = k == 0 ? 1 : k == 1 ? 0 : 2;
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view = imread(imageList[i*3+k], 1);
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if(!view.data)
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continue;
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Mat rview = canvas.colRange(k2*imageSize.width, (k2+1)*imageSize.width);
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remap(view, rview, map1[k1], map2[k1], INTER_LINEAR);
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}
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printf("%s %s %s\n", imageList[i*3].c_str(), imageList[i*3+1].c_str(), imageList[i*3+2].c_str());
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resize( canvas, small_canvas, Size(1500, 1500/3) );
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for( k = 0; k < small_canvas.rows; k += 16 )
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line(small_canvas, Point(0, k), Point(small_canvas.cols, k), Scalar(0,255,0), 1);
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imshow("rectified", small_canvas);
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int c = waitKey(0);
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if( c == 27 || c == 'q' || c == 'Q' )
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break;
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}
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return 0;
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}
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