diff options
| -rw-r--r-- | pix_opencv_calibration.cc | 189 | ||||
| -rw-r--r-- | pix_opencv_calibration.h | 7 |
2 files changed, 136 insertions, 60 deletions
diff --git a/pix_opencv_calibration.cc b/pix_opencv_calibration.cc index f7681c3..053a6a5 100644 --- a/pix_opencv_calibration.cc +++ b/pix_opencv_calibration.cc @@ -19,8 +19,6 @@ #include "pix_opencv_calibration.h" #include <stdio.h> -//#include <stdlib.h> -//#include <string.h> CPPEXTERN_NEW(pix_opencv_calibration) @@ -34,6 +32,8 @@ CPPEXTERN_NEW(pix_opencv_calibration) ///////////////////////////////////////////////////////// pix_opencv_calibration :: pix_opencv_calibration() { + m_dataout = outlet_new(this->x_obj, 0); + find_rgb = NULL; find_gray = NULL; rgb = NULL; @@ -58,23 +58,8 @@ pix_opencv_calibration :: pix_opencv_calibration() intrinsic_matrix = cvCreateMat(3, 3, CV_32FC1); distortion_coeffs = cvCreateMat(5, 1, CV_32FC1); - // make an "empty" intrinsinc matrix - CV_MAT_ELEM( *intrinsic_matrix, float, 0, 0 ) = 8; - CV_MAT_ELEM( *intrinsic_matrix, float, 1, 0 ) = 0; - CV_MAT_ELEM( *intrinsic_matrix, float, 2, 0 ) = 0; - CV_MAT_ELEM( *intrinsic_matrix, float, 0, 1 ) = 0; - CV_MAT_ELEM( *intrinsic_matrix, float, 1, 1 ) = 8; - CV_MAT_ELEM( *intrinsic_matrix, float, 2, 1 ) = 0; - CV_MAT_ELEM( *intrinsic_matrix, float, 0, 2 ) = 3; - CV_MAT_ELEM( *intrinsic_matrix, float, 1, 2 ) = 3; - CV_MAT_ELEM( *intrinsic_matrix, float, 2, 2 ) = 1; - - // zeros distortion coeffs - for ( int i = 0 ; i < 5 ; i++ ) { - CV_MAT_ELEM( *distortion_coeffs, float, i, 0 ) = 0.0; - } - - post("pix_opencv_calibration build on %s at %s", __DATE__, __TIME__); + pix_opencv_calibration :: resetCorrectionMatrix(); + //~ post("pix_opencv_calibration build on %s at %s", __DATE__, __TIME__); } ///////////////////////////////////////////////////////// @@ -106,7 +91,6 @@ void pix_opencv_calibration :: processRGBAImage(imageStruct &image) { if ((this->comp_xsize!=image.xsize)||(this->comp_ysize!=image.ysize)||(!rgb)) { - // printf("process rgba image\n"); this->comp_xsize = image.xsize; this->comp_ysize = image.ysize; if ( calibration ) error ( "image size changed, calibration was cancelled"); @@ -125,7 +109,7 @@ void pix_opencv_calibration :: processRGBAImage(imageStruct &image) find_gray = cvCreateImage(cvSize(this->comp_xsize,this->comp_ysize), IPL_DEPTH_8U, 1); //create the images with new size - rgb = cvCreateImage(cvSize(this->comp_xsize,this->comp_ysize), IPL_DEPTH_8U, 4); + rgb = cvCreateImageHeader(cvSize(this->comp_xsize,this->comp_ysize), IPL_DEPTH_8U, 4); tmp = cvCreateImage(cvSize(this->comp_xsize,this->comp_ysize), IPL_DEPTH_8U, 4); mapx = cvCreateImage(cvSize(this->comp_xsize,this->comp_ysize), IPL_DEPTH_32F, 1); mapy = cvCreateImage(cvSize(this->comp_xsize,this->comp_ysize), IPL_DEPTH_32F, 1); @@ -164,11 +148,16 @@ void pix_opencv_calibration :: processGrayImage(imageStruct &image) { if ((this->comp_xsize!=image.xsize)||(this->comp_ysize!=image.ysize)||(!gray)) { - // printf("process gray image\n"); this->comp_xsize = image.xsize; this->comp_ysize = image.ysize; - if ( calibration ) error ( "image size changed, calibration was cancelled"); - calibration = 0; + if ( calibration ) { + error ( "image size changed, calibration was cancelled"); + calibration = 0; + + t_atom data_out; + SETFLOAT(&data_out, calibration); + outlet_anything( this->m_dataout, gensym("calibration"), 1, &data_out); + } if ( find_rgb ) cvReleaseImage(&find_rgb); if ( find_gray ) cvReleaseImage(&find_gray); @@ -183,7 +172,7 @@ void pix_opencv_calibration :: processGrayImage(imageStruct &image) find_gray = cvCreateImage(cvSize(this->comp_xsize,this->comp_ysize), IPL_DEPTH_8U, 1); //create the images with new size - gray = cvCreateImage(cvSize(this->comp_xsize,this->comp_ysize), IPL_DEPTH_8U, 1); + gray = cvCreateImageHeader(cvSize(this->comp_xsize,this->comp_ysize), IPL_DEPTH_8U, 1); tmp = cvCreateImage(cvSize(this->comp_xsize,this->comp_ysize), IPL_DEPTH_8U, 1); mapx = cvCreateImage(cvSize(this->comp_xsize,this->comp_ysize), IPL_DEPTH_32F, 1); mapy = cvCreateImage(cvSize(this->comp_xsize,this->comp_ysize), IPL_DEPTH_32F, 1); @@ -221,12 +210,9 @@ void pix_opencv_calibration :: findCorners ( IplImage *image ) int corner_count; int step; CvSize patternSize, image_size; - CvMat in_cv; patternSize = cvSize( this->patternSize[0], this->patternSize[1] ); image_size = cvSize( image->width, image->height ); - // cvGetImage (&in_cv, &in_image); // create an IplImage from a CvMat - cvGetMat ( image, &in_cv ); // create a CvMat from IplImage // find chessboard corners (gray or RGBA image...) int found = cvFindChessboardCorners(image, @@ -235,6 +221,7 @@ void pix_opencv_calibration :: findCorners ( IplImage *image ) &corner_count, findChessFlag); if (image->nChannels == 4) { + cvCopy(image, find_rgb) ; cvCvtColor( image , find_gray , CV_RGBA2GRAY); // convert color to gray } else { cvCopy(image, find_gray) ; @@ -248,13 +235,17 @@ void pix_opencv_calibration :: findCorners ( IplImage *image ) cvSize(-1,-1), cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER, 30, 0.1)); - cvCvtColor( find_gray , find_rgb , CV_GRAY2RGBA); // convert gray to color // draw chessboard corner (color image only) - cvDrawChessboardCorners(find_rgb, patternSize, corners, corner_count, found); - + if (image->nChannels == 4) cvDrawChessboardCorners(find_rgb, patternSize, corners, corner_count, found); + else + { + cvCvtColor( find_gray , find_rgb , CV_GRAY2RGBA); // convert gray to color + cvDrawChessboardCorners(find_rgb, patternSize, corners, corner_count, found); + } + this->frame++; - if ( this->frame % this->wait_n_frame == 0 ) { + if ( this->frame % this->wait_n_frame == 0 ) { // update arrays if( corner_count == board_point_nb ) { @@ -271,7 +262,11 @@ void pix_opencv_calibration :: findCorners ( IplImage *image ) cvNot( find_rgb , find_rgb ); } - post("take : %d/%d\n", success_count, board_view_nb); + + t_atom data_out; + SETFLOAT(&data_out, success_count); + outlet_anything( this->m_dataout, gensym("take"), 1, &data_out); + } // convert color to gray @@ -304,7 +299,24 @@ void pix_opencv_calibration :: computeCalibration ( IplImage *image ) this->mapy = cvCreateImage( cvSize( image->width, image->height ), IPL_DEPTH_32F, 1 ); cvInitUndistortMap(this->intrinsic_matrix, this->distortion_coeffs, this->mapx, this->mapy); + + t_atom intra_out[9]; + for ( int i = 0 ; i < 9 ; i++ ){ + SETFLOAT(&intra_out[i], CV_MAT_ELEM( *intrinsic_matrix, float, i%3, i/3)); + } + outlet_anything( this->m_dataout, gensym("intrinsic_matrix"), 9, intra_out); + + t_atom dist_out[5]; + for ( int i = 0 ; i < 5 ; i++ ){ + SETFLOAT(&dist_out[i], CV_MAT_ELEM( *distortion_coeffs, float, i, 0)); + } + outlet_anything( this->m_dataout, gensym("distortion_coeffs"), 5, dist_out); + calibration = 0; + + t_atom data_out; + SETFLOAT(&data_out, calibration); + outlet_anything( this->m_dataout, gensym("calibration"), 1, &data_out); } ///////////////////////////////////////////////////////// // LoadMess @@ -313,23 +325,31 @@ void pix_opencv_calibration :: computeCalibration ( IplImage *image ) void pix_opencv_calibration :: loadIntraMess (t_symbol *filename) { - if ( filename == NULL ) { error("NULL pointer passed to function loadIntra"); return;} - this->intrinsic_matrix = (CvMat*)cvLoad(filename->s_name, 0, 0, 0); + if ( filename->s_name[0] == 0 ) { + error("no filename passed to loadIntra message"); + return; + } + if ( filename == NULL ) { error("%s is not a valid matrix", filename->s_name); return;} + this->intrinsic_matrix = (CvMat*)cvLoad(filename->s_name, 0, 0, 0);// TODO crash when passing non-XML file if (intrinsic_matrix == NULL) { intrinsic_matrix = cvCreateMat(3, 3, CV_32FC1); - post("can't open file %s", filename->s_name); - CV_MAT_ELEM( *intrinsic_matrix, float, 0, 0 ) = 8; - CV_MAT_ELEM( *intrinsic_matrix, float, 1, 0 ) = 0; - CV_MAT_ELEM( *intrinsic_matrix, float, 2, 0 ) = 0; - CV_MAT_ELEM( *intrinsic_matrix, float, 0, 1 ) = 0; - CV_MAT_ELEM( *intrinsic_matrix, float, 1, 1 ) = 8; - CV_MAT_ELEM( *intrinsic_matrix, float, 2, 1 ) = 0; - CV_MAT_ELEM( *intrinsic_matrix, float, 0, 2 ) = 3; - CV_MAT_ELEM( *intrinsic_matrix, float, 1, 2 ) = 3; - CV_MAT_ELEM( *intrinsic_matrix, float, 2, 2 ) = 1; + error("can't open file %s", filename->s_name); + resetCorrectionMatrix(); + } + else if ( intrinsic_matrix->rows != 3 || intrinsic_matrix->cols != 3 || CV_MAT_TYPE(intrinsic_matrix->type) != CV_32FC1 ) { + error("%s is not a valid intrinsic matrix", filename->s_name); + cvReleaseMat(&intrinsic_matrix); + intrinsic_matrix = cvCreateMat(3, 3, CV_32FC1); + resetCorrectionMatrix(); } else post("load transformation matrix from %s",filename->s_name); + + t_atom intra_out[9]; + for ( int i = 0 ; i < 9 ; i++ ){ + SETFLOAT(&intra_out[i], CV_MAT_ELEM( *intrinsic_matrix, float, i%3, i/3)); + } + outlet_anything( this->m_dataout, gensym("intrinsic_matrix"), 9, intra_out); // reinitialise size to force reinitialisation of mapx and mapy on next frame this->comp_xsize = 0; @@ -337,31 +357,43 @@ void pix_opencv_calibration :: loadIntraMess (t_symbol *filename) void pix_opencv_calibration :: loadDistMess (t_symbol *filename) { + if ( filename->s_name[0] == 0 ) { + error("no filename passed to loadDist message"); + return; + } if ( filename == NULL ) { error("NULL pointer passed to function loadDist"); return;} - distortion_coeffs = (CvMat*)cvLoad(filename->s_name); - if (distortion_coeffs == NULL){ - distortion_coeffs = cvCreateMat(5, 1, CV_32FC1); - post("can't open file %s", filename->s_name); - // zeros distortion coeffs - for ( int i = 0 ; i < 5 ; i++ ) { - CV_MAT_ELEM( *distortion_coeffs, float, i, 0 ) = 0.0; - } + distortion_coeffs = (CvMat*)cvLoad(filename->s_name); // TODO crash when passing non-XML file + + if (distortion_coeffs == NULL) { + distortion_coeffs = cvCreateMat(5, 1, CV_32FC1); + error("can't open file %s", filename->s_name); + resetCorrectionMatrix(); + } + else if( distortion_coeffs->rows != 5 || distortion_coeffs->cols != 1 || CV_MAT_TYPE(distortion_coeffs->type) != CV_32FC1 ) { + error("%s is not a valid distortions coeffs file", filename->s_name); + cvReleaseMat(&distortion_coeffs); + distortion_coeffs = cvCreateMat(3, 3, CV_32FC1); + resetCorrectionMatrix(); } else post("load distortion coefficients from %s",filename->s_name); + t_atom dist_out[5]; + for ( int i = 0 ; i < 5 ; i++ ){ + SETFLOAT(&dist_out[i], CV_MAT_ELEM( *distortion_coeffs, float, i, 0)); + } + outlet_anything( this->m_dataout, gensym("distortion_coeffs"), 5, dist_out); + // reinitialise size to force reinitialisation of mapx and mapy on next frame this->comp_xsize = 0; } void pix_opencv_calibration :: writeIntraMess (t_symbol *filename) { - // printf("write intrinsic matrix\n"); cvSave(filename->s_name,intrinsic_matrix); } void pix_opencv_calibration :: writeDistMess (t_symbol *filename) { - // printf("write distorsion coeffs\n"); cvSave(filename->s_name,distortion_coeffs); } @@ -372,15 +404,25 @@ void pix_opencv_calibration :: floatCalibrationhMess (float calib_flag) this->success_count = 0; this->frame = 0; } - post("calibration : %d", this->calibration); + t_atom data_out; + SETFLOAT(&data_out, calibration); + outlet_anything( this->m_dataout, gensym("calibration"), 1, &data_out); } void pix_opencv_calibration :: patternSizeMess (float xsize, float ysize) { - if (calibration) error("you can't change pattern size during calibration"); return; - if ( xsize < 3 || ysize < 3 ) error("patternSize should be at least 3x3"); return; + if (calibration) {error("you can't change pattern size during calibration"); return;} + if ( xsize < 3 || ysize < 3 ) {error("patternSize should be at least 3x3"); return;} this->patternSize[0]=xsize; this->patternSize[1]=ysize; + + // reallocate matrix + cvReleaseMat(&image_points); + cvReleaseMat(&object_points); + cvReleaseMat(&point_counts); + image_points = cvCreateMat(patternSize[0]*patternSize[1]*board_view_nb, 2, CV_32FC1); + object_points = cvCreateMat(patternSize[0]*patternSize[1]*board_view_nb, 3, CV_32FC1); + point_counts = cvCreateMat(board_view_nb, 1, CV_32SC1); } void pix_opencv_calibration :: viewMess (int view) @@ -389,6 +431,7 @@ void pix_opencv_calibration :: viewMess (int view) board_view_nb=view<2?2:view; if (view < 2) error("view should be greater or equal to 2"); + // reallocate matrix cvReleaseMat(&image_points); cvReleaseMat(&object_points); cvReleaseMat(&point_counts); @@ -433,8 +476,10 @@ void pix_opencv_calibration :: obj_setupCallback(t_class *classPtr) gensym("view"), A_FLOAT, A_NULL); class_addmethod(classPtr, (t_method)&pix_opencv_calibration::waitMessCallback, gensym("wait"), A_FLOAT, A_NULL); - class_addmethod(classPtr, (t_method)&pix_opencv_calibration::findChessFlagMessCallback, + class_addmethod(classPtr, (t_method)&pix_opencv_calibration::findChessFlagMessCallback, gensym("findChessFlag"), A_FLOAT, A_FLOAT, A_FLOAT, A_NULL); + class_addmethod(classPtr, (t_method)&pix_opencv_calibration::resetMessCallback, + gensym("reset"), A_NULL); } void pix_opencv_calibration :: loadIntraMessCallback(void *data, t_symbol* filename) @@ -474,3 +519,29 @@ void pix_opencv_calibration :: findChessFlagMessCallback(void *data, t_floatarg GetMyClass(data)->findChessFlagMess((int) adaptThres, (int) normalize, (int) filter); } +void pix_opencv_calibration :: resetMessCallback(void *data) +{ + GetMyClass(data)->resetCorrectionMatrix(); +} + +void pix_opencv_calibration :: resetCorrectionMatrix() +{ + // make an "empty" intrinsinc matrix + CV_MAT_ELEM( *intrinsic_matrix, float, 0, 0 ) = 8; + CV_MAT_ELEM( *intrinsic_matrix, float, 1, 0 ) = 0; + CV_MAT_ELEM( *intrinsic_matrix, float, 2, 0 ) = 0; + CV_MAT_ELEM( *intrinsic_matrix, float, 0, 1 ) = 0; + CV_MAT_ELEM( *intrinsic_matrix, float, 1, 1 ) = 8; + CV_MAT_ELEM( *intrinsic_matrix, float, 2, 1 ) = 0; + CV_MAT_ELEM( *intrinsic_matrix, float, 0, 2 ) = 3; + CV_MAT_ELEM( *intrinsic_matrix, float, 1, 2 ) = 3; + CV_MAT_ELEM( *intrinsic_matrix, float, 2, 2 ) = 1; + + // zeros distortion coeffs + for ( int i = 0 ; i < 5 ; i++ ) { + CV_MAT_ELEM( *distortion_coeffs, float, i, 0) = 0.0; + } + + // reinitialise size to force reinitialisation of mapx and mapy on next frame + this->comp_xsize = 0; +} diff --git a/pix_opencv_calibration.h b/pix_opencv_calibration.h index 7114288..ea90a47 100644 --- a/pix_opencv_calibration.h +++ b/pix_opencv_calibration.h @@ -72,7 +72,8 @@ class GEM_EXTERN pix_opencv_calibration : public GemPixObj void viewMess (int view); void waitMess (int wait); void findChessFlagMess(int adaptThres, int normalize, int filter); - + void resetCorrectionMatrix(); + // to detect changes in the image size int comp_xsize; int comp_ysize; @@ -88,6 +89,8 @@ class GEM_EXTERN pix_opencv_calibration : public GemPixObj private: + t_outlet *m_dataout; + ////////// // Static member functions static void loadIntraMessCallback(void *data, t_symbol* filename); @@ -99,7 +102,9 @@ class GEM_EXTERN pix_opencv_calibration : public GemPixObj static void viewMessCallback(void *data, t_floatarg view); static void waitMessCallback(void *data, t_floatarg wait); static void findChessFlagMessCallback(void *data, t_floatarg adaptThres, t_floatarg normalize, t_floatarg filter); + static void resetMessCallback(void *data); ///////// + // CvMat needed CvMat *image_points, *object_points, |