From e9a8c09c2c581c80bc8fe3dee8d5fac8a2e8b59f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?llu=C3=ADs=20g=C3=B3mez=20i=20bigord=C3=A0?= Date: Thu, 14 Jul 2011 19:20:03 +0000 Subject: added pix_opencv_calibration: camera calibration function by Antoine Villeret helped by Cyrille Henry thanks guys! svn path=/trunk/externals/pix_opencv/; revision=15152 --- pix_opencv_calibration.cc | 476 ++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 476 insertions(+) create mode 100644 pix_opencv_calibration.cc (limited to 'pix_opencv_calibration.cc') diff --git a/pix_opencv_calibration.cc b/pix_opencv_calibration.cc new file mode 100644 index 0000000..f7681c3 --- /dev/null +++ b/pix_opencv_calibration.cc @@ -0,0 +1,476 @@ +//////////////////////////////////////////////////////// +// +// GEM - Graphics Environment for Multimedia +// +// zmoelnig@iem.kug.ac.at +// +// Implementation file +// +// Copyright (c) 1997-2000 Mark Danks. +// Copyright (c) Günther Geiger. +// Copyright (c) 2001-2002 IOhannes m zmoelnig. forum::für::umläute. IEM +// Copyright (c) 2002 James Tittle & Chris Clepper +// For information on usage and redistribution, and for a DISCLAIMER OF ALL +// WARRANTIES, see the file, "GEM.LICENSE.TERMS" in this distribution. +// +///////////////////////////////////////////////////////// +// based on code written by Lluis Gomez i Bigorda ( lluisgomez _at_ hangar _dot_ org ) +// camera calibration function by Antoine Villeret helped by Cyrille Henry + +#include "pix_opencv_calibration.h" +#include +//#include +//#include + +CPPEXTERN_NEW(pix_opencv_calibration) + +///////////////////////////////////////////////////////// +// +// pix_opencv_calibration +// +///////////////////////////////////////////////////////// +// Constructor +// +///////////////////////////////////////////////////////// +pix_opencv_calibration :: pix_opencv_calibration() +{ + find_rgb = NULL; + find_gray = NULL; + rgb = NULL; + gray = NULL; + tmp = NULL; + mapx = NULL; + mapy = NULL; + + success_count = 0; + board_view_nb = 10; + calibration = 0; + patternSize[0] = 6; + patternSize[1] = 7; + frame = 0; + wait_n_frame = 10; + findChessFlag = CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS; + + // allocate storage matrix + 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); + 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__); +} + +///////////////////////////////////////////////////////// +// Destructor +// +///////////////////////////////////////////////////////// +pix_opencv_calibration :: ~pix_opencv_calibration() +{ + //Destroy cv_images to clean memory + if ( find_rgb ) cvReleaseImage(&find_rgb); + if ( find_gray ) cvReleaseImage(&find_gray); + if ( gray ) cvReleaseImage(&gray); + if ( rgb ) cvReleaseImage(&rgb); + if ( tmp ) cvReleaseImage(&tmp); + if ( mapx ) cvReleaseImage(&mapx); + if ( mapy ) cvReleaseImage(&mapy); + cvReleaseMat(&intrinsic_matrix); + cvReleaseMat(&distortion_coeffs); + cvReleaseMat(&image_points); + cvReleaseMat(&object_points); + cvReleaseMat(&point_counts); +} + +///////////////////////////////////////////////////////// +// processImage +// +///////////////////////////////////////////////////////// +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"); + calibration = 0; + + if ( find_rgb ) cvReleaseImage(&find_rgb); + if ( find_gray ) cvReleaseImage(&find_gray); + if ( gray ) cvReleaseImage(&gray); // TODO : cette ligne crash qd on passe du gray a couleur apres ou pendant calibration + if ( rgb ) cvReleaseImage(&rgb); + if ( tmp ) cvReleaseImage(&tmp); + if ( mapx ) cvReleaseImage(&mapx); + if ( mapy ) cvReleaseImage(&mapy); + + // used in findCorners + find_rgb = cvCreateImage(cvSize(this->comp_xsize,this->comp_ysize), IPL_DEPTH_8U, 4); + 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); + 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); + + // create new map + cvInitUndistortMap(this->intrinsic_matrix, this->distortion_coeffs, this->mapx, this->mapy); + } + + // no need to copy a lot of memory, just point to it... + rgb->imageData = (char*) image.data; + + // this will loop until we got enought views (x->board_view_nb) with all corners visible + if ( success_count < board_view_nb && calibration != 0 ) { + findCorners( rgb ); + image.data = (unsigned char*) rgb->imageData; + } + else if ( success_count >= board_view_nb && calibration != 0 ) { + computeCalibration( rgb ); + image.data = (unsigned char*) rgb->imageData; + } + else if ( this->calibration == 0 ) { + cvRemap(rgb,tmp,mapx,mapy); + image.data = (unsigned char*) tmp->imageData; + } +} + +void pix_opencv_calibration :: processRGBImage(imageStruct &image) { + error( "pix_opencv_calibration : rgb format not supported"); +} + +void pix_opencv_calibration :: processYUVImage(imageStruct &image) { + error( "pix_opencv_calibration : yuv format not supported" ); +} + +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 ( find_rgb ) cvReleaseImage(&find_rgb); + if ( find_gray ) cvReleaseImage(&find_gray); + if ( gray ) cvReleaseImage(&gray); + if ( rgb ) cvReleaseImage(&rgb); + if ( tmp ) cvReleaseImage(&tmp); + if ( mapx ) cvReleaseImage(&mapx); + if ( mapy ) cvReleaseImage(&mapy); + + // used in findCorners + find_rgb = cvCreateImage(cvSize(this->comp_xsize,this->comp_ysize), IPL_DEPTH_8U, 4); + 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); + 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); + + // create new map + cvInitUndistortMap(this->intrinsic_matrix, this->distortion_coeffs, this->mapx, this->mapy); + } + + // no need to copy a lot of memory, just point to it... + gray->imageData = (char*) image.data; + + // this will loop until we got enought views (x->board_view_nb) with all corners visible + if ( success_count < board_view_nb && calibration != 0 ) { + findCorners( gray ); + image.data = (unsigned char*) gray->imageData; + } + else if ( success_count >= board_view_nb && calibration != 0 ) { + computeCalibration( gray ); + image.data = (unsigned char*) gray->imageData; + } + else if ( this->calibration == 0 ) { + cvRemap(gray,tmp,mapx,mapy); + image.data = (unsigned char*) tmp->imageData; + } +} + +///////////////////////////////////////////////////////// +// findCorners +// +///////////////////////////////////////////////////////// +void pix_opencv_calibration :: findCorners ( IplImage *image ) +{ + int board_point_nb = this->patternSize[0]*this->patternSize[1]; + CvPoint2D32f *corners = new CvPoint2D32f[board_point_nb]; + 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, + patternSize, + corners, + &corner_count, + findChessFlag); + if (image->nChannels == 4) { + cvCvtColor( image , find_gray , CV_RGBA2GRAY); // convert color to gray + } else { + cvCopy(image, find_gray) ; + } + + // get subpixel accuracy on those corners (grayscale image only) + cvFindCornerSubPix(find_gray, + corners, + corner_count, + cvSize(11,11), + 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); + + this->frame++; + if ( this->frame % this->wait_n_frame == 0 ) { + // update arrays + + if( corner_count == board_point_nb ) { + step = this->success_count*board_point_nb; + for( int i=step, j=0; jimage_points, float,i,0) = corners[j].x; + CV_MAT_ELEM(*this->image_points, float,i,1) = corners[j].y; + CV_MAT_ELEM(*this->object_points,float,i,0) = j/this->patternSize[0]; + CV_MAT_ELEM(*this->object_points,float,i,1) = j%this->patternSize[0]; + CV_MAT_ELEM(*this->object_points,float,i,2) = 0.0f; + } + CV_MAT_ELEM(*this->point_counts, int,this->success_count,0) = board_point_nb; + this->success_count++; + + cvNot( find_rgb , find_rgb ); + } + post("take : %d/%d\n", success_count, board_view_nb); + } + + // convert color to gray + if (image->nChannels == 1) { + cvCvtColor( find_rgb , image, CV_RGBA2GRAY); // convert color to gray + } else { + cvCopy(find_rgb, image); + } + +} +///////////////////////////////////////////////////////// +// computeCalibration +// +///////////////////////////////////////////////////////// +void pix_opencv_calibration :: computeCalibration ( IplImage *image ) +{ + //CALIBRATE THE CAMERA! + cvCalibrateCamera2(this->object_points, + this->image_points, + this->point_counts, + cvSize( image->width , image->height ), + this->intrinsic_matrix, + this->distortion_coeffs, + NULL, + NULL, + 0); + cvReleaseImage(&mapx); + cvReleaseImage(&mapy); + this->mapx = cvCreateImage( cvSize( image->width, image->height ), IPL_DEPTH_32F, 1 ); + this->mapy = cvCreateImage( cvSize( image->width, image->height ), IPL_DEPTH_32F, 1 ); + + cvInitUndistortMap(this->intrinsic_matrix, this->distortion_coeffs, this->mapx, this->mapy); + calibration = 0; +} +///////////////////////////////////////////////////////// +// LoadMess +// +///////////////////////////////////////////////////////// + +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 (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; + } + else post("load transformation matrix from %s",filename->s_name); + + // reinitialise size to force reinitialisation of mapx and mapy on next frame + this->comp_xsize = 0; +} + +void pix_opencv_calibration :: loadDistMess (t_symbol *filename) +{ + 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; + } + } + else post("load distortion coefficients from %s",filename->s_name); + + // 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); +} + +void pix_opencv_calibration :: floatCalibrationhMess (float calib_flag) +{ + this->calibration=calib_flag; + if ( this->calibration == 1 ) { + this->success_count = 0; + this->frame = 0; + } + post("calibration : %d", this->calibration); +} + +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; + this->patternSize[0]=xsize; + this->patternSize[1]=ysize; +} + +void pix_opencv_calibration :: viewMess (int view) +{ + if ( calibration == 1 ) {error("you can't change view number during calibration !"); return;} + board_view_nb=view<2?2:view; + if (view < 2) error("view should be greater or equal to 2"); + + 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 :: waitMess (int wait) +{ + wait_n_frame=wait<1?1:wait; + if (wait < 1) error("wait should be greater or equal to 1, you can't calibrate more often than each frame !"); +} + +void pix_opencv_calibration :: findChessFlagMess(int adaptThres, int normalize, int filter) +{ + adaptThres=adaptThres<=0?0:adaptThres>=1?1:adaptThres; + normalize=normalize<=0?0:normalize>=1?1:normalize; + filter=filter<=0?0:filter>=1?1:filter; + findChessFlag = CV_CALIB_CB_ADAPTIVE_THRESH * adaptThres + CV_CALIB_CB_NORMALIZE_IMAGE * normalize + CV_CALIB_CB_FILTER_QUADS * filter; +} +///////////////////////////////////////////////////////// +// static member function +// +///////////////////////////////////////////////////////// +void pix_opencv_calibration :: obj_setupCallback(t_class *classPtr) +{ + class_addmethod(classPtr, (t_method)&pix_opencv_calibration::loadIntraMessCallback, + gensym("loadIntra"), A_SYMBOL, A_NULL); + class_addmethod(classPtr, (t_method)&pix_opencv_calibration::loadDistMessCallback, + gensym("loadDist"), A_SYMBOL, A_NULL); + class_addmethod(classPtr, (t_method)&pix_opencv_calibration::writeIntraMessCallback, + gensym("writeIntra"), A_SYMBOL, A_NULL); + class_addmethod(classPtr, (t_method)&pix_opencv_calibration::writeDistMessCallback, + gensym("writeDist"), A_SYMBOL, A_NULL); + class_addmethod(classPtr, (t_method)&pix_opencv_calibration::floatCalibrationMessCallback, + gensym("calibration"), A_FLOAT, A_NULL); + class_addmethod(classPtr, (t_method)&pix_opencv_calibration::patternSizeMessCallback, + gensym("patternSize"), A_FLOAT, A_FLOAT, A_NULL); + class_addmethod(classPtr, (t_method)&pix_opencv_calibration::viewMessCallback, + 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, + gensym("findChessFlag"), A_FLOAT, A_FLOAT, A_FLOAT, A_NULL); + +} +void pix_opencv_calibration :: loadIntraMessCallback(void *data, t_symbol* filename) +{ + GetMyClass(data)->loadIntraMess(filename); +} +void pix_opencv_calibration :: loadDistMessCallback(void *data, t_symbol* filename) +{ + GetMyClass(data)->loadDistMess(filename); +} +void pix_opencv_calibration :: writeIntraMessCallback(void *data, t_symbol* filename) +{ + GetMyClass(data)->writeIntraMess(filename); +} +void pix_opencv_calibration :: writeDistMessCallback(void *data, t_symbol* filename) +{ + GetMyClass(data)->writeDistMess(filename); +} +void pix_opencv_calibration :: floatCalibrationMessCallback(void *data, t_floatarg calib_flag) +{ + GetMyClass(data)->floatCalibrationhMess((float)calib_flag); +} +void pix_opencv_calibration :: patternSizeMessCallback(void *data, t_floatarg xsize, t_floatarg ysize) +{ + GetMyClass(data)->patternSizeMess((float)xsize, (float)ysize); +} +void pix_opencv_calibration :: viewMessCallback(void *data, t_floatarg view) +{ + GetMyClass(data)->viewMess((int)view); +} +void pix_opencv_calibration :: waitMessCallback(void *data, t_floatarg wait) +{ + GetMyClass(data)->waitMess((int)wait); +} +void pix_opencv_calibration :: findChessFlagMessCallback(void *data, t_floatarg adaptThres, t_floatarg normalize, t_floatarg filter) +{ + GetMyClass(data)->findChessFlagMess((int) adaptThres, (int) normalize, (int) filter); +} + -- cgit v1.2.1