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Commit 142cb455 authored by Nicolas Pope's avatar Nicolas Pope
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Cleanup code

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cv-node/include/ftl/calibrate.hpp
+ 0
− 9
View file @ 142cb455
......@@ -75,7 +75,6 @@ class Calibrate {
bool isCalibrated();
private:
bool runCalibration(cv::Mat &img, cv::Mat &cam);
bool _recalibrate(std::vector<std::vector<cv::Point2f>> *imagePoints,
cv::Mat *cameraMatrix, cv::Mat *distCoeffs, cv::Size *imageSize);
cv::Mat _nextImage(size_t cam);
......@@ -90,13 +89,5 @@ class Calibrate {
};
};
/*static inline void read(const cv::FileNode& node, ftl::Calibrate::Settings& x, const ftl::Calibrate::Settings& default_value = ftl::Calibrate::Settings())
{
if(node.empty())
x = default_value;
else
x.read(node);
}*/
#endif // _FTL_CALIBRATION_HPP_
cv-node/src/calibrate.cpp
+ 9
− 155
View file @ 142cb455
......@@ -162,7 +162,7 @@ bool Calibrate::Settings::isListOfImages( const string& filename)
enum { DETECTION = 0, CAPTURING = 1, CALIBRATED = 2 };
bool runCalibrationAndSave(Calibrate::Settings& s, Size imageSize, Mat& cameraMatrix, Mat& distCoeffs,
bool runCalibration(Calibrate::Settings& s, Size imageSize, Mat& cameraMatrix, Mat& distCoeffs,
vector<vector<Point2f> > imagePoints, float grid_width, bool release_object);
......@@ -372,13 +372,13 @@ bool Calibrate::_recalibrate(vector<vector<Point2f>> *imagePoints,
if (view[0].empty() || (local_->isStereo() && view[1].empty()) || imagePoints[0].size() >= (size_t)settings_.nrFrames) {
settings_.outputFileName = FTL_CONFIG_ROOT "/cam0.xml";
bool r = runCalibrationAndSave(settings_, imageSize[0],
bool r = runCalibration(settings_, imageSize[0],
cameraMatrix[0], distCoeffs[0], imagePoints[0],
grid_width, release_object);
if (local_->isStereo()) {
settings_.outputFileName = FTL_CONFIG_ROOT "/cam1.xml";
r &= runCalibrationAndSave(settings_, imageSize[1],
r &= runCalibration(settings_, imageSize[1],
cameraMatrix[1], distCoeffs[1], imagePoints[1],
grid_width, release_object);
}
......@@ -437,27 +437,6 @@ bool Calibrate::_recalibrate(vector<vector<Point2f>> *imagePoints,
break;
}
/*for (auto cam=0; cam<2; cam++) {
Mat view, rview;
if (settings_.useFisheye)
{
Mat newCamMat;
fisheye::estimateNewCameraMatrixForUndistortRectify(cameraMatrix[cam], distCoeffs[cam], imageSize[cam],
Matx33d::eye(), newCamMat, 1);
fisheye::initUndistortRectifyMap(cameraMatrix[cam], distCoeffs[cam], Matx33d::eye(), newCamMat, imageSize[cam],
CV_16SC2, map1_[cam], map2_[cam]);
}
else
{
initUndistortRectifyMap(
cameraMatrix[cam], distCoeffs[cam], Mat(),
getOptimalNewCameraMatrix(cameraMatrix[cam], distCoeffs[cam], imageSize[cam], 1, imageSize[cam], 0), imageSize[cam],
CV_16SC2, map1_[cam], map2_[cam]);
}
}*/
return true;
}
......@@ -537,7 +516,7 @@ static void calcBoardCornerPositions(Size boardSize, float squareSize, vector<Po
}
}
//! [board_corners]
static bool runCalibration( Calibrate::Settings& s, Size& imageSize, Mat& cameraMatrix, Mat& distCoeffs,
static bool _runCalibration( Calibrate::Settings& s, Size& imageSize, Mat& cameraMatrix, Mat& distCoeffs,
vector<vector<Point2f> > imagePoints, vector<Mat>& rvecs, vector<Mat>& tvecs,
vector<float>& reprojErrs, double& totalAvgErr, vector<Point3f>& newObjPoints,
float grid_width, bool release_object)
......@@ -603,128 +582,8 @@ static bool runCalibration( Calibrate::Settings& s, Size& imageSize, Mat& camera
return ok;
}
// Print camera parameters to the output file
static void saveCameraParams( Calibrate::Settings& s, Size& imageSize, Mat& cameraMatrix, Mat& distCoeffs,
const vector<Mat>& rvecs, const vector<Mat>& tvecs,
const vector<float>& reprojErrs, const vector<vector<Point2f> >& imagePoints,
double totalAvgErr, const vector<Point3f>& newObjPoints )
{
FileStorage fs( s.outputFileName, FileStorage::WRITE );
LOG(INFO) << "Saving calibration to " << s.outputFileName;
time_t tm;
time( &tm );
struct tm *t2 = localtime( &tm );
char buf[1024];
strftime( buf, sizeof(buf), "%c", t2 );
fs << "calibration_time" << buf;
if( !rvecs.empty() || !reprojErrs.empty() )
fs << "nr_of_frames" << (int)std::max(rvecs.size(), reprojErrs.size());
fs << "image_width" << imageSize.width;
fs << "image_height" << imageSize.height;
fs << "board_width" << s.boardSize.width;
fs << "board_height" << s.boardSize.height;
fs << "square_size" << s.squareSize;
if( s.flag & CALIB_FIX_ASPECT_RATIO )
fs << "fix_aspect_ratio" << s.aspectRatio;
if (s.flag)
{
std::stringstream flagsStringStream;
if (s.useFisheye)
{
flagsStringStream << "flags:"
<< (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
{
flagsStringStream << "flags:"
<< (s.flag & CALIB_USE_INTRINSIC_GUESS ? " +use_intrinsic_guess" : "")
<< (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" : "")
<< (s.flag & CALIB_FIX_K1 ? " +fix_k1" : "")
<< (s.flag & CALIB_FIX_K2 ? " +fix_k2" : "")
<< (s.flag & CALIB_FIX_K3 ? " +fix_k3" : "")
<< (s.flag & CALIB_FIX_K4 ? " +fix_k4" : "")
<< (s.flag & CALIB_FIX_K5 ? " +fix_k5" : "");
}
fs.writeComment(flagsStringStream.str());
}
fs << "flags" << s.flag;
fs << "fisheye_model" << s.useFisheye;
fs << "camera_matrix" << cameraMatrix;
fs << "distortion_coefficients" << distCoeffs;
fs << "avg_reprojection_error" << totalAvgErr;
if (s.writeExtrinsics && !reprojErrs.empty())
fs << "per_view_reprojection_errors" << Mat(reprojErrs);
if(s.writeExtrinsics && !rvecs.empty() && !tvecs.empty() )
{
CV_Assert(rvecs[0].type() == tvecs[0].type());
Mat bigmat((int)rvecs.size(), 6, CV_MAKETYPE(rvecs[0].type(), 1));
bool needReshapeR = rvecs[0].depth() != 1 ? true : false;
bool needReshapeT = tvecs[0].depth() != 1 ? true : false;
for( size_t i = 0; i < rvecs.size(); i++ )
{
Mat r = bigmat(Range(int(i), int(i+1)), Range(0,3));
Mat t = bigmat(Range(int(i), int(i+1)), Range(3,6));
if(needReshapeR)
rvecs[i].reshape(1, 1).copyTo(r);
else
{
//*.t() is MatExpr (not Mat) so we can use assignment operator
CV_Assert(rvecs[i].rows == 3 && rvecs[i].cols == 1);
r = rvecs[i].t();
}
if(needReshapeT)
tvecs[i].reshape(1, 1).copyTo(t);
else
{
CV_Assert(tvecs[i].rows == 3 && tvecs[i].cols == 1);
t = tvecs[i].t();
}
}
fs.writeComment("a set of 6-tuples (rotation vector + translation vector) for each view");
fs << "extrinsic_parameters" << bigmat;
}
if(s.writePoints && !imagePoints.empty() )
{
Mat imagePtMat((int)imagePoints.size(), (int)imagePoints[0].size(), CV_32FC2);
for( size_t i = 0; i < imagePoints.size(); i++ )
{
Mat r = imagePtMat.row(int(i)).reshape(2, imagePtMat.cols);
Mat imgpti(imagePoints[i]);
imgpti.copyTo(r);
}
fs << "image_points" << imagePtMat;
}
if( s.writeGrid && !newObjPoints.empty() )
{
fs << "grid_points" << newObjPoints;
}
}
//! [run_and_save]
bool runCalibrationAndSave(Calibrate::Settings& s, Size imageSize, Mat& cameraMatrix, Mat& distCoeffs,
bool runCalibration(Calibrate::Settings& s, Size imageSize, Mat& cameraMatrix, Mat& distCoeffs,
vector<vector<Point2f> > imagePoints, float grid_width, bool release_object)
{
vector<Mat> rvecs, tvecs;
......@@ -732,16 +591,11 @@ bool runCalibrationAndSave(Calibrate::Settings& s, Size imageSize, Mat& cameraMa
double totalAvgErr = 0;
vector<Point3f> newObjPoints;
bool ok = runCalibration(s, imageSize, cameraMatrix, distCoeffs, imagePoints, rvecs, tvecs, reprojErrs,
bool ok = _runCalibration(s, imageSize, cameraMatrix, distCoeffs, imagePoints, rvecs, tvecs, reprojErrs,
totalAvgErr, newObjPoints, grid_width, release_object);
cout << (ok ? "Calibration succeeded" : "Calibration failed")
<< ". avg re projection error = " << totalAvgErr << endl;
//return ok;
LOG(INFO) << (ok ? "Calibration succeeded" : "Calibration failed")
<< ". avg re projection error = " << totalAvgErr;
if (ok)
saveCameraParams(s, imageSize, cameraMatrix, distCoeffs, rvecs, tvecs, reprojErrs, imagePoints,
totalAvgErr, newObjPoints);
return ok;
}
//! [run_and_save]
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