add core files
This commit is contained in:
Tang1705
338
Classes/Calibrator.cpp
Normal file
338
Classes/Calibrator.cpp
Normal file
@@ -0,0 +1,338 @@
|
||||
#include "Calibrator.h"
|
||||
#include "structured_light.h"
|
||||
#include "CalibrationData.h"
|
||||
|
||||
#include <fstream>
|
||||
|
||||
#include <QtCore/QList>
|
||||
|
||||
Calibrator::Calibrator()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
Calibrator::~Calibrator()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
void Calibrator::addFrameSequence(std::vector<cv::Mat> &frameSeq)
|
||||
{
|
||||
int n = frameSeqs.size();
|
||||
frameSeqs.resize(n+1);
|
||||
std::vector<cv::Mat> &frame = frameSeqs[n];
|
||||
for(int i = 0; i < frameSeq.size(); i++)
|
||||
{
|
||||
frame.push_back(frameSeq[i]);
|
||||
}
|
||||
std::cout <<"Calibrator::addFrameSequence : frame.size(): "<< frame.size() << std::endl;
|
||||
}
|
||||
|
||||
void Calibrator::reset()
|
||||
{
|
||||
frameSeqs.clear();
|
||||
board_corners.clear();
|
||||
projector_corners.clear();
|
||||
pattern_list.clear();
|
||||
}
|
||||
|
||||
void Calibrator::setBoardRows(int rows) {
|
||||
board_rows = rows;
|
||||
board_size = cv::Size(board_rows, board_cols);
|
||||
}
|
||||
|
||||
void Calibrator::setBoardCols(int cols) {
|
||||
board_cols = cols;
|
||||
board_size = cv::Size(board_rows, board_cols);
|
||||
}
|
||||
|
||||
void Calibrator::setCornerSize(double cornerSize) {
|
||||
dot_dis = cornerSize;
|
||||
corner_size = cv::Size2f(cornerSize, cornerSize);
|
||||
}
|
||||
|
||||
void Calibrator::setDotDiameter(double dotDiameter) {
|
||||
dot_diameter = dotDiameter;
|
||||
}
|
||||
void Calibrator::setCalibBoard(unsigned board) {
|
||||
board_type = board;
|
||||
}
|
||||
|
||||
CalibrationData* Calibrator::calibrate()
|
||||
{
|
||||
|
||||
CalibrationData *res = new CalibrationData();
|
||||
|
||||
// detect corners ////////////////////////////////////
|
||||
for(int i = 0; i < frameSeqs.size(); i++)
|
||||
{
|
||||
std::vector<cv::Point2f> corners = extract_board_corners( frameSeqs[i][0] );
|
||||
board_corners.push_back(corners);
|
||||
// std::cout<<i<<" corners: "<<corners.size()<<std::endl;
|
||||
// for(int j = 0; j < corners.size(); j++) {
|
||||
// std::cout<<corners[j]<<std::endl;
|
||||
// }
|
||||
}
|
||||
|
||||
// collect projector correspondences
|
||||
std::vector<cv::Point2f> pcorners;
|
||||
for(int i = 0; i < frameSeqs.size(); i++)
|
||||
{
|
||||
std::vector<cv::Point2f> const& corners = board_corners[i];
|
||||
cv::Mat pattern_image;
|
||||
cv::Mat min_max_image;
|
||||
if(corners.size()==0)
|
||||
{
|
||||
projector_corners.push_back(pcorners);
|
||||
pattern_list.push_back(pattern_image);
|
||||
continue;
|
||||
}
|
||||
if(!decode_gray_set(i , pattern_image ,min_max_image))
|
||||
{
|
||||
projector_corners.push_back(pcorners);
|
||||
pattern_list.push_back(pattern_image);
|
||||
continue;
|
||||
}
|
||||
|
||||
pattern_list.push_back(pattern_image);
|
||||
for (std::vector<cv::Point2f>::const_iterator iter=corners.begin(); iter!=corners.end(); iter++)
|
||||
{
|
||||
const cv::Point2f & p = *iter;
|
||||
cv::Point2f q;
|
||||
//find an homography around p
|
||||
unsigned WINDOW_SIZE = 30;
|
||||
std::vector<cv::Point2f> img_points , proj_points;
|
||||
if (p.x>WINDOW_SIZE && p.y>WINDOW_SIZE && p.x+WINDOW_SIZE<pattern_image.cols && p.y+WINDOW_SIZE<pattern_image.rows)
|
||||
{
|
||||
for (unsigned h=p.y-WINDOW_SIZE; h<p.y+WINDOW_SIZE; h++)
|
||||
{
|
||||
register const cv::Vec2f * row = pattern_image.ptr<cv::Vec2f>(h);
|
||||
register const cv::Vec2b * min_max_row = min_max_image.ptr<cv::Vec2b>(h);
|
||||
//cv::Vec2f * out_row = out_pattern_image.ptr<cv::Vec2f>(h);
|
||||
for (unsigned w=p.x-WINDOW_SIZE; w<p.x+WINDOW_SIZE; w++)
|
||||
{
|
||||
const cv::Vec2f & pattern = row[w];
|
||||
const cv::Vec2b & min_max = min_max_row[w];
|
||||
//cv::Vec2f & out_pattern = out_row[w];
|
||||
if (std::isnan(pattern[0])>0 || std::isnan(pattern[1])>0)
|
||||
{
|
||||
continue;
|
||||
}
|
||||
if ((min_max[1]-min_max[0]) < static_cast<int>(threshold))
|
||||
{ //apply threshold and skip
|
||||
continue;
|
||||
}
|
||||
|
||||
img_points.push_back(cv::Point2f(w, h));
|
||||
proj_points.push_back(cv::Point2f(pattern));
|
||||
|
||||
//out_pattern = pattern;
|
||||
}
|
||||
}
|
||||
cv::Mat H = cv::findHomography(img_points , proj_points, cv::RANSAC);
|
||||
// std::cout << " H:\n" << H << std::endl;
|
||||
cv::Point3d Q = cv::Point3d(cv::Mat(H*cv::Mat(cv::Point3d(p.x , p.y , 1.0))));
|
||||
q = cv::Point2f(Q.x/Q.z ,Q.y/Q.z);
|
||||
// jiuzheng
|
||||
// q.y += 118;
|
||||
pcorners.push_back(q);
|
||||
}
|
||||
else {
|
||||
pcorners.clear();
|
||||
break;
|
||||
}
|
||||
}
|
||||
std::cout<<i<<" pcorners: "<<pcorners.size()<<std::endl;
|
||||
for(int j = 0; j < pcorners.size(); j++) {
|
||||
std::cout<<pcorners[j]<<std::endl;
|
||||
}
|
||||
projector_corners.push_back(pcorners);
|
||||
pcorners.clear();
|
||||
}
|
||||
|
||||
//generate world object coordinates
|
||||
unsigned count = 0;
|
||||
for(int i = 0; i < frameSeqs.size(); i++)
|
||||
{
|
||||
if(board_corners[i].size() && projector_corners[i].size())
|
||||
{
|
||||
count++;
|
||||
}
|
||||
}
|
||||
std::vector<cv::Point3f> world_corners;
|
||||
for (int h=0; h<board_size.height; h++)
|
||||
{
|
||||
for (int w=0; w<board_size.width; w++)
|
||||
{
|
||||
world_corners.push_back(cv::Point3f(corner_size.width * w, corner_size.height * h , 0.f));
|
||||
}
|
||||
}
|
||||
std::vector<std::vector<cv::Point3f> > objectPoints;
|
||||
objectPoints.reserve(count);
|
||||
for (unsigned i=0; i<count; i++)
|
||||
{
|
||||
objectPoints.push_back(world_corners);
|
||||
}
|
||||
|
||||
//generate world object coordinates
|
||||
std::vector<cv::Point3f> world_corners_p;
|
||||
for (int h=0; h<board_size.height; h++)
|
||||
{
|
||||
for (int w=0; w<board_size.width; w++)
|
||||
{
|
||||
world_corners_p.push_back(cv::Point3f(corner_size.width * w , corner_size.height * h ,0.f));
|
||||
}
|
||||
}
|
||||
|
||||
std::vector<std::vector<cv::Point3f> > objectPoints_p;
|
||||
objectPoints_p.reserve(count);
|
||||
for (unsigned i=0; i<count; i++)
|
||||
{
|
||||
objectPoints_p.push_back(world_corners_p);
|
||||
}
|
||||
|
||||
//collect projector correspondences
|
||||
projector_corners.resize(count);
|
||||
pattern_list.resize(count);
|
||||
|
||||
int cal_flags = 0
|
||||
//+ cv::CALIB_FIX_K1
|
||||
//+ cv::CALIB_FIX_K2
|
||||
//+ cv::CALIB_ZERO_TANGENT_DIST
|
||||
+ cv::CALIB_FIX_K3
|
||||
;
|
||||
//calibrate the camera ////////////////////////////////////
|
||||
std::vector<cv::Mat> cam_rvecs , cam_tvecs;
|
||||
int cam_flags = cal_flags;
|
||||
cv::Size imageSize = frameSeqs[0][0].size();
|
||||
res->cam_error = cv::calibrateCamera(objectPoints , board_corners , imageSize , res->Kc , res->kc ,cam_rvecs , cam_tvecs);
|
||||
std::cout<<"calibrate the camera !"<<std::endl;
|
||||
|
||||
//calibrate the projector ////////////////////////////////////
|
||||
std::vector<cv::Mat> proj_rvecs , proj_tvecs;
|
||||
int proj_flags = cal_flags;
|
||||
cv::Size projector_size(912, 1140);
|
||||
res->proj_error = cv::calibrateCamera(objectPoints_p , projector_corners, projector_size , res->Kp , res->kp , proj_rvecs , proj_tvecs);
|
||||
|
||||
std::cout<<"calibrate the projector !"<<std::endl;
|
||||
//stereo calibration
|
||||
cv::Mat E, F;
|
||||
res->stereo_error = cv::stereoCalibrate(objectPoints , board_corners , projector_corners ,
|
||||
res->Kc , res->kc , res->Kp ,res->kp ,imageSize /*ignored*/ ,
|
||||
res->Rp , res->Tp , E , F );
|
||||
// res->stereo_error = cv::stereoCalibrate(objectPoints , board_corners , projector_corners , res->Kc , res->kc , res->Kp ,res->kp ,imageSize /*ignored*/ , res->Rp , res->Tp , E , F ,
|
||||
// cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS ,50 ,DBL_EPSILON) ,
|
||||
// cv::CALIB_FIX_INTRINSIC /*cv::CALIB_USE_INTRINSIC_GUESS + cal_flags*/);
|
||||
std::cout<<"stereo calibration !"<<std::endl;
|
||||
|
||||
|
||||
cv::FileStorage fsc("rtc.xml", cv::FileStorage::WRITE);
|
||||
cv::FileStorage fsp("rtp.xml", cv::FileStorage::WRITE);
|
||||
|
||||
// objectPoints projector_corners board_corners
|
||||
std::ofstream opout("objectPoints.txt");
|
||||
std::ofstream pcout("projector_corners.txt");
|
||||
std::ofstream ccout("board_corners.txt");
|
||||
for (int i = 0; i < objectPoints.size(); i++) {
|
||||
fsc << "R" + std::to_string(i) << cv::Mat(cam_rvecs[i]);
|
||||
fsc << "T" + std::to_string(i) << cv::Mat(cam_tvecs[i]);
|
||||
fsp << "R" + std::to_string(i) << cv::Mat(proj_rvecs[i]);
|
||||
fsp << "T" + std::to_string(i) << cv::Mat(proj_tvecs[i]);
|
||||
for (int j = 0; j < objectPoints[i].size(); j++) {
|
||||
opout << objectPoints[i][j] << std::endl;
|
||||
pcout << projector_corners[i][j] << std::endl;
|
||||
ccout << board_corners[i][j] << std::endl;
|
||||
}
|
||||
}
|
||||
opout.close();
|
||||
pcout.close();
|
||||
ccout.close();
|
||||
fsc.release();
|
||||
fsp.release();
|
||||
|
||||
return res;
|
||||
|
||||
}
|
||||
|
||||
std::vector<cv::Point2f> Calibrator::extract_board_corners(cv::Mat &gray_image)
|
||||
{
|
||||
std::vector<cv::Point2f> corners;
|
||||
int image_scale = 1;
|
||||
if (gray_image.rows<1)
|
||||
{
|
||||
return corners;
|
||||
}
|
||||
cv::Size imageSize = gray_image.size();
|
||||
if (imageSize.width>1024)
|
||||
{
|
||||
image_scale = imageSize.width/1024;
|
||||
}
|
||||
|
||||
cv::Mat small_img;
|
||||
if (image_scale>1)
|
||||
{
|
||||
cv::resize(gray_image , small_img , cv::Size(gray_image.cols/image_scale , gray_image.rows/image_scale));
|
||||
}
|
||||
else
|
||||
{
|
||||
small_img = gray_image;
|
||||
}
|
||||
|
||||
if(board_type == Chessboard) {
|
||||
cv::findChessboardCorners(small_img, board_size, corners);
|
||||
}
|
||||
else if(board_type == Circular) {
|
||||
cv::findCirclesGrid(small_img, board_size, corners);
|
||||
}
|
||||
|
||||
if (corners.size())
|
||||
{
|
||||
for (std::vector<cv::Point2f>::iterator iter=corners.begin(); iter!=corners.end(); iter++)
|
||||
{
|
||||
*iter = image_scale*(*iter);
|
||||
}
|
||||
cv::cornerSubPix(gray_image , corners , cv::Size(11 , 11) , cv::Size(-1 , -1) ,
|
||||
cv::TermCriteria(cv::TermCriteria::EPS + cv::TermCriteria::MAX_ITER, 30 , 0.1));
|
||||
}
|
||||
|
||||
return corners;
|
||||
}
|
||||
|
||||
|
||||
bool Calibrator::decode_gray_set(int ind , cv::Mat & pattern_image, cv::Mat & min_max_image)
|
||||
{
|
||||
if (ind >= frameSeqs.size())
|
||||
{ //out of bounds
|
||||
return false;
|
||||
}
|
||||
|
||||
//estimate direct component
|
||||
//b = config.value("robust_estimation/b" DEFAULT_B).toFloat();
|
||||
std::vector<cv::Mat> images;
|
||||
// QList<unsigned> direct_component_images(QList<unsigned>() << 15 << 16 << 17 << 18 << 35 << 36 << 37 << 38);
|
||||
int total_images = frameSeqs[ind].size();
|
||||
int total_patterns = total_images/2 - 1;
|
||||
const int direct_light_count = 4;
|
||||
const int direct_light_offset = 4;
|
||||
|
||||
QList<unsigned> direct_component_images;
|
||||
for (unsigned i=0; i<direct_light_count; i++)
|
||||
{
|
||||
int index = total_images - total_patterns - direct_light_count - direct_light_offset + i + 1;
|
||||
direct_component_images.append(index);
|
||||
direct_component_images.append(index + total_patterns);
|
||||
}
|
||||
foreach (unsigned i , direct_component_images)
|
||||
{
|
||||
images.push_back(frameSeqs[ind][i]);
|
||||
}
|
||||
cv::Mat direct_light = sl::estimate_direct_light(images, b);
|
||||
|
||||
//m = config.value("robust_estimation/m" DEFAULT_M).toUInt();
|
||||
// return sl::decode_pattern(frameSeqs[ind] , pattern_image , min_max_image , sl::RobustDecode|sl::GrayPatternDecode , direct_light, m);
|
||||
|
||||
cv::Size projector_size(912, 1140);
|
||||
bool rv = sl::decode_pattern(frameSeqs[ind], pattern_image, min_max_image, projector_size, sl::RobustDecode|sl::GrayPatternDecode, direct_light, m);
|
||||
return rv;
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user