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#include "opencv2/ccalib/omnidir.hpp"
#include "opencv2/core.hpp"
#include "opencv2/imgproc.hpp"
#include "opencv2/calib3d.hpp"
#include "opencv2/highgui.hpp"
#include <vector>
#include <iostream>
#include <string>
#include <time.h>
using namespace cv;
using namespace std;
static void calcChessboardCorners(const Size &boardSize, const Size2d &squareSize, Mat& corners)
{
// corners has type of CV_64FC3
corners.release();
int n = boardSize.width * boardSize.height;
corners.create(n, 1, CV_64FC3);
Vec3d *ptr = corners.ptr<Vec3d>();
for (int i = 0; i < boardSize.height; ++i)
{
for (int j = 0; j < boardSize.width; ++j)
{
ptr[i*boardSize.width + j] = Vec3d(double(j * squareSize.width), double(i * squareSize.height), 0.0);
}
}
}
static bool detecChessboardCorners(const vector<string>& list, vector<string>& list_detected,
vector<Mat>& imagePoints, Size boardSize, Size& imageSize)
{
imagePoints.resize(0);
list_detected.resize(0);
int n_img = (int)list.size();
Mat img;
for(int i = 0; i < n_img; ++i)
{
cout << list[i] << "... ";
Mat points;
img = imread(list[i], IMREAD_GRAYSCALE);
bool found = findChessboardCorners( img, boardSize, points);
if (found)
{
if (points.type() != CV_64FC2)
points.convertTo(points, CV_64FC2);
imagePoints.push_back(points);
list_detected.push_back(list[i]);
}
cout << (found ? "FOUND" : "NO") << endl;
}
if (!img.empty())
imageSize = img.size();
if (imagePoints.size() < 3)
return false;
else
return true;
}
static bool readStringList( const string& filename, vector<string>& l )
{
l.resize(0);
FileStorage fs(filename, FileStorage::READ);
if( !fs.isOpened() )
return false;
FileNode n = fs.getFirstTopLevelNode();
if( n.type() != FileNode::SEQ )
return false;
FileNodeIterator it = n.begin(), it_end = n.end();
for( ; it != it_end; ++it )
l.push_back((string)*it);
return true;
}
static void saveCameraParams( const string & filename, int flags, const Mat& cameraMatrix,
const Mat& distCoeffs, const double xi, const vector<Vec3d>& rvecs, const vector<Vec3d>& tvecs,
vector<string> detec_list, const Mat& idx, const double rms, const vector<Mat>& imagePoints)
{
FileStorage fs( filename, FileStorage::WRITE );
time_t tt;
time( &tt );
struct tm *t2 = localtime( &tt );
char buf[1024];
strftime( buf, sizeof(buf)-1, "%c", t2 );
fs << "calibration_time" << buf;
if ( !rvecs.empty())
fs << "nFrames" << (int)rvecs.size();
if ( flags != 0)
{
sprintf( buf, "flags: %s%s%s%s%s%s%s%s%s",
flags & omnidir::CALIB_USE_GUESS ? "+use_intrinsic_guess" : "",
flags & omnidir::CALIB_FIX_SKEW ? "+fix_skew" : "",
flags & omnidir::CALIB_FIX_K1 ? "+fix_k1" : "",
flags & omnidir::CALIB_FIX_K2 ? "+fix_k2" : "",
flags & omnidir::CALIB_FIX_P1 ? "+fix_p1" : "",
flags & omnidir::CALIB_FIX_P2 ? "+fix_p2" : "",
flags & omnidir::CALIB_FIX_XI ? "+fix_xi" : "",
flags & omnidir::CALIB_FIX_GAMMA ? "+fix_gamma" : "",
flags & omnidir::CALIB_FIX_CENTER ? "+fix_center" : "");
//cvWriteComment( *fs, buf, 0 );
}
fs << "flags" << flags;
fs << "camera_matrix" << cameraMatrix;
fs << "distortion_coefficients" << distCoeffs;
fs << "xi" << xi;
//cvWriteComment( *fs, "names of images that are acturally used in calibration", 0 );
fs << "used_imgs" << "[";
for (int i = 0; i < (int)idx.total(); ++i)
{
fs << detec_list[(int)idx.at<int>(i)];
}
fs << "]";
if ( !rvecs.empty() && !tvecs.empty() )
{
Mat rvec_tvec((int)rvecs.size(), 6, CV_64F);
for (int i = 0; i < (int)rvecs.size(); ++i)
{
Mat(rvecs[i]).reshape(1, 1).copyTo(rvec_tvec(Rect(0, i, 3, 1)));
Mat(tvecs[i]).reshape(1, 1).copyTo(rvec_tvec(Rect(3, i, 3, 1)));
}
//cvWriteComment( *fs, "a set of 6-tuples (rotation vector + translation vector) for each view", 0 );
fs << "extrinsic_parameters" << rvec_tvec;
}
fs << "rms" << rms;
if ( !imagePoints.empty() )
{
Mat imageMat((int)imagePoints.size(), (int)imagePoints[0].total(), CV_64FC2);
for (int i = 0; i < (int)imagePoints.size(); ++i)
{
Mat r = imageMat.row(i).reshape(2, imageMat.cols);
Mat imagei(imagePoints[i]);
imagei.copyTo(r);
}
fs << "image_points" << imageMat;
}
}
int main(int argc, char** argv)
{
cv::CommandLineParser parser(argc, argv,
"{w||board width}"
"{h||board height}"
"{sw|1.0|square width}"
"{sh|1.0|square height}"
"{o|out_camera_params.xml|output file}"
"{fs|false|fix skew}"
"{fp|false|fix principal point at the center}"
"{@input||input file - xml file with a list of the images, created with cpp-example-imagelist_creator tool}"
"{help||show help}"
);
parser.about("This is a sample for omnidirectional camera calibration. Example command line:\n"
" omni_calibration -w=6 -h=9 -sw=80 -sh=80 imagelist.xml \n");
if (parser.has("help") || !parser.has("w") || !parser.has("h"))
{
parser.printMessage();
return 0;
}
Size boardSize(parser.get<int>("w"), parser.get<int>("h"));
Size2d squareSize(parser.get<double>("sw"), parser.get<double>("sh"));
int flags = 0;
if (parser.get<bool>("fs"))
flags |= omnidir::CALIB_FIX_SKEW;
if (parser.get<bool>("fp"))
flags |= omnidir::CALIB_FIX_CENTER;
const string outputFilename = parser.get<string>("o");
const string inputFilename = parser.get<string>(0);
if (!parser.check())
{
parser.printErrors();
return -1;
}
// get image name list
vector<string> image_list, detec_list;
if(!readStringList(inputFilename, image_list))
{
cout << "Can not read imagelist" << endl;
return -1;
}
// find corners in images
// some images may be failed in automatic corner detection, passed cases are in detec_list
cout << "Detecting chessboards (" << image_list.size() << ")" << endl;
vector<Mat> imagePoints;
Size imageSize;
if(!detecChessboardCorners(image_list, detec_list, imagePoints, boardSize, imageSize))
{
cout << "Not enough corner detected images" << endl;
return -1;
}
// calculate object coordinates
vector<Mat> objectPoints;
Mat object;
calcChessboardCorners(boardSize, squareSize, object);
for(int i = 0; i < (int)detec_list.size(); ++i)
objectPoints.push_back(object);
// run calibration, some images are discarded in calibration process because they are failed
// in initialization. Retained image indexes are in idx variable.
Mat K, D, xi, idx;
vector<Vec3d> rvecs, tvecs;
double _xi, rms;
TermCriteria criteria(3, 200, 1e-8);
rms = omnidir::calibrate(objectPoints, imagePoints, imageSize, K, xi, D, rvecs, tvecs, flags, criteria, idx);
_xi = xi.at<double>(0);
cout << "Saving camera params to " << outputFilename << endl;
saveCameraParams(outputFilename, flags, K, D, _xi,
rvecs, tvecs, detec_list, idx, rms, imagePoints);
}
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