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/************************************************************************
*
* Copyright (C) 2014-2025 IRCAD France
* Copyright (C) 2014-2021 IHU Strasbourg
*
* This file is part of Sight.
*
* Sight is free software: you can redistribute it and/or modify it under
* the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Sight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with Sight. If not, see <https://www.gnu.org/licenses/>.
*
***********************************************************************/
#include "open_cv_extrinsic.hpp"
#include <core/com/slots.hxx>
#include <data/calibration_info.hpp>
#include <data/camera.hpp>
#include <data/camera_set.hpp>
#include <data/matrix4.hpp>
#include <data/point_list.hpp>
#include <io/opencv/matrix.hpp>
#include <ui/__/preferences.hpp>
#include <opencv2/calib3d.hpp>
#include <opencv2/core.hpp>
namespace sight::module::geometry::vision
{
//------------------------------------------------------------------------------
void open_cv_extrinsic::configuring()
{
const auto config = this->get_config();
m_cam_index = config.get<std::size_t>("camIndex");
}
// ----------------------------------------------------------------------------
void open_cv_extrinsic::starting()
{
}
// ----------------------------------------------------------------------------
void open_cv_extrinsic::stopping()
{
}
//------------------------------------------------------------------------------
void open_cv_extrinsic::updating()
{
const auto cal_info1 = m_calibration_info1.lock();
const auto cal_info2 = m_calibration_info2.lock();
SIGHT_ASSERT("Object with 'calibrationInfo1' is not found", cal_info1);
SIGHT_ASSERT("Object with 'calibrationInfo2' is not found", cal_info2);
SIGHT_WARN_IF("Calibration info is empty.", cal_info1->get_point_list_container().empty());
if(!cal_info1->get_point_list_container().empty())
{
std::vector<std::vector<cv::Point3f> > object_points;
std::vector<cv::Point3f> points;
for(unsigned int y = 0 ; y < static_cast<unsigned int>(*m_height - 1) ; ++y)
{
for(unsigned int x = 0 ; x < static_cast<unsigned int>(*m_width - 1) ; ++x)
{
points.emplace_back(
static_cast<float>(x * m_square_size.value()),
static_cast<float>(y * m_square_size.value()),
0.F
);
}
}
std::vector<std::vector<cv::Point2f> > image_points1;
std::vector<std::vector<cv::Point2f> > image_points2;
{
const auto pt_lists1 = cal_info1->get_point_list_container();
const auto pt_lists2 = cal_info2->get_point_list_container();
SIGHT_ERROR_IF("The two calibrationInfo do not have the same size", pt_lists1.size() != pt_lists2.size());
auto itr1 = pt_lists1.begin();
auto itr2 = pt_lists2.begin();
auto itr_end1 = pt_lists1.end();
auto itr_end2 = pt_lists2.end();
for( ; itr1 != itr_end1 && itr2 != itr_end2 ; ++itr1, ++itr2)
{
const data::point_list::csptr& pt_list1 = *itr1;
const data::point_list::csptr& pt_list2 = *itr2;
std::vector<cv::Point2f> img_point1;
std::vector<cv::Point2f> img_point2;
for(data::point::csptr point : pt_list1->get_points())
{
SIGHT_ASSERT("point is null", point);
img_point1.emplace_back(
static_cast<float>((*point)[0]),
static_cast<float>((*point)[1])
);
}
for(data::point::csptr point : pt_list2->get_points())
{
SIGHT_ASSERT("point is null", point);
img_point2.emplace_back(
static_cast<float>((*point)[0]),
static_cast<float>((*point)[1])
);
}
image_points1.push_back(img_point1);
image_points2.push_back(img_point2);
object_points.push_back(points);
}
}
// Set the cameras
cv::Mat camera_matrix1 = cv::Mat::eye(3, 3, CV_64F);
cv::Mat camera_matrix2 = cv::Mat::eye(3, 3, CV_64F);
std::vector<float> distortion_coefficients1(5);
std::vector<float> distortion_coefficients2(5);
cv::Mat rotation_matrix;
cv::Mat translation_vector;
cv::Mat essential_matrix;
cv::Mat fundamental_matrix;
const auto cam_series = m_camera_set.lock();
SIGHT_ASSERT(
"camera index must be > 0 and < camSeries->size()",
m_cam_index > 0 && m_cam_index < cam_series->size()
);
data::image::csptr img = cal_info1->get_image_container().front();
cv::Size2i imgsize(static_cast<int>(img->size()[0]), static_cast<int>(img->size()[1]));
{
data::camera::csptr cam1 = cam_series->get_camera(0);
data::camera::csptr cam2 = cam_series->get_camera(m_cam_index);
data::mt::locked_ptr cam1_lock(cam1);
data::mt::locked_ptr cam2_lock(cam2);
camera_matrix1.at<double>(0, 0) = cam1->get_fx();
camera_matrix1.at<double>(1, 1) = cam1->get_fy();
camera_matrix1.at<double>(0, 2) = cam1->get_cx();
camera_matrix1.at<double>(1, 2) = cam1->get_cy();
camera_matrix2.at<double>(0, 0) = cam2->get_fx();
camera_matrix2.at<double>(1, 1) = cam2->get_fy();
camera_matrix2.at<double>(0, 2) = cam2->get_cx();
camera_matrix2.at<double>(1, 2) = cam2->get_cy();
for(std::size_t i = 0 ; i < 5 ; ++i)
{
distortion_coefficients1[i] = static_cast<float>(cam1->get_distortion_coefficient()[i]);
distortion_coefficients2[i] = static_cast<float>(cam2->get_distortion_coefficient()[i]);
}
}
double err = cv::stereoCalibrate(
object_points,
image_points1,
image_points2,
camera_matrix1,
distortion_coefficients1,
camera_matrix2,
distortion_coefficients2,
imgsize,
rotation_matrix,
translation_vector,
essential_matrix,
fundamental_matrix,
cv::CALIB_FIX_INTRINSIC,
cv::TermCriteria(
cv::TermCriteria::MAX_ITER + cv::TermCriteria::EPS,
100,
1e-5
)
);
data::matrix4::sptr matrix = std::make_shared<data::matrix4>();
cv::Mat cv4x4 = cv::Mat::eye(4, 4, CV_64F);
rotation_matrix.copyTo(cv4x4(cv::Rect(0, 0, 3, 3)));
translation_vector.copyTo(cv4x4(cv::Rect(3, 0, 1, 3)));
io::opencv::matrix::copy_from_cv(cv4x4, matrix);
cam_series->set_extrinsic_matrix(m_cam_index, matrix);
cam_series->set_calibration_error(err);
auto sig = cam_series->signal<data::camera_set::extrinsic_calibrated_signal_t>(
data::camera_set::EXTRINSIC_CALIBRATED_SIG
);
sig->async_emit();
// Export matrix if needed.
m_matrix = matrix;
}
}
//------------------------------------------------------------------------------
} // namespace sight::module::geometry::vision
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