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Commit 31dbefc8 authored by Vadim Pisarevsky's avatar Vadim Pisarevsky
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added 3-camera rectification and 8-coeff distortion model

parent 6960e154
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Showing with 74 additions and 20 deletions
modules/calib3d/include/opencv2/calib3d/calib3d.hpp
View file @ 31dbefc8
......@@ -220,6 +220,9 @@ CVAPI(void) cvDrawChessboardCorners( CvArr* image, CvSize pattern_size,
#define CV_CALIB_FIX_K1 32
#define CV_CALIB_FIX_K2 64
#define CV_CALIB_FIX_K3 128
#define CV_CALIB_FIX_K4 2048
#define CV_CALIB_FIX_K5 4096
#define CV_CALIB_FIX_K6 8192
/* Finds intrinsic and extrinsic camera parameters
from a few views of known calibration pattern */
......@@ -544,6 +547,9 @@ enum
CALIB_FIX_K1 = 32,
CALIB_FIX_K2 = 64,
CALIB_FIX_K3 = 128,
CALIB_FIX_K4 = 2048,
CALIB_FIX_K5 = 4096,
CALIB_FIX_K6 = 8192,
// only for stereo
CALIB_FIX_INTRINSIC = 256,
CALIB_SAME_FOCAL_LENGTH = 512,
......@@ -605,6 +611,17 @@ CV_EXPORTS bool stereoRectifyUncalibrated( const Mat& points1,
Mat& H1, Mat& H2,
double threshold=5 );
//! computes the rectification transformations for 3-head camera, where the heads are on the same line.
CV_EXPORTS float rectify3( const Mat& cameraMatrix1, const Mat& distCoeffs1,
const Mat& cameraMatrix2, const Mat& distCoeffs2,
const Mat& cameraMatrix3, const Mat& distCoeffs3,
const vector<vector<Point2f> >& imgpt1,
const vector<vector<Point2f> >& imgpt3,
Size imageSize, const Mat& R12, const Mat& T12, const Mat& R13, const Mat& T13,
Mat& R1, Mat& R2, Mat& R3, Mat& P1, Mat& P2, Mat& P3, Mat& Q,
double alpha, Size newImgSize,
Rect* roi1, Rect* roi2, int flags );
//! returns the optimal new camera matrix
CV_EXPORTS Mat getOptimalNewCameraMatrix( const Mat& cameraMatrix, const Mat& distCoeffs,
Size imageSize, double alpha, Size newImgSize=Size(),
......
modules/calib3d/src/calibration.cpp
View file @ 31dbefc8
This diff is collapsed.
modules/imgproc/src/undistort.cpp
View file @ 31dbefc8
......@@ -89,7 +89,7 @@ void initUndistortRectifyMap( const Mat& _cameraMatrix, const Mat& _distCoeffs,
distCoeffs = Mat_<double>(_distCoeffs);
else
{
distCoeffs.create(5, 1);
distCoeffs.create(8, 1);
distCoeffs = 0.;
}
......@@ -101,8 +101,9 @@ void initUndistortRectifyMap( const Mat& _cameraMatrix, const Mat& _distCoeffs,
double u0 = A(0, 2), v0 = A(1, 2);
double fx = A(0, 0), fy = A(1, 1);
CV_Assert( distCoeffs.size() == Size(1, 4) || distCoeffs.size() == Size(1, 5) ||
distCoeffs.size() == Size(4, 1) || distCoeffs.size() == Size(5, 1));
CV_Assert( distCoeffs.size() == Size(1, 4) || distCoeffs.size() == Size(4, 1) ||
distCoeffs.size() == Size(1, 5) || distCoeffs.size() == Size(5, 1) ||
distCoeffs.size() == Size(1, 8) || distCoeffs.size() == Size(8, 1));
if( distCoeffs.rows != 1 && !distCoeffs.isContinuous() )
distCoeffs = distCoeffs.t();
......@@ -111,7 +112,10 @@ void initUndistortRectifyMap( const Mat& _cameraMatrix, const Mat& _distCoeffs,
double k2 = ((double*)distCoeffs.data)[1];
double p1 = ((double*)distCoeffs.data)[2];
double p2 = ((double*)distCoeffs.data)[3];
double k3 = distCoeffs.cols + distCoeffs.rows - 1 == 5 ? ((double*)distCoeffs.data)[4] : 0.;
double k3 = distCoeffs.cols + distCoeffs.rows - 1 >= 5 ? ((double*)distCoeffs.data)[4] : 0.;
double k4 = distCoeffs.cols + distCoeffs.rows - 1 >= 8 ? ((double*)distCoeffs.data)[5] : 0.;
double k5 = distCoeffs.cols + distCoeffs.rows - 1 >= 8 ? ((double*)distCoeffs.data)[6] : 0.;
double k6 = distCoeffs.cols + distCoeffs.rows - 1 >= 8 ? ((double*)distCoeffs.data)[7] : 0.;
for( int i = 0; i < size.height; i++ )
{
......@@ -126,7 +130,7 @@ void initUndistortRectifyMap( const Mat& _cameraMatrix, const Mat& _distCoeffs,
double w = 1./_w, x = _x*w, y = _y*w;
double x2 = x*x, y2 = y*y;
double r2 = x2 + y2, _2xy = 2*x*y;
double kr = 1 + ((k3*r2 + k2)*r2 + k1)*r2;
double kr = (1 + ((k3*r2 + k2)*r2 + k1)*r2)/(1 + ((k6*r2 + k5)*r2 + k4)*r2);
double u = fx*(x*kr + p1*_2xy + p2*(r2 + 2*x2)) + u0;
double v = fy*(y*kr + p1*(r2 + 2*y2) + p2*_2xy) + v0;
if( m1type == CV_16SC2 )
......@@ -248,7 +252,7 @@ void cvUndistortPoints( const CvMat* _src, CvMat* _dst, const CvMat* _cameraMatr
const CvMat* _distCoeffs,
const CvMat* matR, const CvMat* matP )
{
double A[3][3], RR[3][3], k[5]={0,0,0,0,0}, fx, fy, ifx, ify, cx, cy;
double A[3][3], RR[3][3], k[8]={0,0,0,0,0,0,0,0}, fx, fy, ifx, ify, cx, cy;
CvMat matA=cvMat(3, 3, CV_64F, A), _Dk;
CvMat _RR=cvMat(3, 3, CV_64F, RR);
const CvPoint2D32f* srcf;
......@@ -276,7 +280,8 @@ void cvUndistortPoints( const CvMat* _src, CvMat* _dst, const CvMat* _cameraMatr
CV_Assert( CV_IS_MAT(_distCoeffs) &&
(_distCoeffs->rows == 1 || _distCoeffs->cols == 1) &&
(_distCoeffs->rows*_distCoeffs->cols == 4 ||
_distCoeffs->rows*_distCoeffs->cols == 5) );
_distCoeffs->rows*_distCoeffs->cols == 5 ||
_distCoeffs->rows*_distCoeffs->cols == 8));
_Dk = cvMat( _distCoeffs->rows, _distCoeffs->cols,
CV_MAKETYPE(CV_64F,CV_MAT_CN(_distCoeffs->type)), k);
......@@ -341,7 +346,7 @@ void cvUndistortPoints( const CvMat* _src, CvMat* _dst, const CvMat* _cameraMatr
for( j = 0; j < iters; j++ )
{
double r2 = x*x + y*y;
double icdist = 1./(1 + ((k[4]*r2 + k[1])*r2 + k[0])*r2);
double icdist = (1 + ((k[7]*r2 + k[6])*r2 + k[5])*r2)/(1 + ((k[4]*r2 + k[1])*r2 + k[0])*r2);
double deltaX = 2*k[2]*x*y + k[3]*(r2 + 2*x*x);
double deltaY = k[2]*(r2 + 2*y*y) + 2*k[3]*x*y;
x = (x0 - deltaX)*icdist;
......@@ -488,10 +493,13 @@ static Point2f invMapPointSpherical(Point2f _p, float alpha, int projType)
}
float initWideAngleProjMap( const Mat& cameraMatrix, const Mat& distCoeffs,
float initWideAngleProjMap( const Mat& cameraMatrix0, const Mat& distCoeffs0,
Size imageSize, int destImageWidth, int m1type,
Mat& map1, Mat& map2, int projType, double _alpha )
{
double k[8] = {0,0,0,0,0,0,0,0}, M[9]={0,0,0,0,0,0,0,0,0};
Mat distCoeffs(distCoeffs0.rows, distCoeffs0.cols, CV_MAKETYPE(CV_64F,distCoeffs0.channels()), k);
Mat cameraMatrix(3,3,CV_64F,M);
Point2f scenter((float)cameraMatrix.at<double>(0,2), (float)cameraMatrix.at<double>(1,2));
Point2f dcenter((destImageWidth-1)*0.5f, 0.f);
float xmin = FLT_MAX, xmax = -FLT_MAX, ymin = FLT_MAX, ymax = -FLT_MAX;
......@@ -500,6 +508,13 @@ float initWideAngleProjMap( const Mat& cameraMatrix, const Mat& distCoeffs,
Mat _u(u), I = Mat::eye(3,3,CV_64F);
float alpha = (float)_alpha;
int ndcoeffs = distCoeffs0.cols*distCoeffs0.rows*distCoeffs0.channels();
CV_Assert((distCoeffs0.cols == 1 || distCoeffs0.rows == 1) &&
(ndcoeffs == 4 || ndcoeffs == 5 || ndcoeffs == 8));
CV_Assert(cameraMatrix0.size() == Size(3,3));
distCoeffs0.convertTo(distCoeffs,CV_64F);
cameraMatrix0.convertTo(cameraMatrix,CV_64F);
alpha = std::min(alpha, 0.999f);
for( int i = 0; i < N; i++ )
......@@ -520,14 +535,8 @@ float initWideAngleProjMap( const Mat& cameraMatrix, const Mat& distCoeffs,
dcenter.y = (dsize.height - 1)*0.5f;
Mat mapxy(dsize, CV_32FC2);
double k1 = distCoeffs.at<double>(0,0),
k2 = distCoeffs.at<double>(1,0),
k3 = distCoeffs.at<double>(4,0),
p1 = distCoeffs.at<double>(2,0),
p2 = distCoeffs.at<double>(3,0);
double fx = cameraMatrix.at<double>(0,0),
fy = cameraMatrix.at<double>(1,1),
cx = scenter.x, cy = scenter.y;
double k1 = k[0], k2 = k[1], k3 = k[2], p1 = k[3], p2 = k[4], k4 = k[5], k5 = k[6], k6 = k[7];
double fx = cameraMatrix.at<double>(0,0), fy = cameraMatrix.at<double>(1,1), cx = scenter.x, cy = scenter.y;
for( int y = 0; y < dsize.height; y++ )
{
......@@ -543,7 +552,7 @@ float initWideAngleProjMap( const Mat& cameraMatrix, const Mat& distCoeffs,
}
double x2 = q.x*q.x, y2 = q.y*q.y;
double r2 = x2 + y2, _2xy = 2*q.x*q.y;
double kr = 1 + ((k3*r2 + k2)*r2 + k1)*r2;
double kr = 1 + ((k3*r2 + k2)*r2 + k1)*r2/(1 + ((k6*r2 + k5)*r2 + k4)*r2);
double u = fx*(q.x*kr + p1*_2xy + p2*(r2 + 2*x2)) + cx;
double v = fy*(q.y*kr + p1*(r2 + 2*y2) + p2*_2xy) + cy;
......
samples/cpp/3calibration.cpp 0 → 100644
View file @ 31dbefc8
This diff is collapsed.
samples/cpp/calibration.cpp
View file @ 31dbefc8
......@@ -82,7 +82,7 @@ static bool runCalibration( vector<vector<Point2f> > imagePoints,
if( flags & CV_CALIB_FIX_ASPECT_RATIO )
cameraMatrix.at<double>(0,0) = aspectRatio;
distCoeffs = Mat::zeros(5, 1, CV_64F);
distCoeffs = Mat::zeros(8, 1, CV_64F);
vector<vector<Point3f> > objectPoints(1);
calcChessboardCorners(boardSize, squareSize, objectPoints[0]);
......@@ -90,7 +90,7 @@ static bool runCalibration( vector<vector<Point2f> > imagePoints,
objectPoints.resize(imagePoints.size(),objectPoints[0]);
calibrateCamera(objectPoints, imagePoints, imageSize, cameraMatrix,
distCoeffs, rvecs, tvecs, flags);
distCoeffs, rvecs, tvecs, flags|CV_CALIB_FIX_K4|CV_CALIB_FIX_K5);///*|CV_CALIB_FIX_K3*/|CV_CALIB_FIX_K4|CV_CALIB_FIX_K5);
bool ok = checkRange(cameraMatrix) && checkRange(distCoeffs);
......@@ -237,6 +237,7 @@ int main( int argc, char** argv )
int flags = 0;
VideoCapture capture;
bool flipVertical = false;
bool showUndistorted = false;
int delay = 1000;
clock_t prevTimestamp = 0;
int mode = DETECTION;
......@@ -269,6 +270,7 @@ int main( int argc, char** argv )
" [-a <aspectRatio>] # fix aspect ratio (fx/fy)\n"
" [-p] # fix the principal point at the center\n"
" [-v] # flip the captured images around the horizontal axis\n"
" [-su] # show undistorted images after calibration\n"
" [input_data] # input data, one of the following:\n"
" # - text file with a list of the images of the board\n"
" # - name of video file with a video of the board\n"
......@@ -336,6 +338,10 @@ int main( int argc, char** argv )
{
outputFilename = argv[++i];
}
else if( strcmp( s, "-su" ) == 0 )
{
showUndistorted = true;
}
else if( s[0] != '-' )
{
if( isdigit(s[0]) )
......@@ -469,5 +475,27 @@ int main( int argc, char** argv )
break;
}
}
if( !capture.isOpened() && showUndistorted )
{
Mat view, rview, map1, map2;
initUndistortRectifyMap(cameraMatrix, distCoeffs, Mat(),
getOptimalNewCameraMatrix(cameraMatrix, distCoeffs, imageSize, 1, imageSize, 0),
imageSize, CV_16SC2, map1, map2);
for( i = 0; i < (int)imageList.size(); i++ )
{
view = imread(imageList[i], 1);
if(!view.data)
continue;
//undistort( view, rview, cameraMatrix, distCoeffs, cameraMatrix );
remap(view, rview, map1, map2, INTER_LINEAR);
imshow("Image View", rview);
int c = waitKey();
if( (c & 255) == 27 || c == 'q' || c == 'Q' )
break;
}
}
return 0;
}
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