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Commit 46fb46c5 authored by Vladislav Sovrasov's avatar Vladislav Sovrasov
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Add an extended version of CalibrateCamera function

parent 532885c1
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Showing with 112 additions and 9 deletions
modules/calib3d/include/opencv2/calib3d.hpp
View file @ 46fb46c5
......@@ -767,6 +767,14 @@ k-th translation vector (see the next output parameter description) brings the c
from the model coordinate space (in which object points are specified) to the world coordinate
space, that is, a real position of the calibration pattern in the k-th pattern view (k=0.. *M* -1).
@param tvecs Output vector of translation vectors estimated for each pattern view.
@param stdDeviationsIntrinsics Output vector of standard deviations estimated for intrinsic parameters.
Order of deviations values:
\f$(f_x, f_y, c_x, c_y, k_1, k_2, p_1, p_2, k_3, k_4, k_5, k_6 , s_1, s_2, s_3,
s_4, \tau_x, \tau_y)\f$ If one of parameters is not estimated, it's deviation is equals to zero.
@param stdDeviationsExtrinsics Output vector of standard deviations estimated for extrinsic parameters.
Order of deviations values: \f$(R_1, T_1, \dotsc , R_M, T_M)\f$ where M is number of pattern views,
\f$R_i, T_i\f$ are concatenated 1x3 vectors.
@param perViewErrors Output vector of average re-projection errors estimated for each pattern view.
@param flags Different flags that may be zero or a combination of the following values:
- **CV_CALIB_USE_INTRINSIC_GUESS** cameraMatrix contains valid initial values of
fx, fy, cx, cy that are optimized further. Otherwise, (cx, cy) is initially set to the image
......@@ -841,6 +849,24 @@ The function returns the final re-projection error.
@sa
findChessboardCorners, solvePnP, initCameraMatrix2D, stereoCalibrate, undistort
*/
CV_EXPORTS_AS(calibrateCameraExtended) double calibrateCamera( InputArrayOfArrays objectPoints,
InputArrayOfArrays imagePoints, Size imageSize,
InputOutputArray cameraMatrix, InputOutputArray distCoeffs,
OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs,
OutputArray stdDeviationsIntrinsics,
OutputArray stdDeviationsExtrinsics,
OutputArray perViewErrors,
int flags = 0, TermCriteria criteria = TermCriteria(
TermCriteria::COUNT + TermCriteria::EPS, 30, DBL_EPSILON) );
/** @overload double calibrateCamera( InputArrayOfArrays objectPoints,
InputArrayOfArrays imagePoints, Size imageSize,
InputOutputArray cameraMatrix, InputOutputArray distCoeffs,
OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs,
OutputArray stdDeviations, OutputArray perViewErrors,
int flags = 0, TermCriteria criteria = TermCriteria(
TermCriteria::COUNT + TermCriteria::EPS, 30, DBL_EPSILON) )
*/
CV_EXPORTS_W double calibrateCamera( InputArrayOfArrays objectPoints,
InputArrayOfArrays imagePoints, Size imageSize,
InputOutputArray cameraMatrix, InputOutputArray distCoeffs,
......
modules/calib3d/include/opencv2/calib3d/calib3d_c.h
View file @ 46fb46c5
......@@ -246,6 +246,7 @@ CVAPI(void) cvDrawChessboardCorners( CvArr* image, CvSize pattern_size,
#define CV_CALIB_TILTED_MODEL 262144
#define CV_CALIB_FIX_TAUX_TAUY 524288
#define CV_CALIB_NINTRINSIC 18
/* Finds intrinsic and extrinsic camera parameters
from a few views of known calibration pattern */
......
modules/calib3d/src/calibration.cpp
View file @ 46fb46c5
This diff is collapsed.
modules/calib3d/src/compat_ptsetreg.cpp
View file @ 46fb46c5
......@@ -241,6 +241,8 @@ bool CvLevMarq::updateAlt( const CvMat*& _param, CvMat*& _JtJ, CvMat*& _JtErr, d
cvNorm(param, prevParam, CV_RELATIVE_L2) < criteria.epsilon )
{
_param = param;
_JtJ = JtJ;
_JtErr = JtErr;
state = DONE;
return false;
}
......
modules/calib3d/test/test_cameracalibration.cpp
View file @ 46fb46c5
......@@ -259,7 +259,7 @@ protected:
virtual void calibrate( int imageCount, int* pointCounts,
CvSize imageSize, CvPoint2D64f* imagePoints, CvPoint3D64f* objectPoints,
double* distortionCoeffs, double* cameraMatrix, double* translationVectors,
double* rotationMatrices, int flags ) = 0;
double* rotationMatrices, double *stdDevs, double* perViewErrors, int flags ) = 0;
virtual void project( int pointCount, CvPoint3D64f* objectPoints,
double* rotationMatrix, double* translationVector,
double* cameraMatrix, double* distortion, CvPoint2D64f* imagePoints ) = 0;
......@@ -303,9 +303,13 @@ void CV_CameraCalibrationTest::run( int start_from )
double* transVects;
double* rotMatrs;
double* stdDevs;
double* perViewErrors;
double* goodTransVects;
double* goodRotMatrs;
double* goodPerViewErrors;
double* goodStdDevs;
double cameraMatrix[3*3];
double distortion[5]={0,0,0,0,0};
......@@ -424,9 +428,13 @@ void CV_CameraCalibrationTest::run( int start_from )
/* Allocate memory for translate vectors and rotmatrixs*/
transVects = (double*)cvAlloc(3 * 1 * numImages * sizeof(double));
rotMatrs = (double*)cvAlloc(3 * 3 * numImages * sizeof(double));
stdDevs = (double*)cvAlloc((CV_CALIB_NINTRINSIC + 6*numImages) * sizeof(double));
perViewErrors = (double*)cvAlloc(numImages * sizeof(double));
goodTransVects = (double*)cvAlloc(3 * 1 * numImages * sizeof(double));
goodRotMatrs = (double*)cvAlloc(3 * 3 * numImages * sizeof(double));
goodPerViewErrors = (double*)cvAlloc(numImages * sizeof(double));
goodStdDevs = (double*)cvAlloc((CV_CALIB_NINTRINSIC + 6*numImages) * sizeof(double));
/* Read object points */
i = 0;/* shift for current point */
......@@ -501,6 +509,13 @@ void CV_CameraCalibrationTest::run( int start_from )
}
}
/* Read good stdDeviations */
for (i = 0; i < CV_CALIB_NINTRINSIC + numImages*6; i++)
{
values_read = fscanf(file, "%lf", goodStdDevs + i);
CV_Assert(values_read == 1);
}
calibFlags = 0
// + CV_CALIB_FIX_PRINCIPAL_POINT
// + CV_CALIB_ZERO_TANGENT_DIST
......@@ -526,6 +541,8 @@ void CV_CameraCalibrationTest::run( int start_from )
cameraMatrix,
transVects,
rotMatrs,
stdDevs,
perViewErrors,
calibFlags );
/* ---- Reproject points to the image ---- */
......@@ -553,6 +570,8 @@ void CV_CameraCalibrationTest::run( int start_from )
meanDy = 0;
for( currImage = 0; currImage < numImages; currImage++ )
{
double imageMeanDx = 0;
double imageMeanDy = 0;
for( currPoint = 0; currPoint < etalonSize.width * etalonSize.height; currPoint++ )
{
rx = reprojectPoints[i].x;
......@@ -563,6 +582,9 @@ void CV_CameraCalibrationTest::run( int start_from )
meanDx += dx;
meanDy += dy;
imageMeanDx += dx*dx;
imageMeanDy += dy*dy;
dx = fabs(dx);
dy = fabs(dy);
......@@ -573,6 +595,13 @@ void CV_CameraCalibrationTest::run( int start_from )
maxDy = dy;
i++;
}
goodPerViewErrors[currImage] = sqrt( (imageMeanDx + imageMeanDy) /
(etalonSize.width * etalonSize.height));
//only for c-version of test (it does not provides evaluation of perViewErrors
//and returns zeros)
if(perViewErrors[currImage] == 0.0)
perViewErrors[currImage] = goodPerViewErrors[currImage];
}
meanDx /= numImages * etalonSize.width * etalonSize.height;
......@@ -613,6 +642,23 @@ void CV_CameraCalibrationTest::run( int start_from )
if( code < 0 )
goto _exit_;
/* ----- Compare per view re-projection errors ----- */
code = compare(perViewErrors,goodPerViewErrors, numImages,0.1,"per view errors vector");
if( code < 0 )
goto _exit_;
/* ----- Compare standard deviations of parameters ----- */
//only for c-version of test (it does not provides evaluation of stdDevs
//and returns zeros)
for ( i = 0; i < CV_CALIB_NINTRINSIC + 6*numImages; i++)
{
if(stdDevs[i] == 0.0)
stdDevs[i] = goodStdDevs[i];
}
code = compare(stdDevs,goodStdDevs, CV_CALIB_NINTRINSIC + 6*numImages,.5,"stdDevs vector");
if( code < 0 )
goto _exit_;
if( maxDx > 1.0 )
{
ts->printf( cvtest::TS::LOG,
......@@ -636,8 +682,12 @@ void CV_CameraCalibrationTest::run( int start_from )
cvFree(&transVects);
cvFree(&rotMatrs);
cvFree(&stdDevs);
cvFree(&perViewErrors);
cvFree(&goodTransVects);
cvFree(&goodRotMatrs);
cvFree(&goodPerViewErrors);
cvFree(&goodStdDevs);
fclose(file);
file = 0;
......@@ -676,20 +726,28 @@ protected:
virtual void calibrate( int imageCount, int* pointCounts,
CvSize imageSize, CvPoint2D64f* imagePoints, CvPoint3D64f* objectPoints,
double* distortionCoeffs, double* cameraMatrix, double* translationVectors,
double* rotationMatrices, int flags );
double* rotationMatrices, double *stdDevs, double* perViewErrors, int flags );
virtual void project( int pointCount, CvPoint3D64f* objectPoints,
double* rotationMatrix, double* translationVector,
double* cameraMatrix, double* distortion, CvPoint2D64f* imagePoints );
};
void CV_CameraCalibrationTest_C::calibrate( int imageCount, int* pointCounts,
void CV_CameraCalibrationTest_C::calibrate(int imageCount, int* pointCounts,
CvSize imageSize, CvPoint2D64f* imagePoints, CvPoint3D64f* objectPoints,
double* distortionCoeffs, double* cameraMatrix, double* translationVectors,
double* rotationMatrices, int flags )
double* rotationMatrices, double *stdDevs, double *perViewErrors, int flags )
{
int i, total = 0;
for( i = 0; i < imageCount; i++ )
{
perViewErrors[i] = 0.0;
total += pointCounts[i];
}
for( i = 0; i < CV_CALIB_NINTRINSIC + imageCount*6; i++)
{
stdDevs[i] = 0.0;
}
CvMat _objectPoints = cvMat(1, total, CV_64FC3, objectPoints);
CvMat _imagePoints = cvMat(1, total, CV_64FC2, imagePoints);
......@@ -700,8 +758,7 @@ void CV_CameraCalibrationTest_C::calibrate( int imageCount, int* pointCounts,
CvMat _translationVectors = cvMat(imageCount, 3, CV_64F, translationVectors);
cvCalibrateCamera2(&_objectPoints, &_imagePoints, &_pointCounts, imageSize,
&_cameraMatrix, &_distCoeffs, &_rotationMatrices, &_translationVectors,
flags);
&_cameraMatrix, &_distCoeffs, &_rotationMatrices, &_translationVectors, flags);
}
void CV_CameraCalibrationTest_C::project( int pointCount, CvPoint3D64f* objectPoints,
......@@ -728,22 +785,24 @@ protected:
virtual void calibrate( int imageCount, int* pointCounts,
CvSize imageSize, CvPoint2D64f* imagePoints, CvPoint3D64f* objectPoints,
double* distortionCoeffs, double* cameraMatrix, double* translationVectors,
double* rotationMatrices, int flags );
double* rotationMatrices, double *stdDevs, double* perViewErrors, int flags );
virtual void project( int pointCount, CvPoint3D64f* objectPoints,
double* rotationMatrix, double* translationVector,
double* cameraMatrix, double* distortion, CvPoint2D64f* imagePoints );
};
void CV_CameraCalibrationTest_CPP::calibrate( int imageCount, int* pointCounts,
void CV_CameraCalibrationTest_CPP::calibrate(int imageCount, int* pointCounts,
CvSize _imageSize, CvPoint2D64f* _imagePoints, CvPoint3D64f* _objectPoints,
double* _distortionCoeffs, double* _cameraMatrix, double* translationVectors,
double* rotationMatrices, int flags )
double* rotationMatrices, double *stdDevs, double *perViewErrors, int flags )
{
vector<vector<Point3f> > objectPoints( imageCount );
vector<vector<Point2f> > imagePoints( imageCount );
Size imageSize = _imageSize;
Mat cameraMatrix, distCoeffs(1,4,CV_64F,Scalar::all(0));
vector<Mat> rvecs, tvecs;
Mat stdDevsMatInt, stdDevsMatExt;
Mat perViewErrorsMat;
CvPoint3D64f* op = _objectPoints;
CvPoint2D64f* ip = _imagePoints;
......@@ -770,8 +829,23 @@ void CV_CameraCalibrationTest_CPP::calibrate( int imageCount, int* pointCounts,
distCoeffs,
rvecs,
tvecs,
stdDevsMatInt,
stdDevsMatExt,
perViewErrorsMat,
flags );
assert( stdDevsMatInt.type() == CV_64F );
assert( stdDevsMatInt.total() == static_cast<size_t>(CV_CALIB_NINTRINSIC) );
memcpy( stdDevs, stdDevsMatInt.ptr(), CV_CALIB_NINTRINSIC*sizeof(double) );
assert( stdDevsMatExt.type() == CV_64F );
assert( stdDevsMatExt.total() == static_cast<size_t>(6*imageCount) );
memcpy( stdDevs + CV_CALIB_NINTRINSIC, stdDevsMatExt.ptr(), 6*imageCount*sizeof(double) );
assert( perViewErrorsMat.type() == CV_64F);
assert( perViewErrorsMat.total() == static_cast<size_t>(imageCount) );
memcpy( perViewErrors, perViewErrorsMat.ptr(), imageCount*sizeof(double) );
assert( cameraMatrix.type() == CV_64FC1 );
memcpy( _cameraMatrix, cameraMatrix.ptr(), 9*sizeof(double) );
......
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