- move hpp files to include/opencv2/ccalib

- add multiple camera calibration tutorial
- code clean

modules/ccalib/include/opencv2/multiCameraCalibration.hpp → modules/ccalib/include/opencv2/ccalib/multiCameraCalibration.hpp

@@ -42,8 +42,8 @@
 #ifndef __OPENCV_MULTICAMERACALIBRATION_HPP__
 #define __OPENCV_MULTICAMERACALIBRATION_HPP__
 
-#include "opencv2/randomPatten.hpp"
-#include "opencv2/omnidir.hpp"
+#include "opencv2/ccalib/randomPatten.hpp"
+#include "opencv2/ccalib/omnidir.hpp"
 #include <string>
 #include <iostream>
 

modules/ccalib/include/opencv2/omnidir.hpp → modules/ccalib/include/opencv2/ccalib/omnidir.hpp

@@ -244,10 +244,10 @@ namespace omnidir
 
 namespace internal
 {
-    void initializeCalibration(InputOutputArrayOfArrays objectPoints, InputOutputArrayOfArrays imagePoints, Size size, OutputArrayOfArrays omAll,
+    void initializeCalibration(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, Size size, OutputArrayOfArrays omAll,
         OutputArrayOfArrays tAll, OutputArray K, double& xi, OutputArray idx = noArray());
 
-    void initializeStereoCalibration(InputOutputArrayOfArrays objectPoints, InputOutputArrayOfArrays imagePoints1, InputOutputArrayOfArrays imagePoints2,
+    void initializeStereoCalibration(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2,
         const Size& size1, const Size& size2, OutputArray om, OutputArray T, OutputArrayOfArrays omL, OutputArrayOfArrays tL, OutputArray K1, OutputArray D1, OutputArray K2, OutputArray D2,
         double &xi1, double &xi2, int flags, OutputArray idx);
 

modules/ccalib/sample/multiCamCalib.cpp

-#include "opencv2/omnidir.hpp"
-#include "opencv2/multiCameraCalibration.hpp"
-#include "opencv2/randomPatten.hpp"
+#include "opencv2/ccalib/omnidir.hpp"
+#include "opencv2/ccalib/multiCameraCalibration.hpp"
+#include "opencv2/ccalib/randomPatten.hpp"
 
 using namespace std;
 using namespace cv;

modules/ccalib/sample/omniCalibration.cpp

-#include "opencv2/omnidir.hpp"
+#include "opencv2/ccalib/omnidir.hpp"
 #include "opencv2/core.hpp"
 #include "opencv2/imgproc.hpp"
 #include "opencv2/calib3d.hpp"

modules/ccalib/sample/omniStereoCalibration.cpp

-#include "opencv2/omnidir.hpp"
+#include "opencv2/ccalib/omnidir.hpp"
 #include "opencv2/core.hpp"
 #include "opencv2/imgproc.hpp"
 #include "opencv2/highgui.hpp"

modules/ccalib/sample/randomPatternCalibration.cpp

-#include "opencv2/randomPatten.hpp";
+#include "opencv2/ccalib/randomPatten.hpp";
 #include "opencv2/highgui.hpp"
 #include "opencv2/imgproc.hpp"
 #include "opencv2/calib3d.hpp"

modules/ccalib/sample/randomPatternGenerator.cpp

-#include "opencv2/randomPatten.hpp";
+#include "opencv2/ccalib/randomPatten.hpp";
 
 const char * usage =
     "\n example command line for generating a random pattern. \n"

modules/ccalib/src/multiCameraCalibration.cpp

@@ -58,7 +58,7 @@
  */
 
 #include "precomp.hpp"
-#include "opencv2/multiCameraCalibration.hpp"
+#include "opencv2/ccalib/multiCameraCalibration.hpp"
 #include <string>
 #include <vector>
 #include <queue>
@@ -590,18 +590,14 @@ double multiCameraCalibration::computeProjectError(Mat& parameters)
         cv::Rodrigues(rvecVertex[photoVertex-1], RPhoto);
         if (cameraVertex == 0)
         {
-            //RPhoto.copyTo(edgeList[edgeIdx].transform.rowRange(0, 3).colRange(0, 3));
             RPhoto.copyTo(transform.rowRange(0, 3).colRange(0, 3));
             TPhoto.copyTo(transform.rowRange(0, 3).col(3));
-            //TPhoto.copyTo(transform.rowRange(0, 3).col(3));
         }
         else
         {
             TCamera = Mat(tvecVertex[cameraVertex - 1]).reshape(1, 3);
             cv::Rodrigues(rvecVertex[cameraVertex - 1], RCamera);
-            //Mat(RCamera*RPhoto).copyTo(edgeList[edgeIdx].transform.rowRange(0, 3).colRange(0, 3));
             Mat(RCamera*RPhoto).copyTo(transform.rowRange(0, 3).colRange(0, 3));
-            //Mat(RCamera * TPhoto + TCamera).copyTo(edgeList[edgeIdx].transform.rowRange(0, 3).col(3));
             Mat(RCamera * TPhoto + TCamera).copyTo(transform.rowRange(0, 3).col(3));
         }
 

modules/ccalib/src/randomPatten.cpp

@@ -53,7 +53,7 @@
  * Pattern", in IROS 2013.
  */
 #include "precomp.hpp"
-#include "opencv2/randomPatten.hpp"
+#include "opencv2/ccalib/randomPatten.hpp"
 #include <iostream>
 using namespace cv;
 using namespace std;

modules/ccalib/tutorial/multi_camera_tutorial.markdown

+Multi-camera Calibration {#tutorial_multi_camera_main}
+====================================
+
+This tutorial will show how to use the multiple camera calibration toolbox. This toolbox is based on the usage of "random" pattern calibration object, so the tutorial is mainly two parts: an introduction to "random" pattern and multiple camera calibration.
+
+Random Pattern Calibration Object
+-------------------------------
+The random pattern is an image that is randomly generated. It is "random" so that it has many feature points. After generating it, one print it out and use it as a calibration object. The following two images are random pattern and a photo taken for it.
+
+![image](img/random_pattern.jpg)
+![image](img/pattern_img.jpg)
+
+To generate a random pattern, use the class ```cv::randomPatternGenerator``` in ```ccalib``` module. Run it as
+```
+randomPatternGenerator generator(width, height);
+generator.generatePattern();
+pattern = generator.getPattern();
+```
+Here ```width``` and ```height``` are width and height of pattern image. After getting the pattern, print it out and take some photos of it.
+
+Now we can use these images to calibrate camera. First, ```objectPoints``` and ```imagePoints``` need to be detected. Use class ```randomPatternCornerFinder``` to detect them. A sample code can be
+```
+randomPatternCornerFinder finder(patternWidth, patternHeight, nMiniMatches);
+finder.loadPattern(pattern);
+finder.computeObjectImagePoints(vecImg);
+vector<Mat> objectPoints = finder.getObjectPoints();
+vector<Mat> imagePoints = finder.getImagePoints();
+```
+Here variable ```patternWidth``` and ```patternHeight``` are physical pattern width and height with some user defined unit. ```vecImg``` is a vector of images that stores calibration images.
+
+Second, use calibration functions like ```cv::calibrateCamera``` or ```cv::omnidir::calibrate``` to calibrate camera.
+
+Multiple Cameras Calibration
+-------------------------------
+Now we move to multiple camera calibration, so far this toolbox must use random pattern object.
+
+To calibrate multiple cameras, we first need to take some photos of random pattern. Of cause, to calibrate the extrinsic parameters, one pattern need to be viewed by multiple cameras (at least two) at the same time. Another thing is that to help the program know which camera and which pattern the photo is taken, the image file should be named as "cameraIdx-timestamp.*". Photos with same timestamp means that they are the same object taken by several cameras. In addition, cameraIdx should start from 0. Some examples of files names are "0-129.png", "0-187.png", "1-187", "2-129".
+
+Then, we can run multiple cameras calibration as
+```
+multiCameraCalibration multiCalib(cameraType, nCamera, inputFilename,patternWidth, patternHeight, showFeatureExtraction, nMiniMatches);
+multiCalib.run();
+multiCalib.writeParameters(outputFilename);
+```
+Here ```cameraType``` indicates the camera type, ```multiCameraCalibration::PINHOLE``` and ```multiCameraCalibration::OMNIDIRECTIONAL``` are supported. For omnidirectional camera, you can refer to ```cv::omnidir``` module for detail. ```nCamera``` is the number of camers. ```inputFilename``` is the name of a file generated by ```imagelist_creator``` from ```opencv/sample```. It stores names of random pattern and calibration images, the first file name is the name of random pattern. ```patternWidth``` and ```patternHeight``` are physical width and height of pattern. ```showFeatureExtraction``` is a flags to indicate whether show feature extraction process. ```nMiniMatches``` is a minimal points that should be detected in each frame, otherwise this frame will be abandoned. ```outputFilename``` is a xml file name to store parameters.