void getCameraParam(mrpt::utils::TCamera & param)const{
param.ncols = getFrameWidth();
param.nrows = getFrameHeight();
param.fx(getFx());
param.fy(getFy());
param.cx(getCx());
param.cy(getCy());
}
// Enter calib. params manually:
void camera_calib_guiDialog::OnbtnManualRectClick(wxCommandEvent& event)
{
wxMessageBox(_("Please, enter calibration parameters manually next to overpass automatically obtained parameters."),_("Manual parameters"));
wxString s;
if (camera_params.intrinsicParams(0,0)==0)
{
wxMessageBox(_("Run the calibration first"),_("Error"));
return;
}
s = wxGetTextFromUser(_("Focus length in X pixel size (fx):"),_("Manual parameters"),wxString::Format(wxT("%.07f"),camera_params.intrinsicParams(0,0)), this );
if (s.IsEmpty()) return;
if (!s.ToDouble(&camera_params.intrinsicParams(0,0))) { wxMessageBox(_("Invalid number")); return; }
s = wxGetTextFromUser(_("Focus length in Y pixel size (fy):"),_("Manual parameters"),wxString::Format(wxT("%.07f"),camera_params.intrinsicParams(1,1)), this );
if (s.IsEmpty()) return;
if (!s.ToDouble(&camera_params.intrinsicParams(1,1))) { wxMessageBox(_("Invalid number")); return; }
s = wxGetTextFromUser(_("Image center X (cx):"),_("Manual parameters"),wxString::Format(wxT("%.07f"),camera_params.intrinsicParams(0,2)), this );
if (s.IsEmpty()) return;
if (!s.ToDouble(&camera_params.intrinsicParams(0,2))) { wxMessageBox(_("Invalid number")); return; }
s = wxGetTextFromUser(_("Image center Y (cy):"),_("Manual parameters"),wxString::Format(wxT("%.07f"),camera_params.intrinsicParams(1,2)), this );
if (s.IsEmpty()) return;
if (!s.ToDouble(&camera_params.intrinsicParams(1,2))) { wxMessageBox(_("Invalid number")); return; }
s = wxGetTextFromUser(_("Distortion param p1:"),_("Manual parameters"),wxString::Format(wxT("%.07f"),camera_params.dist[0]), this );
if (s.IsEmpty()) return;
if (!s.ToDouble(&camera_params.dist[0])) { wxMessageBox(_("Invalid number")); return; }
s = wxGetTextFromUser(_("Distortion param p2:"),_("Manual parameters"),wxString::Format(wxT("%.07f"),camera_params.dist[1]), this );
if (s.IsEmpty()) return;
if (!s.ToDouble(&camera_params.dist[1])) { wxMessageBox(_("Invalid number")); return; }
s = wxGetTextFromUser(_("Distortion param k1:"),_("Manual parameters"),wxString::Format(wxT("%.07f"),camera_params.dist[2]), this );
if (s.IsEmpty()) return;
if (!s.ToDouble(&camera_params.dist[2])) { wxMessageBox(_("Invalid number")); return; }
s = wxGetTextFromUser(_("Distortion param k2:"),_("Manual parameters"),wxString::Format(wxT("%.07f"),camera_params.dist[3]), this );
if (s.IsEmpty()) return;
if (!s.ToDouble(&camera_params.dist[3])) { wxMessageBox(_("Invalid number")); return; }
refreshDisplayedImage();
}
// save matrices:
void camera_calib_guiDialog::OnbtnSaveClick(wxCommandEvent& event)
{
if (camera_params.intrinsicParams(0,0)==0)
{
wxMessageBox(_("Run the calibration first"),_("Error"));
return;
}
{
wxFileDialog dlg(
this,
_("Save intrinsic parameters matrix"),
_("."),
_("intrinsic_matrix.txt"),
_("Text files (*.txt)|*.txt|All files (*.*)|*.*"),
wxFD_SAVE | wxFD_OVERWRITE_PROMPT );
if (wxID_OK!=dlg.ShowModal()) return;
camera_params.intrinsicParams.saveToTextFile( string(dlg.GetPath().mb_str()) );
}
{
wxFileDialog dlg(
this,
_("Save distortion parameters"),
_("."),
_("distortion_matrix.txt"),
_("Text files (*.txt)|*.txt|All files (*.*)|*.*"),
wxFD_SAVE | wxFD_OVERWRITE_PROMPT );
if (wxID_OK!=dlg.ShowModal()) return;
CMatrixDouble M(1,4);
for (unsigned i=0;i<4;i++)
M(0,i) = camera_params.dist[i];
M.saveToTextFile( string(dlg.GetPath().mb_str()) );
}
}
// Shows the image selected in the listbox:
void camera_calib_guiDialog::refreshDisplayedImage()
{
try
{
if (!lbFiles->GetCount())
{
// No images:
return;
}
// Assure there's one selected:
if (lbFiles->GetSelection()==wxNOT_FOUND)
lbFiles->SetSelection(0);
const string selFile = string(lbFiles->GetStringSelection().mb_str());
TCalibrationImageList::iterator it = lst_images.find(selFile);
if (it==lst_images.end()) return;
// Zoom:
const std::string strZoom = string(cbZoom->GetStringSelection().mb_str());
const double zoomVal = 0.01*atof(strZoom.c_str());
ASSERT_(zoomVal>0 && zoomVal<30)
TImageSize imgSizes(0,0);
// Generate the images on-the-fly:
CImage imgOrgColor;
it->second.img_original.colorImage(imgOrgColor);
imgSizes = imgOrgColor.getSize();
// Rectify:
CImage imgRect;
if (camera_params.intrinsicParams(0,0)==0)
{
// Not calibrated yet:
imgRect = imgOrgColor;
imgRect.scaleImage(imgSizes.x*zoomVal,imgSizes.y*zoomVal, IMG_INTERP_NN);
}
else
{
imgOrgColor.rectifyImage(imgRect,camera_params);
imgRect.scaleImage(imgSizes.x*zoomVal,imgSizes.y*zoomVal, IMG_INTERP_NN);
// Draw reprojected:
for (unsigned int k=0;k<it->second.projectedPoints_undistorted.size();k++)
imgRect.drawCircle( zoomVal*it->second.projectedPoints_undistorted[k].x, zoomVal*it->second.projectedPoints_undistorted[k].y, 4, TColor(0,255,64) );
imgRect.drawCircle( 10,10, 4, TColor(0,255,64) );
imgRect.textOut(18,4,"Reprojected corners",TColor::white);
}
// Zoom images:
imgOrgColor.scaleImage(imgSizes.x*zoomVal,imgSizes.y*zoomVal, IMG_INTERP_NN);
imgSizes = imgOrgColor.getSize();
CImage imgCheck = imgOrgColor;
// Draw the board:
for (unsigned int k=0;k<it->second.detected_corners.size();k++)
{
imgCheck.cross(it->second.detected_corners[k].x *zoomVal, it->second.detected_corners[k].y *zoomVal, TColor::blue, '+', 3 );
imgCheck.drawCircle( it->second.projectedPoints_distorted[k].x*zoomVal, it->second.projectedPoints_distorted[k].y*zoomVal, 4, TColor(0,255,64) );
}
imgCheck.drawCircle( 10,10, 4, TColor(0,255,64) );
imgCheck.textOut(18,4,"Reprojected corners",TColor::white);
imgCheck.cross( 10,30, TColor::blue, '+', 3 );
imgCheck.textOut(18,24,"Detected corners",TColor::white);
this->bmpOriginal->AssignImage( imgCheck );
this->bmpRectified->AssignImage( imgRect );
it->second.img_original.unload();
// Plot:
this->bmpOriginal->SetMinSize(wxSize(imgSizes.x,imgSizes.y));
this->bmpOriginal->SetMaxSize(wxSize(imgSizes.x,imgSizes.y));
this->bmpOriginal->SetSize(imgSizes.x,imgSizes.y);
this->bmpRectified->SetMinSize(wxSize(imgSizes.x,imgSizes.y));
this->bmpRectified->SetMaxSize(wxSize(imgSizes.x,imgSizes.y));
this->bmpRectified->SetSize(imgSizes.x,imgSizes.y);
this->FlexGridSizer11->RecalcSizes();
this->FlexGridSizer14->RecalcSizes();
//this->ScrolledWindow2->SetVirtualSize(wxSize(imgSizes.x,imgSizes.y));
//this->ScrolledWindow3->SetVirtualSize(wxSize(imgSizes.x,imgSizes.y));
this->ScrolledWindow2->SetScrollbars(1,1,imgSizes.x,imgSizes.y);
this->ScrolledWindow3->SetScrollbars(1,1,imgSizes.x,imgSizes.y);
this->bmpOriginal->Refresh(false);
this->bmpRectified->Refresh(false);
}
catch(std::exception &e)
{
wxMessageBox(_U(e.what()),_("Error"),wxICON_INFORMATION,this);
}
}
camera_calib_guiDialog::camera_calib_guiDialog(wxWindow* parent,wxWindowID id)
{
// Load my custom icons:
#if wxCHECK_VERSION(2, 8, 0)
wxArtProvider::Push(new MyArtProvider);
#else
wxArtProvider::PushProvider(new MyArtProvider);
#endif
//(*Initialize(camera_calib_guiDialog)
wxStaticBoxSizer* StaticBoxSizer2;
wxFlexGridSizer* FlexGridSizer4;
wxFlexGridSizer* FlexGridSizer16;
wxStaticBoxSizer* StaticBoxSizer4;
wxFlexGridSizer* FlexGridSizer10;
wxFlexGridSizer* FlexGridSizer3;
wxFlexGridSizer* FlexGridSizer5;
wxFlexGridSizer* FlexGridSizer9;
wxFlexGridSizer* FlexGridSizer2;
wxFlexGridSizer* FlexGridSizer7;
wxStaticBoxSizer* StaticBoxSizer3;
wxFlexGridSizer* FlexGridSizer15;
wxFlexGridSizer* FlexGridSizer18;
wxFlexGridSizer* FlexGridSizer8;
wxFlexGridSizer* FlexGridSizer13;
wxFlexGridSizer* FlexGridSizer12;
wxFlexGridSizer* FlexGridSizer6;
wxStaticBoxSizer* StaticBoxSizer1;
wxFlexGridSizer* FlexGridSizer1;
wxFlexGridSizer* FlexGridSizer17;
wxStaticBoxSizer* StaticBoxSizer5;
Create(parent, id, _("Camera calibration GUI - Part of the MRPT project"), wxDefaultPosition, wxDefaultSize, wxDEFAULT_DIALOG_STYLE|wxRESIZE_BORDER|wxMAXIMIZE_BOX, _T("id"));
FlexGridSizer1 = new wxFlexGridSizer(1, 2, 0, 0);
FlexGridSizer1->AddGrowableCol(1);
FlexGridSizer1->AddGrowableRow(0);
FlexGridSizer2 = new wxFlexGridSizer(3, 1, 0, 0);
FlexGridSizer2->AddGrowableCol(0);
FlexGridSizer2->AddGrowableRow(0);
FlexGridSizer2->AddGrowableRow(2);
StaticBoxSizer1 = new wxStaticBoxSizer(wxHORIZONTAL, this, _("List of images"));
FlexGridSizer4 = new wxFlexGridSizer(2, 1, 0, 0);
FlexGridSizer4->AddGrowableCol(0);
FlexGridSizer4->AddGrowableRow(1);
FlexGridSizer5 = new wxFlexGridSizer(0, 4, 0, 0);
btnCaptureNow = new wxButton(this, ID_BUTTON8, _("Grab now..."), wxDefaultPosition, wxDefaultSize, 0, wxDefaultValidator, _T("ID_BUTTON8"));
wxFont btnCaptureNowFont(wxDEFAULT,wxDEFAULT,wxFONTSTYLE_NORMAL,wxBOLD,false,wxEmptyString,wxFONTENCODING_DEFAULT);
btnCaptureNow->SetFont(btnCaptureNowFont);
FlexGridSizer5->Add(btnCaptureNow, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 5);
Button11 = new wxButton(this, ID_BUTTON1, _("Add image(s)..."), wxDefaultPosition, wxDefaultSize, 0, wxDefaultValidator, _T("ID_BUTTON1"));
FlexGridSizer5->Add(Button11, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 5);
Button22 = new wxButton(this, ID_BUTTON2, _("Clear all"), wxDefaultPosition, wxDefaultSize, 0, wxDefaultValidator, _T("ID_BUTTON2"));
FlexGridSizer5->Add(Button22, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 5);
btnSaveImages = new wxButton(this, ID_BUTTON9, _("Save all..."), wxDefaultPosition, wxDefaultSize, 0, wxDefaultValidator, _T("ID_BUTTON9"));
btnSaveImages->Disable();
FlexGridSizer5->Add(btnSaveImages, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 5);
FlexGridSizer4->Add(FlexGridSizer5, 1, wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 0);
FlexGridSizer15 = new wxFlexGridSizer(1, 2, 0, 0);
FlexGridSizer15->AddGrowableCol(0);
FlexGridSizer15->AddGrowableRow(0);
lbFiles = new wxListBox(this, ID_LISTBOX1, wxDefaultPosition, wxSize(294,84), 0, 0, wxLB_ALWAYS_SB|wxVSCROLL|wxHSCROLL|wxALWAYS_SHOW_SB, wxDefaultValidator, _T("ID_LISTBOX1"));
FlexGridSizer15->Add(lbFiles, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 5);
FlexGridSizer16 = new wxFlexGridSizer(0, 1, 0, 0);
StaticText5 = new wxStaticText(this, ID_STATICTEXT5, _("Zoom:"), wxDefaultPosition, wxDefaultSize, 0, _T("ID_STATICTEXT5"));
FlexGridSizer16->Add(StaticText5, 1, wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 5);
cbZoom = new wxChoice(this, ID_CHOICE1, wxDefaultPosition, wxDefaultSize, 0, 0, 0, wxDefaultValidator, _T("ID_CHOICE1"));
cbZoom->Append(_("25%"));
cbZoom->Append(_("50%"));
cbZoom->Append(_("75%"));
cbZoom->SetSelection( cbZoom->Append(_("100%")) );
cbZoom->Append(_("150%"));
cbZoom->Append(_("200%"));
cbZoom->Append(_("300%"));
cbZoom->Append(_("400%"));
cbZoom->Append(_("500%"));
FlexGridSizer16->Add(cbZoom, 1, wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 5);
FlexGridSizer15->Add(FlexGridSizer16, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 0);
FlexGridSizer4->Add(FlexGridSizer15, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 0);
StaticBoxSizer1->Add(FlexGridSizer4, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 0);
FlexGridSizer2->Add(StaticBoxSizer1, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 2);
StaticBoxSizer3 = new wxStaticBoxSizer(wxHORIZONTAL, this, _("Checkerboard detection parameters"));
FlexGridSizer6 = new wxFlexGridSizer(2, 2, 0, 0);
FlexGridSizer6->AddGrowableCol(0);
FlexGridSizer6->AddGrowableCol(1);
StaticBoxSizer4 = new wxStaticBoxSizer(wxHORIZONTAL, this, _("Number of inner corners: "));
FlexGridSizer17 = new wxFlexGridSizer(1, 4, 0, 0);
StaticText1 = new wxStaticText(this, ID_STATICTEXT1, _("In X:"), wxDefaultPosition, wxDefaultSize, 0, _T("ID_STATICTEXT1"));
FlexGridSizer17->Add(StaticText1, 1, wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 5);
edSizeX = new wxSpinCtrl(this, ID_SPINCTRL1, _T("5"), wxDefaultPosition, wxSize(50,-1), 0, 1, 200, 5, _T("ID_SPINCTRL1"));
edSizeX->SetValue(_T("5"));
FlexGridSizer17->Add(edSizeX, 1, wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 5);
StaticText2 = new wxStaticText(this, ID_STATICTEXT2, _("In Y:"), wxDefaultPosition, wxDefaultSize, 0, _T("ID_STATICTEXT2"));
FlexGridSizer17->Add(StaticText2, 1, wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 5);
edSizeY = new wxSpinCtrl(this, ID_SPINCTRL2, _T("8"), wxDefaultPosition, wxSize(50,-1), 0, 1, 200, 8, _T("ID_SPINCTRL2"));
edSizeY->SetValue(_T("8"));
FlexGridSizer17->Add(edSizeY, 1, wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 5);
StaticBoxSizer4->Add(FlexGridSizer17, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 0);
FlexGridSizer6->Add(StaticBoxSizer4, 1, wxALL|wxALIGN_LEFT|wxALIGN_CENTER_VERTICAL, 2);
wxString __wxRadioBoxChoices_1[2] =
{
_("OpenCV\'s default"),
_("Scaramuzza et al.\'s")
};
rbMethod = new wxRadioBox(this, ID_RADIOBOX1, _(" Detector method: "), wxDefaultPosition, wxDefaultSize, 2, __wxRadioBoxChoices_1, 1, 0, wxDefaultValidator, _T("ID_RADIOBOX1"));
FlexGridSizer6->Add(rbMethod, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 2);
StaticBoxSizer5 = new wxStaticBoxSizer(wxHORIZONTAL, this, _(" Size of quads (in mm): "));
FlexGridSizer18 = new wxFlexGridSizer(1, 4, 0, 0);
StaticText3 = new wxStaticText(this, ID_STATICTEXT3, _("In X:"), wxDefaultPosition, wxDefaultSize, 0, _T("ID_STATICTEXT3"));
FlexGridSizer18->Add(StaticText3, 1, wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 5);
edLengthX = new wxTextCtrl(this, ID_TEXTCTRL1, _("40.0"), wxDefaultPosition, wxSize(40,-1), 0, wxDefaultValidator, _T("ID_TEXTCTRL1"));
FlexGridSizer18->Add(edLengthX, 1, wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 5);
StaticText6 = new wxStaticText(this, ID_STATICTEXT6, _("In Y:"), wxDefaultPosition, wxDefaultSize, 0, _T("ID_STATICTEXT6"));
FlexGridSizer18->Add(StaticText6, 1, wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 5);
edLengthY = new wxTextCtrl(this, ID_TEXTCTRL3, _("40.0"), wxDefaultPosition, wxSize(40,-1), 0, wxDefaultValidator, _T("ID_TEXTCTRL3"));
FlexGridSizer18->Add(edLengthY, 1, wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 5);
StaticBoxSizer5->Add(FlexGridSizer18, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 0);
FlexGridSizer6->Add(StaticBoxSizer5, 1, wxALL|wxALIGN_LEFT|wxALIGN_CENTER_VERTICAL, 2);
cbNormalize = new wxCheckBox(this, ID_CHECKBOX1, _("Normalize image"), wxDefaultPosition, wxDefaultSize, 0, wxDefaultValidator, _T("ID_CHECKBOX1"));
cbNormalize->SetValue(true);
FlexGridSizer6->Add(cbNormalize, 1, wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 5);
StaticBoxSizer3->Add(FlexGridSizer6, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 0);
FlexGridSizer2->Add(StaticBoxSizer3, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 2);
StaticBoxSizer2 = new wxStaticBoxSizer(wxHORIZONTAL, this, _("Calibration"));
FlexGridSizer7 = new wxFlexGridSizer(2, 1, 0, 0);
FlexGridSizer7->AddGrowableCol(0);
FlexGridSizer7->AddGrowableRow(0);
FlexGridSizer9 = new wxFlexGridSizer(1, 1, 0, 0);
FlexGridSizer9->AddGrowableCol(0);
FlexGridSizer9->AddGrowableRow(0);
txtLog = new wxTextCtrl(this, ID_TEXTCTRL2, _("(Calibration results)"), wxDefaultPosition, wxDefaultSize, wxTE_MULTILINE|wxTE_READONLY|wxHSCROLL|wxVSCROLL, wxDefaultValidator, _T("ID_TEXTCTRL2"));
wxFont txtLogFont = wxSystemSettings::GetFont(wxSYS_OEM_FIXED_FONT);
if ( !txtLogFont.Ok() ) txtLogFont = wxSystemSettings::GetFont(wxSYS_DEFAULT_GUI_FONT);
txtLogFont.SetPointSize(9);
txtLog->SetFont(txtLogFont);
FlexGridSizer9->Add(txtLog, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 5);
FlexGridSizer7->Add(FlexGridSizer9, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 0);
FlexGridSizer8 = new wxFlexGridSizer(2, 3, 0, 0);
FlexGridSizer8->AddGrowableCol(0);
FlexGridSizer8->AddGrowableCol(1);
btnRunCalib = new wxButton(this, ID_BUTTON3, _("Calibrate"), wxDefaultPosition, wxDefaultSize, 0, wxDefaultValidator, _T("ID_BUTTON3"));
btnRunCalib->SetDefault();
wxFont btnRunCalibFont(wxDEFAULT,wxDEFAULT,wxFONTSTYLE_NORMAL,wxBOLD,false,wxEmptyString,wxFONTENCODING_DEFAULT);
btnRunCalib->SetFont(btnRunCalibFont);
FlexGridSizer8->Add(btnRunCalib, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 5);
btnSave = new wxButton(this, ID_BUTTON6, _("Save matrices..."), wxDefaultPosition, wxDefaultSize, 0, wxDefaultValidator, _T("ID_BUTTON6"));
FlexGridSizer8->Add(btnSave, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 5);
FlexGridSizer8->Add(-1,-1,1, wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 5);
btnManualRect = new wxButton(this, ID_BUTTON7, _("Manual params..."), wxDefaultPosition, wxDefaultSize, 0, wxDefaultValidator, _T("ID_BUTTON7"));
FlexGridSizer8->Add(btnManualRect, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 5);
btnAbout = new wxButton(this, ID_BUTTON5, _("About"), wxDefaultPosition, wxDefaultSize, 0, wxDefaultValidator, _T("ID_BUTTON5"));
FlexGridSizer8->Add(btnAbout, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 5);
btnClose = new wxButton(this, ID_BUTTON4, _("Quit"), wxDefaultPosition, wxDefaultSize, 0, wxDefaultValidator, _T("ID_BUTTON4"));
FlexGridSizer8->Add(btnClose, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 5);
FlexGridSizer7->Add(FlexGridSizer8, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 0);
StaticBoxSizer2->Add(FlexGridSizer7, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 0);
FlexGridSizer2->Add(StaticBoxSizer2, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 2);
FlexGridSizer1->Add(FlexGridSizer2, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 0);
FlexGridSizer3 = new wxFlexGridSizer(1, 1, 0, 0);
FlexGridSizer3->AddGrowableCol(0);
FlexGridSizer3->AddGrowableRow(0);
Notebook1 = new wxNotebook(this, ID_NOTEBOOK1, wxDefaultPosition, wxSize(719,570), 0, _T("ID_NOTEBOOK1"));
Panel2 = new wxPanel(Notebook1, ID_PANEL2, wxDefaultPosition, wxDefaultSize, wxTAB_TRAVERSAL, _T("ID_PANEL2"));
FlexGridSizer13 = new wxFlexGridSizer(1, 1, 0, 0);
FlexGridSizer13->AddGrowableCol(0);
FlexGridSizer13->AddGrowableRow(0);
ScrolledWindow2 = new wxScrolledWindow(Panel2, ID_SCROLLEDWINDOW2, wxDefaultPosition, wxDefaultSize, wxHSCROLL|wxVSCROLL, _T("ID_SCROLLEDWINDOW2"));
FlexGridSizer11 = new wxFlexGridSizer(0, 1, 0, 0);
FlexGridSizer11->AddGrowableCol(0);
FlexGridSizer11->AddGrowableRow(0);
bmpOriginal = new mrpt::gui::wxMRPTImageControl(ScrolledWindow2,ID_CUSTOM2,wxDefaultPosition.x,wxDefaultPosition.y,wxSize(640,480).GetWidth(), wxSize(640,480).GetHeight() );
FlexGridSizer11->Add(bmpOriginal, 1, wxALL|wxALIGN_LEFT|wxALIGN_TOP, 0);
ScrolledWindow2->SetSizer(FlexGridSizer11);
FlexGridSizer11->Fit(ScrolledWindow2);
FlexGridSizer11->SetSizeHints(ScrolledWindow2);
FlexGridSizer13->Add(ScrolledWindow2, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 0);
Panel2->SetSizer(FlexGridSizer13);
FlexGridSizer13->Fit(Panel2);
FlexGridSizer13->SetSizeHints(Panel2);
Panel3 = new wxPanel(Notebook1, ID_PANEL3, wxDefaultPosition, wxDefaultSize, wxTAB_TRAVERSAL, _T("ID_PANEL3"));
FlexGridSizer10 = new wxFlexGridSizer(1, 1, 0, 0);
FlexGridSizer10->AddGrowableCol(0);
FlexGridSizer10->AddGrowableRow(0);
ScrolledWindow3 = new wxScrolledWindow(Panel3, ID_SCROLLEDWINDOW3, wxDefaultPosition, wxDefaultSize, wxHSCROLL|wxVSCROLL, _T("ID_SCROLLEDWINDOW3"));
FlexGridSizer14 = new wxFlexGridSizer(1, 1, 0, 0);
FlexGridSizer14->AddGrowableCol(0);
FlexGridSizer14->AddGrowableRow(0);
bmpRectified = new mrpt::gui::wxMRPTImageControl(ScrolledWindow3,ID_CUSTOM1,wxDefaultPosition.x,wxDefaultPosition.y,wxSize(640,480).GetWidth(), wxSize(640,480).GetHeight() );
FlexGridSizer14->Add(bmpRectified, 1, wxALL|wxALIGN_LEFT|wxALIGN_TOP, 0);
ScrolledWindow3->SetSizer(FlexGridSizer14);
FlexGridSizer14->Fit(ScrolledWindow3);
FlexGridSizer14->SetSizeHints(ScrolledWindow3);
FlexGridSizer10->Add(ScrolledWindow3, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 0);
Panel3->SetSizer(FlexGridSizer10);
FlexGridSizer10->Fit(Panel3);
FlexGridSizer10->SetSizeHints(Panel3);
Panel1 = new wxPanel(Notebook1, ID_PANEL1, wxDefaultPosition, wxDefaultSize, wxTAB_TRAVERSAL, _T("ID_PANEL1"));
FlexGridSizer12 = new wxFlexGridSizer(1, 1, 0, 0);
FlexGridSizer12->AddGrowableCol(0);
FlexGridSizer12->AddGrowableRow(0);
m_3Dview = new CMyGLCanvas(Panel1,ID_XY_GLCANVAS,wxDefaultPosition,wxSize(-1,300),wxTAB_TRAVERSAL,_T("ID_XY_GLCANVAS"));
FlexGridSizer12->Add(m_3Dview, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 0);
Panel1->SetSizer(FlexGridSizer12);
FlexGridSizer12->Fit(Panel1);
FlexGridSizer12->SetSizeHints(Panel1);
Notebook1->AddPage(Panel2, _("Original Image"), false);
Notebook1->AddPage(Panel3, _("Rectified image and reprojected points"), true);
Notebook1->AddPage(Panel1, _("3D view"), false);
FlexGridSizer3->Add(Notebook1, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 2);
FlexGridSizer1->Add(FlexGridSizer3, 1, wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL, 0);
SetSizer(FlexGridSizer1);
FlexGridSizer1->Fit(this);
FlexGridSizer1->SetSizeHints(this);
Connect(ID_BUTTON8,wxEVT_COMMAND_BUTTON_CLICKED,(wxObjectEventFunction)&camera_calib_guiDialog::OnbtnCaptureNowClick);
Connect(ID_BUTTON1,wxEVT_COMMAND_BUTTON_CLICKED,(wxObjectEventFunction)&camera_calib_guiDialog::OnAddImage);
Connect(ID_BUTTON2,wxEVT_COMMAND_BUTTON_CLICKED,(wxObjectEventFunction)&camera_calib_guiDialog::OnListClear);
Connect(ID_BUTTON9,wxEVT_COMMAND_BUTTON_CLICKED,(wxObjectEventFunction)&camera_calib_guiDialog::OnbtnSaveImagesClick);
Connect(ID_LISTBOX1,wxEVT_COMMAND_LISTBOX_SELECTED,(wxObjectEventFunction)&camera_calib_guiDialog::OnlbFilesSelect);
Connect(ID_CHOICE1,wxEVT_COMMAND_CHOICE_SELECTED,(wxObjectEventFunction)&camera_calib_guiDialog::OncbZoomSelect);
Connect(ID_BUTTON3,wxEVT_COMMAND_BUTTON_CLICKED,(wxObjectEventFunction)&camera_calib_guiDialog::OnbtnRunCalibClick);
Connect(ID_BUTTON6,wxEVT_COMMAND_BUTTON_CLICKED,(wxObjectEventFunction)&camera_calib_guiDialog::OnbtnSaveClick);
Connect(ID_BUTTON7,wxEVT_COMMAND_BUTTON_CLICKED,(wxObjectEventFunction)&camera_calib_guiDialog::OnbtnManualRectClick);
Connect(ID_BUTTON5,wxEVT_COMMAND_BUTTON_CLICKED,(wxObjectEventFunction)&camera_calib_guiDialog::OnbtnAboutClick);
Connect(ID_BUTTON4,wxEVT_COMMAND_BUTTON_CLICKED,(wxObjectEventFunction)&camera_calib_guiDialog::OnbtnCloseClick);
//*)
camera_params.intrinsicParams(0,0) = 0; // Indicate calib didn't run yet.
wxIcon icon;
icon.CopyFromBitmap( wxBitmap(wxImage( icono_main_xpm )) );
this->SetIcon( icon );
this->show3Dview(); // Empty 3D scene
Center();
this->SetTitle( _U( format("Camera calibration %s - Part of the MRPT project",CAMERA_CALIB_GUI_VERSION).c_str() ) );
Maximize();
}
/* -------------------------------------------------------
checkerBoardCameraCalibration
------------------------------------------------------- */
bool mrpt::vision::checkerBoardCameraCalibration(
TCalibrationImageList &images,
unsigned int check_size_x,
unsigned int check_size_y,
double check_squares_length_X_meters,
double check_squares_length_Y_meters,
mrpt::utils::TCamera &out_camera_params,
bool normalize_image,
double *out_MSE,
bool skipDrawDetectedImgs,
bool useScaramuzzaAlternativeDetector
)
{
#if MRPT_HAS_OPENCV
try
{
ASSERT_(check_size_x>2)
ASSERT_(check_size_y>2)
ASSERT_(check_squares_length_X_meters>0)
ASSERT_(check_squares_length_Y_meters>0)
if (images.size()<1)
{
std::cout << "ERROR: No input images." << std::endl;
return false;
}
const unsigned CORNERS_COUNT = check_size_x * check_size_y;
const CvSize check_size = cvSize(check_size_x, check_size_y);
// First: Assure all images are loaded:
// -------------------------------------------
TCalibrationImageList::iterator it;
for (it=images.begin();it!=images.end();it++)
{
TImageCalibData &dat = it->second;
dat.projectedPoints_distorted.clear(); // Clear reprojected points.
dat.projectedPoints_undistorted.clear();
// Skip if images are marked as "externalStorage":
if (!dat.img_original.isExternallyStored() && !mrpt::system::extractFileExtension(it->first).empty() )
{
if (!dat.img_original.loadFromFile(it->first))
THROW_EXCEPTION_CUSTOM_MSG1("Error reading image: %s",it->first.c_str());
dat.img_checkboard = dat.img_original;
dat.img_rectified = dat.img_original;
}
}
// For each image, find checkerboard corners:
// -----------------------------------------------
//const unsigned int N = images.size();
unsigned int i;
vector<CvPoint2D64f> corners_list; // = new CvPoint2D32f[ N * CORNERS_COUNT];
unsigned int valid_detected_imgs = 0;
CvSize imgSize = cvSize(0,0);
vector<string> pointsIdx2imageFile;
int find_chess_flags = CV_CALIB_CB_ADAPTIVE_THRESH;
if (normalize_image)
find_chess_flags |= CV_CALIB_CB_NORMALIZE_IMAGE;
for (i=0,it=images.begin();it!=images.end();it++,i++)
{
TImageCalibData &dat = it->second;
// Make grayscale version:
const CImage img_gray( dat.img_original, FAST_REF_OR_CONVERT_TO_GRAY );
if (!i)
{
imgSize = cvSize(img_gray.getWidth(),img_gray.getHeight() );
out_camera_params.ncols = imgSize.width;
out_camera_params.nrows = imgSize.height;
}
else
{
if (imgSize.height != (int)img_gray.getHeight() || imgSize.width != (int)img_gray.getWidth())
{
std::cout << "ERROR: All the images must have the same size" << std::endl;
return false;
}
}
// Try with expanded versions of the image if it fails to detect the checkerboard:
unsigned corners_count;
bool corners_found=false;
corners_count = CORNERS_COUNT;
corners_list.resize( (1+valid_detected_imgs)*CORNERS_COUNT );
dat.detected_corners.clear();
// Do detection (this includes the "refine corners" with cvFindCornerSubPix):
vector<TPixelCoordf> detectedCoords;
corners_found = mrpt::vision::findChessboardCorners(
img_gray,
detectedCoords,
check_size_x,check_size_y,
normalize_image, // normalize_image
useScaramuzzaAlternativeDetector
);
corners_count = detectedCoords.size();
// Copy the data into the overall array of coords:
ASSERT_(detectedCoords.size()<=CORNERS_COUNT);
for (size_t p=0;p<detectedCoords.size();p++)
{
corners_list[valid_detected_imgs*CORNERS_COUNT+p].x = detectedCoords[p].x;
corners_list[valid_detected_imgs*CORNERS_COUNT+p].y = detectedCoords[p].y;
}
if (corners_found && corners_count!=CORNERS_COUNT)
corners_found = false;
cout << format("Img %s: %s\n", mrpt::system::extractFileName(it->first).c_str() , corners_found ? "DETECTED" : "NOT DETECTED" );
if( corners_found )
{
// save the corners in the data structure:
int x, y;
unsigned int k;
for( y = 0, k = 0; y < check_size.height; y++ )
for( x = 0; x < check_size.width; x++, k++ )
dat.detected_corners.push_back( mrpt::utils::TPixelCoordf( corners_list[valid_detected_imgs*CORNERS_COUNT + k].x, corners_list[valid_detected_imgs*CORNERS_COUNT + k].y ) );
// Draw the checkerboard in the corresponding image:
// ----------------------------------------------------
if ( !dat.img_original.isExternallyStored() )
{
const int r = 4;
CvPoint prev_pt= cvPoint(0, 0);
const int line_max = 8;
CvScalar line_colors[8];
line_colors[0] = CV_RGB(255,0,0);
line_colors[1] = CV_RGB(255,128,0);
line_colors[2] = CV_RGB(255,128,0);
line_colors[3] = CV_RGB(200,200,0);
line_colors[4] = CV_RGB(0,255,0);
line_colors[5] = CV_RGB(0,200,200);
line_colors[6] = CV_RGB(0,0,255);
line_colors[7] = CV_RGB(255,0,255);
// Checkboad as color image:
dat.img_original.colorImage( dat.img_checkboard );
void *rgb_img = dat.img_checkboard.getAs<IplImage>();
for( y = 0, k = 0; y < check_size.height; y++ )
{
CvScalar color = line_colors[y % line_max];
for( x = 0; x < check_size.width; x++, k++ )
{
CvPoint pt;
pt.x = cvRound(corners_list[valid_detected_imgs*CORNERS_COUNT + k].x);
pt.y = cvRound(corners_list[valid_detected_imgs*CORNERS_COUNT + k].y);
if( k != 0 ) cvLine( rgb_img, prev_pt, pt, color );
cvLine( rgb_img,
cvPoint( pt.x - r, pt.y - r ),
cvPoint( pt.x + r, pt.y + r ), color );
cvLine( rgb_img,
cvPoint( pt.x - r, pt.y + r),
cvPoint( pt.x + r, pt.y - r), color );
cvCircle( rgb_img, pt, r+1, color );
prev_pt = pt;
}
}
}
}
if( corners_found )
{
pointsIdx2imageFile.push_back( it->first );
valid_detected_imgs++;
}
} // end find corners
std::cout << valid_detected_imgs << " valid images." << std::endl;
if (!valid_detected_imgs)
{
std::cout << "ERROR: No valid images. Perhaps the checkerboard size is incorrect?" << std::endl;
return false;
}
// ---------------------------------------------
// Calculate the camera parameters
// ---------------------------------------------
// Was: FillEtalonObjPoints
vector<CvPoint3D64f> obj_points( valid_detected_imgs * CORNERS_COUNT );
{
unsigned int y,k;
for( y = 0, k = 0; y < check_size_y; y++ )
{
for( unsigned int x = 0; x < check_size_x; x++, k++ )
{
obj_points[k].x =-check_squares_length_X_meters * x; // The "-" is for convenience, so the camera poses appear with Z>0
obj_points[k].y = check_squares_length_Y_meters * y;
obj_points[k].z = 0;
}
}
}
// Repeat the pattern N times:
for( i= 1; i< valid_detected_imgs; i++ )
memcpy( &obj_points[CORNERS_COUNT*i], &obj_points[0], CORNERS_COUNT*sizeof(obj_points[0]));
// Number of detected points in each image (constant):
vector<int> numsPoints(valid_detected_imgs, (int)CORNERS_COUNT );
double proj_matrix[9];
double distortion[4];
vector<CvPoint3D64f> transVects( valid_detected_imgs );
vector<double> rotMatrs( valid_detected_imgs * 9 );
// Calibrate camera
cvCalibrateCamera_64d(
valid_detected_imgs,
&numsPoints[0],
imgSize,
&corners_list[0],
&obj_points[0],
distortion,
proj_matrix,
(double*)&transVects[0],
&rotMatrs[0],
0 );
// Load matrix:
out_camera_params.intrinsicParams = CMatrixDouble33( proj_matrix );
out_camera_params.dist.assign(0);
for (int i=0;i<4;i++)
out_camera_params.dist[i] = distortion[i];
// Load camera poses:
for (i=0;i<valid_detected_imgs;i++)
{
const double *R = &rotMatrs[9*i];
CMatrixDouble HM(4,4);
HM.zeros();
HM(3,3)=1;
HM(0,0)=R[0];
HM(1,0)=R[3];
HM(2,0)=R[6];
HM(0,1)=R[1];
HM(1,1)=R[4];
HM(2,1)=R[7];
HM(0,2)=R[2];
HM(1,2)=R[5];
HM(2,2)=R[8];
HM(0,3)=transVects[i].x;
HM(1,3)=transVects[i].y;
HM(2,3)=transVects[i].z;
CPose3D p = CPose3D(0,0,0) - CPose3D(HM);
images[ pointsIdx2imageFile[i] ].reconstructed_camera_pose = p;
std::cout << "Img: " << mrpt::system::extractFileName(pointsIdx2imageFile[i]) << ": " << p << std::endl;
}
{
CConfigFileMemory cfg;
out_camera_params.saveToConfigFile("CAMERA_PARAMS",cfg);
std::cout << cfg.getContent() << std::endl;
}
// ----------------------------------------
// Undistort images:
// ----------------------------------------
for (it=images.begin();it!=images.end();it++)
{
TImageCalibData &dat = it->second;
if (!dat.img_original.isExternallyStored())
dat.img_original.rectifyImage( dat.img_rectified, out_camera_params);
} // end undistort
// -----------------------------------------------
// Reproject points to measure the fit sqr error
// -----------------------------------------------
double sqrErr = 0;
for (i=0;i<valid_detected_imgs;i++)
{
TImageCalibData & dat = images[ pointsIdx2imageFile[i] ];
if (dat.detected_corners.size()!=CORNERS_COUNT) continue;
// Reproject all the points into pixel coordinates:
// -----------------------------------------------------
vector<TPoint3D> lstPatternPoints(CORNERS_COUNT); // Points as seen from the camera:
for (unsigned int p=0;p<CORNERS_COUNT;p++)
lstPatternPoints[p] = TPoint3D(obj_points[p].x,obj_points[p].y,obj_points[p].z);
vector<TPixelCoordf> &projectedPoints = dat.projectedPoints_undistorted;
vector<TPixelCoordf> &projectedPoints_distorted = dat.projectedPoints_distorted;
vision::pinhole::projectPoints_no_distortion(
lstPatternPoints, // Input points
dat.reconstructed_camera_pose,
out_camera_params.intrinsicParams, // calib matrix
projectedPoints // Output points in pixels
);
vision::pinhole::projectPoints_with_distortion(
lstPatternPoints, // Input points
dat.reconstructed_camera_pose,
out_camera_params.intrinsicParams, // calib matrix
out_camera_params.getDistortionParamsAsVector(),
projectedPoints_distorted// Output points in pixels
);
ASSERT_(projectedPoints.size()==CORNERS_COUNT);
ASSERT_(projectedPoints_distorted.size()==CORNERS_COUNT);
for (unsigned int p=0;p<CORNERS_COUNT;p++)
{
const double px = projectedPoints[p].x;
const double py = projectedPoints[p].y;
const double px_d = projectedPoints_distorted[p].x;
const double py_d = projectedPoints_distorted[p].y;
// Only draw if the img is NOT external:
if (!dat.img_original.isExternallyStored())
{
if( px >= 0 && px < imgSize.width && py >= 0 && py < imgSize.height )
cvCircle( dat.img_rectified.getAs<IplImage>(), cvPoint(px,py), 4, CV_RGB(0,0,255) );
}
// Accumulate error:
sqrErr+=square(px_d-dat.detected_corners[p].x)+square(py_d-dat.detected_corners[p].y); // Error relative to the original (distorted) image.
}
}
if (valid_detected_imgs)
{
sqrErr /= CORNERS_COUNT*valid_detected_imgs;
std::cout << "Average err. of reprojection: " << sqrt(sqrErr) << " pixels" << std::endl;
}
if(out_MSE) *out_MSE = sqrt(sqrErr);
return true;
}
catch(std::exception &e)
{
std::cout << e.what() << std::endl;
return false;
}
#else
THROW_EXCEPTION("Function not available: MRPT was compiled without OpenCV")
#endif
}
/* -------------------------------------------------------
checkerBoardCameraCalibration
------------------------------------------------------- */
bool mrpt::vision::checkerBoardCameraCalibration(
TCalibrationImageList &images,
unsigned int check_size_x,
unsigned int check_size_y,
double check_squares_length_X_meters,
double check_squares_length_Y_meters,
mrpt::utils::TCamera &out_camera_params,
bool normalize_image,
double *out_MSE,
bool skipDrawDetectedImgs,
bool useScaramuzzaAlternativeDetector
)
{
MRPT_UNUSED_PARAM(skipDrawDetectedImgs);
#if MRPT_HAS_OPENCV
try
{
ASSERT_(check_size_x>2)
ASSERT_(check_size_y>2)
ASSERT_(check_squares_length_X_meters>0)
ASSERT_(check_squares_length_Y_meters>0)
if (images.size()<1)
{
std::cout << "ERROR: No input images." << std::endl;
return false;
}
const unsigned CORNERS_COUNT = check_size_x * check_size_y;
const CvSize check_size = cvSize(check_size_x, check_size_y);
// Fill the pattern of expected pattern points only once out of the loop:
vector<cv::Point3f> pattern_obj_points(CORNERS_COUNT);
{
unsigned int y,k;
for( y = 0, k = 0; y < check_size_y; y++ )
{
for( unsigned int x = 0; x < check_size_x; x++, k++ )
{
pattern_obj_points[k].x =-check_squares_length_X_meters * x; // The "-" is for convenience, so the camera poses appear with Z>0
pattern_obj_points[k].y = check_squares_length_Y_meters * y;
pattern_obj_points[k].z = 0;
}
}
}
// First: Assure all images are loaded:
// -------------------------------------------
TCalibrationImageList::iterator it;
for (it=images.begin();it!=images.end();++it)
{
TImageCalibData &dat = it->second;
dat.projectedPoints_distorted.clear(); // Clear reprojected points.
dat.projectedPoints_undistorted.clear();
// Skip if images are marked as "externalStorage":
if (!dat.img_original.isExternallyStored() && !mrpt::system::extractFileExtension(it->first).empty() )
{
if (!dat.img_original.loadFromFile(it->first))
THROW_EXCEPTION_CUSTOM_MSG1("Error reading image: %s",it->first.c_str());
dat.img_checkboard = dat.img_original;
dat.img_rectified = dat.img_original;
}
}
// For each image, find checkerboard corners:
// -----------------------------------------------
vector<vector<cv::Point3f> > objectPoints; // final container for detected stuff
vector<vector<cv::Point2f> > imagePoints; // final container for detected stuff
unsigned int valid_detected_imgs = 0;
vector<string> pointsIdx2imageFile;
cv::Size imgSize(0,0);
unsigned int i;
for (i=0,it=images.begin();it!=images.end();it++,i++)
{
TImageCalibData &dat = it->second;
// Make grayscale version:
const CImage img_gray( dat.img_original, FAST_REF_OR_CONVERT_TO_GRAY );
if (!i)
{
imgSize = cv::Size(img_gray.getWidth(),img_gray.getHeight() );
out_camera_params.ncols = imgSize.width;
out_camera_params.nrows = imgSize.height;
}
else
{
if (imgSize.height != (int)img_gray.getHeight() || imgSize.width != (int)img_gray.getWidth())
{
std::cout << "ERROR: All the images must have the same size" << std::endl;
return false;
}
}
// Try with expanded versions of the image if it fails to detect the checkerboard:
unsigned corners_count;
bool corners_found=false;
corners_count = CORNERS_COUNT;
vector<cv::Point2f> this_img_pts(CORNERS_COUNT); // Temporary buffer for points, to be added if the points pass the checks.
dat.detected_corners.clear();
// Do detection (this includes the "refine corners" with cvFindCornerSubPix):
vector<TPixelCoordf> detectedCoords;
corners_found = mrpt::vision::findChessboardCorners(
img_gray,
detectedCoords,
check_size_x,check_size_y,
normalize_image, // normalize_image
useScaramuzzaAlternativeDetector
);
corners_count = detectedCoords.size();
// Copy the data into the overall array of coords:
ASSERT_(detectedCoords.size()<=CORNERS_COUNT);
for (size_t p=0;p<detectedCoords.size();p++)
{
this_img_pts[p].x = detectedCoords[p].x;
this_img_pts[p].y = detectedCoords[p].y;
}
if (corners_found && corners_count!=CORNERS_COUNT)
corners_found = false;
cout << format("Img %s: %s\n", mrpt::system::extractFileName(it->first).c_str() , corners_found ? "DETECTED" : "NOT DETECTED" );
if( corners_found )
{
// save the corners in the data structure:
int x, y;
unsigned int k;
for( y = 0, k = 0; y < check_size.height; y++ )
for( x = 0; x < check_size.width; x++, k++ )
dat.detected_corners.push_back( mrpt::utils::TPixelCoordf( this_img_pts[k].x, this_img_pts[k].y ) );
// Draw the checkerboard in the corresponding image:
// ----------------------------------------------------
if ( !dat.img_original.isExternallyStored() )
{
const int r = 4;
CvPoint prev_pt= cvPoint(0, 0);
const int line_max = 8;
CvScalar line_colors[8];
line_colors[0] = CV_RGB(255,0,0);
line_colors[1] = CV_RGB(255,128,0);
line_colors[2] = CV_RGB(255,128,0);
line_colors[3] = CV_RGB(200,200,0);
line_colors[4] = CV_RGB(0,255,0);
line_colors[5] = CV_RGB(0,200,200);
line_colors[6] = CV_RGB(0,0,255);
line_colors[7] = CV_RGB(255,0,255);
// Checkboad as color image:
dat.img_original.colorImage( dat.img_checkboard );
void *rgb_img = dat.img_checkboard.getAs<IplImage>();
for( y = 0, k = 0; y < check_size.height; y++ )
{
CvScalar color = line_colors[y % line_max];
for( x = 0; x < check_size.width; x++, k++ )
{
CvPoint pt;
pt.x = cvRound(this_img_pts[k].x);
pt.y = cvRound(this_img_pts[k].y);
if( k != 0 ) cvLine( rgb_img, prev_pt, pt, color );
cvLine( rgb_img,
cvPoint( pt.x - r, pt.y - r ),
cvPoint( pt.x + r, pt.y + r ), color );
cvLine( rgb_img,
cvPoint( pt.x - r, pt.y + r),
cvPoint( pt.x + r, pt.y - r), color );
cvCircle( rgb_img, pt, r+1, color );
prev_pt = pt;
}
}
}
// Accept this image as good:
pointsIdx2imageFile.push_back( it->first );
imagePoints.push_back( this_img_pts );
objectPoints.push_back( pattern_obj_points );
valid_detected_imgs++;
}
} // end find corners
std::cout << valid_detected_imgs << " valid images." << std::endl;
if (!valid_detected_imgs)
{
std::cout << "ERROR: No valid images. Perhaps the checkerboard size is incorrect?" << std::endl;
return false;
}
// ---------------------------------------------
// Calculate the camera parameters
// ---------------------------------------------
// Calibrate camera
cv::Mat cameraMatrix, distCoeffs(1,5,CV_64F,cv::Scalar::all(0));
vector<cv::Mat> rvecs, tvecs;
const double cv_calib_err =
cv::calibrateCamera(
objectPoints,imagePoints,imgSize,
cameraMatrix, distCoeffs, rvecs, tvecs,
0 /*flags*/ );
// Load matrix:
out_camera_params.intrinsicParams = CMatrixDouble33( cameraMatrix.ptr<double>() );
out_camera_params.dist.assign(0);
for (int i=0;i<5;i++)
out_camera_params.dist[i] = distCoeffs.ptr<double>()[i];
// Load camera poses:
for (i=0;i<valid_detected_imgs;i++)
{
CMatrixDouble44 HM;
HM.zeros();
HM(3,3)=1;
{
// Convert rotation vectors -> rot matrices:
cv::Mat cv_rot;
cv::Rodrigues(rvecs[i],cv_rot);
Eigen::Matrix3d rot;
cv::my_cv2eigen(cv_rot, rot );
HM.block<3,3>(0,0) = rot;
}
{
Eigen::Matrix<double,3,1> trans;
cv::my_cv2eigen(tvecs[i], trans );
HM.block<3,1>(0,3) = trans;
}
CPose3D p = CPose3D(0,0,0) - CPose3D(HM);
images[ pointsIdx2imageFile[i] ].reconstructed_camera_pose = p;
std::cout << "Img: " << mrpt::system::extractFileName(pointsIdx2imageFile[i]) << ": " << p << std::endl;
}
{
CConfigFileMemory cfg;
out_camera_params.saveToConfigFile("CAMERA_PARAMS",cfg);
std::cout << cfg.getContent() << std::endl;
}
// ----------------------------------------
// Undistort images:
// ----------------------------------------
for (it=images.begin();it!=images.end();++it)
{
TImageCalibData &dat = it->second;
if (!dat.img_original.isExternallyStored())
dat.img_original.rectifyImage( dat.img_rectified, out_camera_params);
} // end undistort
// -----------------------------------------------
// Reproject points to measure the fit sqr error
// -----------------------------------------------
double sqrErr = 0;
for (i=0;i<valid_detected_imgs;i++)
{
TImageCalibData & dat = images[ pointsIdx2imageFile[i] ];
if (dat.detected_corners.size()!=CORNERS_COUNT) continue;
// Reproject all the points into pixel coordinates:
// -----------------------------------------------------
vector<TPoint3D> lstPatternPoints(CORNERS_COUNT); // Points as seen from the camera:
for (unsigned int p=0;p<CORNERS_COUNT;p++)
lstPatternPoints[p] = TPoint3D(pattern_obj_points[p].x,pattern_obj_points[p].y,pattern_obj_points[p].z);
vector<TPixelCoordf> &projectedPoints = dat.projectedPoints_undistorted;
vector<TPixelCoordf> &projectedPoints_distorted = dat.projectedPoints_distorted;
vision::pinhole::projectPoints_no_distortion(
lstPatternPoints, // Input points
dat.reconstructed_camera_pose,
out_camera_params.intrinsicParams, // calib matrix
projectedPoints // Output points in pixels
);
vision::pinhole::projectPoints_with_distortion(
lstPatternPoints, // Input points
dat.reconstructed_camera_pose,
out_camera_params.intrinsicParams, // calib matrix
out_camera_params.getDistortionParamsAsVector(),
projectedPoints_distorted// Output points in pixels
);
ASSERT_(projectedPoints.size()==CORNERS_COUNT);
ASSERT_(projectedPoints_distorted.size()==CORNERS_COUNT);
for (unsigned int p=0;p<CORNERS_COUNT;p++)
{
const double px = projectedPoints[p].x;
const double py = projectedPoints[p].y;
const double px_d = projectedPoints_distorted[p].x;
const double py_d = projectedPoints_distorted[p].y;
// Only draw if the img is NOT external:
if (!dat.img_original.isExternallyStored())
{
if( px >= 0 && px < imgSize.width && py >= 0 && py < imgSize.height )
cvCircle( dat.img_rectified.getAs<IplImage>(), cvPoint(px,py), 4, CV_RGB(0,0,255) );
}
// Accumulate error:
sqrErr+=square(px_d-dat.detected_corners[p].x)+square(py_d-dat.detected_corners[p].y); // Error relative to the original (distorted) image.
}
}
if (valid_detected_imgs)
{
sqrErr /= CORNERS_COUNT*valid_detected_imgs;
std::cout << "Average err. of reprojection: " << sqrt(sqrErr) << " pixels (OpenCV error=" << cv_calib_err << ")\n";
}
if(out_MSE) *out_MSE = sqrt(sqrErr);
return true;
}
catch(std::exception &e)
{
std::cout << e.what() << std::endl;
return false;
}
#else
THROW_EXCEPTION("Function not available: MRPT was compiled without OpenCV")
#endif
}
