bool CameraCalibration::runCalibration( Settings& s, Size& imageSize, Mat& cameraMatrix, Mat& distCoeffs,
vector<vector<Point2f> > imagePoints, vector<Mat>& rvecs, vector<Mat>& tvecs,
vector<float>& reprojErrs, double& totalAvgErr )
{
cameraMatrix = Mat::eye( 3, 3, CV_64F );
if ( s.flag & CALIB_FIX_ASPECT_RATIO ) {
cameraMatrix.at<double>( 0, 0 ) = 1.0;
}
distCoeffs = Mat::zeros( 8, 1, CV_64F );
vector<vector<Point3f> > objectPoints( 1 );
calcBoardCornerPositions( s.boardSize, s.squareSize, objectPoints[0], s.calibrationPattern );
objectPoints.resize( imagePoints.size(), objectPoints[0] );
// Find intrinsic and extrinsic camera parameters
double rms = calibrateCamera( objectPoints, imagePoints, imageSize, cameraMatrix, distCoeffs, rvecs, tvecs, s.flag | CALIB_FIX_K4 | CALIB_FIX_K5 );
cout << "Re-projection error reported by calibrateCamera: " << rms << endl;
bool ok = checkRange( cameraMatrix ) && checkRange( distCoeffs );
totalAvgErr = computeReprojectionErrors( objectPoints, imagePoints, rvecs, tvecs, cameraMatrix, distCoeffs, reprojErrs );
return( ok );
}
static int runCalibration( vector<vector<Point2f> > imagePoints,
Size imageSize, Size boardSize, Pattern patternType,
float squareSize, float aspectRatio,
int flags, Mat& cameraMatrix, Mat& distCoeffs,
vector<Mat>& rvecs, vector<Mat>& tvecs,
vector<float>& reprojErrs,
double& totalAvgErr)
{
cameraMatrix = Mat::eye(3, 3, CV_64F);
if( flags & CV_CALIB_FIX_ASPECT_RATIO )
cameraMatrix.at<double>(0,0) = aspectRatio;
distCoeffs = Mat::zeros(8, 1, CV_64F);
vector<vector<Point3f> > objectPoints(1);
calcChessboardCorners(boardSize, squareSize, objectPoints[0], patternType);
objectPoints.resize(imagePoints.size(),objectPoints[0]);
double rms = calibrateCamera(objectPoints, imagePoints, imageSize, cameraMatrix,
distCoeffs, rvecs, tvecs, flags|CV_CALIB_FIX_K4|CV_CALIB_FIX_K5);
///*|CV_CALIB_FIX_K3*/|CV_CALIB_FIX_K4|CV_CALIB_FIX_K5);
printf("RMS error reported by calibrateCamera: %g\n", rms);
bool ok = checkRange(cameraMatrix) && checkRange(distCoeffs);
if(ok == false)
return -1;
totalAvgErr = computeReprojectionErrors(objectPoints, imagePoints,
rvecs, tvecs, cameraMatrix, distCoeffs, reprojErrs);
return 0;
}
bool CameraCalibrationAlgorithm::runCalibration
(
VectorOfVectorOf2DPoints imagePoints,
cv::Size imageSize,
cv::Size boardSize,
PatternType patternType,
float squareSize,
float aspectRatio,
int flags,
cv::Mat& cameraMatrix,
cv::Mat& distCoeffs,
VectorOfMat& rvecs,
VectorOfMat& tvecs,
std::vector<float>& reprojErrs,
double& totalAvgErr
)
{
cameraMatrix = cv::Mat::eye(3, 3, CV_64F);
if (flags & cv::CALIB_FIX_ASPECT_RATIO)
{
cameraMatrix.at<double>(0, 0) = aspectRatio;
}
distCoeffs = cv::Mat::zeros(8, 1, CV_64F);
VectorOfVectorOf3DPoints objectPoints(1);
calcChessboardCorners(boardSize, squareSize, objectPoints[0], patternType);
objectPoints.resize(imagePoints.size(), objectPoints[0]);
//LOG_TRACE_MESSAGE("Object points size:" << objectPoints.size());
//LOG_TRACE_MESSAGE("Image points size :" << imagePoints.size());
//LOG_TRACE_MESSAGE("Image size :" << imageSize);
double rms = cv::calibrateCamera(objectPoints, imagePoints, imageSize, cameraMatrix,
distCoeffs, rvecs, tvecs, flags | cv::CALIB_FIX_K4 | cv::CALIB_FIX_K5);
//LOG_TRACE_MESSAGE("RMS error reported by calibrateCamera: " << rms);
bool ok = cv::checkRange(cameraMatrix) && cv::checkRange(distCoeffs);
totalAvgErr = computeReprojectionErrors(objectPoints, imagePoints, rvecs, tvecs, cameraMatrix, distCoeffs, reprojErrs);
return ok;
}
