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|
//gcc -L/usr/lib -W -Wall -L/usr/X11R6/lib -I/usr/X11R6/include -I/usr/include/opencv -lX11 -lm -lcv -lglut -lGLU -lGL -lhighgui -o calibration_and_3DTracking calibration_and_3DTracking.cpp `pkg-config --cflags --libs opencv`
//./calibration_and_3DTracking number_of_interior_corners_widthwise number_of_interior_corners_upright number_of_images_for_calibration
//./calibration_and_3DTracking 6 7 7
#include<cv.h>
#include<cvaux.h>
#include<highgui.h>
#include <GL/glut.h>
using namespace std;
#define IsRGB(s) ((s[0] == 'R') && (s[1] == 'G') && (s[2] == 'B'))
#define IsBGR(s) ((s[0] == 'B') && (s[1] == 'G') && (s[2] == 'R'))
bool initCalib=true;
bool initCoords=true;
bool boolInit;
bool initPos=false;
char *status = 0;
CvCapture *capture = 0;
CvMat* distortion_coeffs;
CvMat* image_points;
CvMat* image_points2;
CvMat* intrinsic_matrix;
CvMat* object_points;
CvMat* object_points2;
CvMat* point_counts;
CvMat* point_counts2;
CvMat* rotation_vector;
CvMat* rotMat; // rotation matrix
CvMat* rv; // rotation vector
CvMat* translation_vector;// translation vector
CvPoint2D32f* corners;
CvPoint2D32f *points[2] = {0,0}, *swap_points;
CvSize board_sz;
double axisTranslatX0;
double axisTranslatY0;
double axisTranslatZ0;
GLfloat light_position0[] = { 1.0, 1.0, 1.0, 0.0 };
GLfloat mat_shininess[] = { 100.0 };
GLfloat mat_specular[] = { 3000.0, 3000.0, 3000.0, 3000.0 };
GLfloat mat_surface1[] = { 0.0, 1.0, 0.0, 0.0 };
GLfloat mat_surface2[] = { 1.0, 0.0, 0.0, 0.0 };
GLfloat mat_surface3[] = { 0.0, 0.0, 1.0, 0.0 };
GLfloat white_light[] = { 1.0, 1.0, 1.0, 1.0 };
GLuint imageID;
GLuint imageID2;
float cx,cy; //camera center
int board_w;
int board_h;
int board_n;
int flags = 0;
int found;
int win_size = 10;
int n_boards = 0;
int frameWidth, frameHeight;
int corner_count;
int successes = 0;
int step, nframe = 0;
const int board_dt = 20; //Wait 20 frames per chessboard view
int counts, init;
int countLK = 0;
int window1 = 0;
int window2 = 0;
IplImage *grey =0;
IplImage *prev_grey =0;
IplImage *pyramid = 0;
IplImage *prev_pyramid =0;
IplImage* swap_temp;
IplImage *image=0;
IplImage *gray_image=0;
/***************************************************************/
void window2_Reshape(int w, int h);
void window2_Display();
/***************************************************************/
//opengl function to draw a teapot
void gltDrawUnitAxes2(void)
{
glShadeModel (GL_SMOOTH);
glMaterialfv(GL_FRONT, GL_SPECULAR, mat_specular);
glMaterialfv(GL_FRONT, GL_SHININESS, mat_shininess);
glLightfv(GL_LIGHT0, GL_POSITION, light_position0);
glLightfv(GL_LIGHT0, GL_DIFFUSE, white_light);
glLightfv(GL_LIGHT0, GL_SPECULAR, white_light);
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glEnable(GL_DEPTH_TEST);
glColor3f(1.0f, 1.0f, 1.0f);
glMaterialfv(GL_FRONT, GL_AMBIENT, mat_surface1);
glutSolidTeapot(0.6) ;
glTranslatef(2.0f, 0.0f, 0.0f);
glMaterialfv(GL_FRONT, GL_AMBIENT, mat_surface2);
glutSolidTeapot(0.6) ;
glTranslatef(-4.0f, 0.0f, 0.0f);
glMaterialfv(GL_FRONT, GL_AMBIENT, mat_surface3);
glutSolidTeapot(0.6) ;
glDisable(GL_LIGHTING);
glDisable(GL_LIGHT0);
glDisable(GL_DEPTH_TEST);
}
/***************************************************************/
//function to track the chessboard and compute the extrinsic parameters
void opticalFlow(IplImage* frame){
cvCopy( frame, image, 0);
cvCvtColor( frame, grey, CV_BGR2GRAY );
cvCalcOpticalFlowPyrLK( prev_grey, grey, prev_pyramid, pyramid, points[0], points[1], corner_count, cvSize(win_size,win_size), 5, status, 0, cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS, 20,0.3), flags);
cvFindCornerSubPix(grey,points[1], corner_count,cvSize(11,11),cvSize(-1,-1), cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER, 30, 0.1 ));
cvDrawChessboardCorners(frame, board_sz, points[1],corner_count, found);
cvShowImage( "Calibration", frame );
cvWaitKey(10);
if( corner_count == board_n ) {
for( int j=0; j<board_n; ++j ) {
//point coordinates in world space
CV_MAT_ELEM(*image_points, float,j,0) = points[1][j].x;
CV_MAT_ELEM(*image_points, float,j,1) = points[1][j].y;
//point coordinates in chessboard coordinate system (one unit per square)
CV_MAT_ELEM(*object_points,float,j,0) = j/board_w;
CV_MAT_ELEM(*object_points,float,j,1) = j%board_w;
CV_MAT_ELEM(*object_points,float,j,2) = 0.0f;
successes++;
}
//extrinsic parameters
cvFindExtrinsicCameraParams2(object_points, image_points,intrinsic_matrix,distortion_coeffs,rotation_vector, translation_vector);
}
//transform the rotation vector in a rotation matrix
cvRodrigues2(rotation_vector,rotMat,NULL);
if(initCoords==true){
//initial position of the chessboard
axisTranslatX0=CV_MAT_ELEM( *translation_vector, float, 0,0);
axisTranslatY0=CV_MAT_ELEM( *translation_vector, float, 1,0);
axisTranslatZ0=CV_MAT_ELEM( *translation_vector, float, 2,0);
initCoords=false;
}
glutPostRedisplay();
CV_SWAP( prev_grey, grey, swap_temp );
CV_SWAP( prev_pyramid, pyramid, swap_temp );
CV_SWAP( points[0], points[1], swap_points );
}
/***************************************************************/
//calibration function to get the intrinsic parameters of the camera
void initCalibration(IplImage* frame)
{
image = cvCreateImage( cvGetSize(frame), 8, 3 );
image->origin = frame->origin;
cvNamedWindow( "Calibration" );
gray_image = cvCreateImage(cvGetSize(frame),8,1);
//frame capture for calibration
while(successes < n_boards) {
if((nframe++ % board_dt) == 0) {
int found = cvFindChessboardCorners(frame, board_sz, corners, &corner_count,CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS);
cvCvtColor(frame, gray_image, CV_BGR2GRAY);
cvFindCornerSubPix(gray_image, corners, corner_count,cvSize(11,11),cvSize(-1,-1), cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER, 30, 0.1 ));
cvDrawChessboardCorners(frame, board_sz, corners,corner_count, found);
cvShowImage( "Calibration", frame );
// add the detected chessboard to data
if( corner_count == board_n && found) {
step = successes*board_n;
for( int i=step, j=0; j<board_n; ++i,++j ) {
CV_MAT_ELEM(*image_points, float,i,0) = corners[j].x;
CV_MAT_ELEM(*image_points, float,i,1) = corners[j].y;
CV_MAT_ELEM(*object_points,float,i,0) = (j/board_w);
CV_MAT_ELEM(*object_points,float,i,1) = (j%board_w);
CV_MAT_ELEM(*object_points,float,i,2) = 0.0f;
}
CV_MAT_ELEM(*point_counts, int,successes,0) = board_n;
successes++;
printf("Collected our %d of %d needed chessboard images\n",successes,n_boards);
}
}
cvWaitKey(10);
frame = cvQueryFrame( capture );
cvCopy( frame, image, 0 );
}
//ALLOCATE MATRICES ACCORDING TO HOW MANY CHESSBOARDS FOUND
object_points2 = cvCreateMat(successes*board_n,3,CV_32FC1);
image_points2 = cvCreateMat(successes*board_n,2,CV_32FC1);
point_counts2 = cvCreateMat(successes,1,CV_32SC1);
//TRANSFER THE POINTS INTO THE CORRECT SIZE MATRICES
for(int i = 0; i<successes*board_n; ++i){
CV_MAT_ELEM( *image_points2, float, i, 0) =
CV_MAT_ELEM( *image_points, float, i, 0);
CV_MAT_ELEM( *image_points2, float,i,1) =
CV_MAT_ELEM( *image_points, float, i, 1);
CV_MAT_ELEM(*object_points2, float, i, 0) =
CV_MAT_ELEM( *object_points, float, i, 0) ;
CV_MAT_ELEM( *object_points2, float, i, 1) =
CV_MAT_ELEM( *object_points, float, i, 1) ;
CV_MAT_ELEM( *object_points2, float, i, 2) =
CV_MAT_ELEM( *object_points, float, i, 2) ;
}
for(int i=0; i<successes; ++i){ //These are all the same number
CV_MAT_ELEM( *point_counts2, int, i, 0) =
CV_MAT_ELEM( *point_counts, int, i, 0);
}
// At this point we have all of the chessboard corners we need.
// Initialize the intrinsic matrix such that the two focal
// lengths have a ratio of 1.0
//
CV_MAT_ELEM( *intrinsic_matrix, float, 0, 0 ) = 1.0f;
CV_MAT_ELEM( *intrinsic_matrix, float, 1, 1 ) = 1.0f;
//CALIBRATE THE CAMERA!
cvCalibrateCamera2(object_points2, image_points2, point_counts2, cvGetSize( image ), intrinsic_matrix, distortion_coeffs, NULL, NULL, 0 );
cx=CV_MAT_ELEM( *intrinsic_matrix, float, 0, 2);
cy=CV_MAT_ELEM( *intrinsic_matrix, float, 1, 2);
/**********************************************/
//end of calibration
rotation_vector = cvCreateMat(3,1,CV_32FC1);
translation_vector = cvCreateMat(3,1,CV_32FC1);
rotMat= cvCreateMat(3,3,CV_32FC1);
grey = cvCreateImage( cvGetSize(image), 8, 1 ); //image courante en niveau de gris
prev_grey = cvCreateImage( cvGetSize(image), 8, 1 ); //image précédente en niveau de gris
pyramid = cvCreateImage( cvGetSize(image), 8, 1 );
prev_pyramid = cvCreateImage( cvGetSize(image), 8, 1 );
points[0] = (CvPoint2D32f*)cvAlloc(board_n*sizeof(points[0][0])); //points précédents du damier
points[1] = (CvPoint2D32f*)cvAlloc(board_n*sizeof(points[0][0])); //points courants du damier
status=(char*)cvAlloc(board_n);
image = cvQueryFrame( capture );
cvCvtColor( image, prev_grey, CV_BGR2GRAY );
//recherche du damier
found = cvFindChessboardCorners(image, board_sz, corners, &corner_count,CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS);
cvCvtColor(image, gray_image, CV_BGR2GRAY);
//precision subpixelique
cvFindCornerSubPix(gray_image, corners, corner_count,cvSize(11,11),cvSize(-1,-1), cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER, 30, 0.1 ));
cvDrawChessboardCorners(image, board_sz, corners,corner_count, found);
cvShowImage( "Calibration", image );
CV_SWAP( corners, points[0], swap_points );
}
/***************************************************************/
//main loop function
void window1_Draw()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
IplImage *frame = 0;
frame = cvQueryFrame( capture );
if(initCalib==true){ //execute camera calibration one time
initCalibration(frame);
initCalib=false;
}
successes=0;
opticalFlow(frame); //then trakcing of the chessboard
glLoadIdentity();
glTranslatef(0.0f, 0.0f,-1.0f);
// must be done else wrong upside down
glRotatef(180.0f, 1, 0, 0); // rotate the matrix to rotate the video texture.
GLenum format = IsBGR(image->channelSeq) ? GL_BGR_EXT : GL_RGBA;
// upload to openGL texture
if(!init && !boolInit)
{
glGenTextures(1, &imageID);
glBindTexture(GL_TEXTURE_2D, imageID);
glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, image->width, image->height, 0, format, GL_UNSIGNED_BYTE, image->imageData);
init= 1; // init lucas-kanade is over
boolInit = true; // init opticalFlow is over
}
else
{
glBindTexture(GL_TEXTURE_2D, imageID);
glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, image->width, image->height, format, GL_UNSIGNED_BYTE, image->imageData);
}
glEnable(GL_TEXTURE_2D);
glBegin(GL_QUADS);
glTexCoord2f(0, 0); glVertex3f(-1, -1, 0);
glTexCoord2f(1, 0); glVertex3f(1, -1, 0);
glTexCoord2f(1, 1); glVertex3f(1, 1, 0);
glTexCoord2f(0, 1); glVertex3f(-1, 1, 0);
glEnd();
glLoadIdentity();
glutSwapBuffers();
glFlush();
glDisable(GL_TEXTURE_2D);
}
/***************************************************************/
void window1_glutReshape(int width,int height){
glViewport(0,0,width,height);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(0.0f,(GLfloat)width/(GLfloat)height,0.1f,200.0f);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
}
/***************************************************************/
void window2_Reshape(int w, int h)
{
glViewport(0,0,w,h);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(80.0,(float)w/h,0.1,1000);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
}
/***************************************************************/
void dessinerRepere(unsigned int echelle){
glPushMatrix();
glScalef(echelle,echelle,echelle);
glBegin(GL_LINES);
glColor3ub(0,0,255); //axe X en bleu
glVertex3d(0,0,0);
glVertex3d(1,0,0);
glColor3ub(0,255,0); //axe Y en vert
glVertex3d(0,0,0);
glVertex3d(0,1,0);
glColor3ub(255,0,0); //axe Z en rouge
glVertex3d(0,0,0);
glVertex3d(0,0,1);
glEnd();
glPopMatrix();
}
/***************************************************************/
//openGL window where I apply the chessboard movements to the teapot
void window2_Display()
{
window2_Reshape(640,480);
//create opengl matrix (rotation and translation) from the matrix computed with cvRodrigues and the translation vector from cvFindExtrinsicCameraParams2
GLdouble RTMat[16];
RTMat[0] = CV_MAT_ELEM( *rotMat, float, 0,0);
RTMat[1] = CV_MAT_ELEM( *rotMat, float, 1,0);
RTMat[2] = CV_MAT_ELEM( *rotMat, float, 2,0);
RTMat[3] = 0.0f;
RTMat[4] = CV_MAT_ELEM( *rotMat, float, 0,1);
RTMat[5] = CV_MAT_ELEM( *rotMat, float, 1,1);
RTMat[6] = CV_MAT_ELEM( *rotMat, float, 2,1);
RTMat[7] = 0.0f;
RTMat[8] = CV_MAT_ELEM( *rotMat, float, 0,2);
RTMat[9] = CV_MAT_ELEM( *rotMat, float, 1,2);
RTMat[10] = CV_MAT_ELEM( *rotMat, float,2,2);
RTMat[11] = 0.0f;
//I substract the initial position in the translation to start from the origin in openGL
RTMat[12] = CV_MAT_ELEM( *translation_vector, float, 0,0)-axisTranslatX0;//0.0f;
RTMat[13] = CV_MAT_ELEM( *translation_vector, float, 1,0)-axisTranslatY0;//0.0f;
RTMat[14] = CV_MAT_ELEM( *translation_vector, float, 2,0)-axisTranslatZ0;//0.0f;
RTMat[15] = 1.0f;
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
gluLookAt(0,2,4, 0,0.5f,0, 0,1,0);
dessinerRepere(50);
glPushMatrix();
if(initPos==true){
glTranslatef(0.0f,0.0f,0.0f);
glTranslatef(0.0f,0.0f, 0.0f);
glTranslatef(0.0f, 0.0f,0.0f);
initPos=false;
}
//apply the movement
glMultMatrixd(RTMat);
gltDrawUnitAxes2();
glPopMatrix();
glutSwapBuffers();
glFlush();
glutPostRedisplay();
}
/***************************************************************/
int main(int argc, char *argv[])
{
board_w = atoi(argv[1]); //number of chessboard interior corners widthwise
board_h = atoi(argv[2]); //number of chessboard interior corners upright
n_boards = atoi(argv[3]); //number of images used for the calibration
board_n = board_w * board_h; //total number of corners
board_sz = cvSize( board_w, board_h );
//ALLOCATE STORAGE
image_points = cvCreateMat(n_boards*board_n,2,CV_32FC1);
object_points = cvCreateMat(n_boards*board_n,3,CV_32FC1);
point_counts = cvCreateMat(n_boards,1,CV_32SC1);
intrinsic_matrix = cvCreateMat(3,3,CV_32FC1);
distortion_coeffs = cvCreateMat(4,1,CV_32FC1);
rv = cvCreateMat(3,1,CV_32FC1);
corners = new CvPoint2D32f[ board_n ];
frameWidth= 640;
frameHeight=480;
boolInit = false;
capture = cvCaptureFromCAM( 0 );
if( !capture )
{
printf("LK_Error: Can't open Webcam\n");
return -1;
}
cvQueryFrame( capture );
glutInit(&argc, argv);
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH);
glutInitWindowSize(640,480);
//window 1
window1 = glutCreateWindow("Tracking");
glutPositionWindow(0,0);
glutReshapeFunc(window1_glutReshape);
glutDisplayFunc(window1_Draw);
glutIdleFunc(window1_Draw);
// window 2
window2 = glutCreateWindow("3D-glWindow 2");
glutPositionWindow(0,480);
glutReshapeFunc(window2_Reshape);
glutDisplayFunc(window2_Display);
glutIdleFunc(glutPostRedisplay);
glutMainLoop();
return 0;
} |
Question sur cvFindExtrinsicCameraParams2
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) et une webcam. La ligne de commande est précisée au début du code. On lance le programme, on présente N vues du damier à la caméra pour la calibrer, ensuite le programme passe en mode tracking du damier, et dans la fenêtre openGL l'objet 3D est censé reproduire les mouvements du damier.
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