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//compilation sous linux
//gcc -L/usr/lib -W -Wall -L/usr/X11R6/lib -I/usr/X11R6/include -I/usr/include/opencv -lX11 -lm -lcv -lhighgui -o calib_tracking_LK calib_tracking_LK.cpp `pkg-config --cflags --libs opencv`
//./calib_tracking_LK 7 7 10
#include <cv.h>
#include <highgui.h>
#include <stdio.h>
#include <stdlib.h>
#include <sstream>
#include <iostream>
using namespace std;
// Maths methods
#define max(a, b) ((a) > (b) ? (a) : (b))
#define min(a, b) ((a) < (b) ? (a) : (b))
#define abs(x) ((x) > 0 ? (x) : -(x))
#define sign(x) ((x) > 0 ? 1 : -1)
CvCapture* capture;
CvMat* image_points;
CvMat* object_points;
CvMat* point_counts;
CvMat* intrinsic_matrix;
CvMat* distortion_coeffs;
IplImage *image=0;
IplImage *gray_image=0;
IplImage *eigImage=0,*tempImage=0;
int board_w;
int board_h;
int board_n;
CvSize board_sz;
int n_boards = 0; //Will be set by input list
const int board_dt = 20; //Wait 20 frames per chessboard view
CvMat* object_points2;
CvMat* image_points2;
CvMat* point_counts2;
int frameWidth, frameHeight;
int corner_count;
int successes = 0;
int step, frame = 0;
CvPoint2D32f* corners;
int main(int argc, char* argv[]) {
board_w = atoi(argv[1]); //nombre de coins intérieurs en largeur
board_h = atoi(argv[2]); //nombre de coins intérieurs en hauteur
n_boards = atoi(argv[3]); //nombre d'images pour la calibration
board_n = board_w * board_h; //nombre de coins total
board_sz = cvSize( board_w, board_h );
capture = cvCreateCameraCapture( 0 );
assert(capture);
frameWidth= 640;
frameHeight=480;
cvNamedWindow( "Calibration" );
//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);
corners = new CvPoint2D32f[ board_n ];
image = cvQueryFrame( capture );
gray_image = cvCreateImage(cvGetSize(image),8,1);
// capture d'images tant qu'on n'a pas n_boards succès de détection des coins
while(successes < n_boards) {
if((frame++ % board_dt) == 0) {
//Find chessboard corners:
int found = cvFindChessboardCorners(image, board_sz, corners, &corner_count,CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS);
//precision subpixelique des coins
cvCvtColor(image, 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(image, board_sz, corners,corner_count, found);
cvShowImage( "Calibration", image );
// ajout du damier détecté aux données
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(15);
image = cvQueryFrame( capture );
}
//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 );
// Build the undistort map which we will use for all
// subsequent frames.
IplImage* mapx = cvCreateImage( cvGetSize(image), IPL_DEPTH_32F, 1 );
IplImage* mapy = cvCreateImage( cvGetSize(image), IPL_DEPTH_32F, 1 );
cvInitUndistortMap(intrinsic_matrix,distortion_coeffs,mapx,mapy);
/**********************************************/
//calibration terminée, maintenant on va récupérer la position de la caméra par rapport au damier
CvMat* rotation_vector = cvCreateMat(3,1,CV_32FC1); //matrice de rotation de la caméra par rapport au damier
CvMat* translation_vector = cvCreateMat(3,1,CV_32FC1); //matrice de translation de la caméra par rapport au damier
int found;
IplImage *grey = cvCreateImage( cvGetSize(image), 8, 1 ); //image courante en niveau de gris
IplImage *prev_grey = cvCreateImage( cvGetSize(image), 8, 1 ); //image précédente en niveau de gris
IplImage *pyramid = cvCreateImage( cvGetSize(image), 8, 1 ); //pyramide courante
IplImage *prev_pyramid = cvCreateImage( cvGetSize(image), 8, 1 ); //pyramide précédente
CvPoint2D32f* points[2] = {0,0}, *swap_points;
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
char *status = 00;
status=(char*)cvAlloc(board_n);
int flags = 0;
IplImage* swap_temp;
int win_size = 10;
cvNamedWindow( "Undistort" );
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 );
//cvWaitKey(0);
CV_SWAP( corners, points[0], swap_points );//on met les points calculés juste avant dans points[0]
while(image) {
//affichage de l'image non distordue
image = cvQueryFrame( capture );
IplImage *t = cvCloneImage(image);
cvShowImage( "Raw Video", image ); // Show raw image
cvRemap( t, image, mapx, mapy ); // image non distordue
cvReleaseImage(&t);
cvShowImage("Undistort", image); // image non distordue
//recherche de la nouvelle position du damier par flot optique
image = cvQueryFrame( capture );
cvCvtColor( image, grey, CV_BGR2GRAY );
//recherche des points de l'image précédente points[0] dans la nouvelle image par flot optique
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);
//precision subpixelique
cvFindCornerSubPix(grey,points[1], corner_count,cvSize(11,11),cvSize(-1,-1), cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER, 30, 0.1 ));
//on dessine les points
cvDrawChessboardCorners(image, board_sz, points[1],corner_count, found);
cvShowImage( "Calibration", image );
// If we got a good board, add it to our data
//successes=0;
if( corner_count == board_n ) {
step = successes*board_n;
for( int i=0, j=0; j<board_n; ++i,++j ) {
CV_MAT_ELEM(*image_points, float,i,0) = points[1][j].x;
CV_MAT_ELEM(*image_points, float,i,1) = points[1][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;
}
//successes++;
cvFindExtrinsicCameraParams2(object_points, image_points,intrinsic_matrix,distortion_coeffs,rotation_vector, translation_vector);
}
//cout<<CV_MAT_ELEM( *translation_vector, float, 0,0)<<" "<<CV_MAT_ELEM( *translation_vector, float, 1,0)<<" "<<CV_MAT_ELEM( *translation_vector, float, 2,0)<<endl;
printf("%lf %lf %lf \n",CV_MAT_ELEM( *translation_vector, float, 0,0),CV_MAT_ELEM( *translation_vector, float, 1,0),CV_MAT_ELEM( *translation_vector, float, 2,0));
//les données courantes deviennent les données précédentes
CV_SWAP( prev_grey, grey, swap_temp ); //CV_SWAP(a,b,tmp) met b dans a et a dans b
CV_SWAP( prev_pyramid, pyramid, swap_temp );
CV_SWAP( points[0], points[1], swap_points );
cvWaitKey(15);
}
return 0;
} |
Calibration de caméra, incompréhension des valeurs renvoyées
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