mirror of
https://github.com/modelec/detection_pot.git
synced 2026-01-20 01:47:30 +01:00
normally work
This commit is contained in:
ackimixs
182
calibration.cpp
182
calibration.cpp
@@ -1,112 +1,98 @@
|
||||
#include <iostream>
|
||||
#include <filesystem>
|
||||
#include <lccv.hpp>
|
||||
#include <opencv2/opencv.hpp>
|
||||
#include <thread>
|
||||
#include <opencv2/calib3d/calib3d.hpp>
|
||||
#include <opencv2/highgui/highgui.hpp>
|
||||
#include <opencv2/imgproc/imgproc.hpp>
|
||||
#include <stdio.h>
|
||||
#include <iostream>
|
||||
|
||||
int main(int argc, char *argv[])
|
||||
// Defining the dimensions of checkerboard
|
||||
int CHECKERBOARD[2]{6,9};
|
||||
|
||||
int main()
|
||||
{
|
||||
// Creating vector to store vectors of 3D points for each checkerboard image
|
||||
std::vector<std::vector<cv::Point3f> > objpoints;
|
||||
|
||||
for (int i = 0; i < argc; i++) {
|
||||
if (std::string(argv[i]) == "--help")
|
||||
{
|
||||
std::cout << "Usage: " << argv[0] << " <directory>" << std::endl;
|
||||
std::cout << "directory: The directory containing the calibration images." << std::endl;
|
||||
return 0;
|
||||
}
|
||||
// Creating vector to store vectors of 2D points for each checkerboard image
|
||||
std::vector<std::vector<cv::Point2f> > imgpoints;
|
||||
|
||||
// Defining the world coordinates for 3D points
|
||||
std::vector<cv::Point3f> objp;
|
||||
for(int i{0}; i<CHECKERBOARD[1]; i++)
|
||||
{
|
||||
for(int j{0}; j<CHECKERBOARD[0]; j++)
|
||||
objp.push_back(cv::Point3f(j,i,0));
|
||||
}
|
||||
|
||||
|
||||
// Extracting path of individual image stored in a given directory
|
||||
std::vector<cv::String> images;
|
||||
// Path of the folder containing checkerboard images
|
||||
std::string path = "./images/*.jpg";
|
||||
|
||||
cv::glob(path, images);
|
||||
|
||||
cv::Mat frame, gray;
|
||||
// vector to store the pixel coordinates of detected checker board corners
|
||||
std::vector<cv::Point2f> corner_pts;
|
||||
bool success;
|
||||
|
||||
// Looping over all the images in the directory
|
||||
for(int i{0}; i<images.size(); i++)
|
||||
{
|
||||
frame = cv::imread(images[i]);
|
||||
cv::cvtColor(frame,gray,cv::COLOR_BGR2GRAY);
|
||||
|
||||
// Finding checker board corners
|
||||
// If desired number of corners are found in the image then success = true
|
||||
success = cv::findChessboardCorners(gray, cv::Size(CHECKERBOARD[0], CHECKERBOARD[1]), corner_pts, CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FAST_CHECK | CV_CALIB_CB_NORMALIZE_IMAGE);
|
||||
|
||||
/*
|
||||
* If desired number of corner are detected,
|
||||
* we refine the pixel coordinates and display
|
||||
* them on the images of checker board
|
||||
*/
|
||||
if(success)
|
||||
{
|
||||
cv::TermCriteria criteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 30, 0.001);
|
||||
|
||||
// refining pixel coordinates for given 2d points.
|
||||
cv::cornerSubPix(gray,corner_pts,cv::Size(11,11), cv::Size(-1,-1),criteria);
|
||||
|
||||
// Displaying the detected corner points on the checker board
|
||||
cv::drawChessboardCorners(frame, cv::Size(CHECKERBOARD[0], CHECKERBOARD[1]), corner_pts, success);
|
||||
|
||||
objpoints.push_back(objp);
|
||||
imgpoints.push_back(corner_pts);
|
||||
}
|
||||
|
||||
if (argc < 2) {
|
||||
std::cout << "Usage: " << argv[0] << " <directory>" << std::endl;
|
||||
return 1;
|
||||
}
|
||||
cv::imshow("Image",frame);
|
||||
cv::waitKey(0);
|
||||
}
|
||||
|
||||
// Set the chessboard size (number of inner corners in width and height)
|
||||
cv::Size chessboardSize(9, 6);
|
||||
cv::destroyAllWindows();
|
||||
|
||||
cv::Size imgSize;
|
||||
cv::Mat cameraMatrix,distCoeffs,R,T;
|
||||
|
||||
// Create vectors to store the detected chessboard corners and corresponding image points
|
||||
std::vector<std::vector<cv::Point3f>> objectPoints; // 3D world points
|
||||
std::vector<std::vector<cv::Point2f>> imagePoints; // 2D image points
|
||||
/*
|
||||
* Performing camera calibration by
|
||||
* passing the value of known 3D points (objpoints)
|
||||
* and corresponding pixel coordinates of the
|
||||
* detected corners (imgpoints)
|
||||
*/
|
||||
cv::calibrateCamera(objpoints, imgpoints, cv::Size(gray.rows,gray.cols), cameraMatrix, distCoeffs, R, T);
|
||||
|
||||
// Generate the 3D world points for the chessboard corners
|
||||
std::vector<cv::Point3f> worldPoints;
|
||||
for (int i = 0; i < chessboardSize.height; ++i) {
|
||||
for (int j = 0; j < chessboardSize.width; ++j) {
|
||||
worldPoints.emplace_back(j, i, 0); // Assuming the chessboard lies in the XY plane (Z=0)
|
||||
}
|
||||
}
|
||||
std::cout << "cameraMatrix : " << cameraMatrix << std::endl;
|
||||
std::cout << "distCoeffs : " << distCoeffs << std::endl;
|
||||
std::cout << "Rotation vector : " << R << std::endl;
|
||||
std::cout << "Translation vector : " << T << std::endl;
|
||||
|
||||
lccv::PiCamera* cam = new lccv::PiCamera;
|
||||
cam->options->video_width=1920;
|
||||
cam->options->video_height=1080;
|
||||
cam->options->framerate=5;
|
||||
cam->options->verbose=true;
|
||||
cv::namedWindow("Video",cv::WINDOW_NORMAL);
|
||||
cam->startVideo();
|
||||
cv::FileStorage fs("./calibration_results.yaml", cv::FileStorage::WRITE);
|
||||
fs << "cameraMatrix" << cameraMatrix;
|
||||
fs << "distCoeffs" << distCoeffs;
|
||||
fs.release(); // Release the file
|
||||
|
||||
cv::destroyAllWindows();
|
||||
|
||||
char key;
|
||||
|
||||
while(key != 27) {
|
||||
cv::Mat image, imageCopy, imgNotRotated;
|
||||
if(!cam->getVideoFrame(imgNotRotated,1000)){
|
||||
std::cout<<"Timeout error"<<std::endl;
|
||||
continue;
|
||||
}
|
||||
|
||||
cv::flip(imgNotRotated, image, -1);
|
||||
|
||||
// Convert the image to grayscale
|
||||
cv::Mat gray;
|
||||
cv::cvtColor(image, gray, cv::COLOR_BGR2GRAY);
|
||||
|
||||
// Find chessboard corners
|
||||
std::vector<cv::Point2f> corners;
|
||||
|
||||
// if (findChessboardCorners(gray, chessboardSize, corners)) {
|
||||
// // Refine corner locations
|
||||
// cv::cornerSubPix(gray, corners, cv::Size(11, 11), cv::Size(-1, -1),
|
||||
// cv::TermCriteria(cv::TermCriteria::EPS + cv::TermCriteria::MAX_ITER, 30, 0.001));
|
||||
//
|
||||
// // Store object and image points
|
||||
// objectPoints.push_back(worldPoints);
|
||||
// imagePoints.push_back(corners);
|
||||
// }
|
||||
|
||||
putText(gray, "Press 'c' to add current frame. 'ESC' to finish and calibrate",
|
||||
cv::Point(10, 20), cv::FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(255, 0, 0), 2);
|
||||
|
||||
imshow("Video", gray);
|
||||
key = (char)cv::waitKey(500);
|
||||
if(key == 'c' && findChessboardCorners(gray, chessboardSize, corners)) {
|
||||
// Refine corner locations
|
||||
cv::cornerSubPix(gray, corners, cv::Size(11, 11), cv::Size(-1, -1),
|
||||
cv::TermCriteria(cv::TermCriteria::EPS + cv::TermCriteria::MAX_ITER, 30, 0.001));
|
||||
|
||||
// Store object and image points
|
||||
objectPoints.push_back(worldPoints);
|
||||
imagePoints.push_back(corners);
|
||||
|
||||
imgSize = image.size();
|
||||
}
|
||||
}
|
||||
|
||||
cv::Mat cameraMatrix, distCoeffs;
|
||||
std::vector<cv::Mat> rvecs, tvecs;
|
||||
|
||||
double repErr = calibrateCamera(objectPoints, imagePoints, imgSize,
|
||||
cameraMatrix, distCoeffs, rvecs, tvecs);
|
||||
|
||||
std::cout << repErr << std::endl;
|
||||
|
||||
cv::FileStorage fs("./calibration_results.yaml", cv::FileStorage::WRITE);
|
||||
fs << "cameraMatrix" << cameraMatrix;
|
||||
fs << "distCoeffs" << distCoeffs;
|
||||
fs.release(); // Release the file
|
||||
|
||||
cv::destroyAllWindows();
|
||||
|
||||
return 0;
|
||||
return 0;
|
||||
}
|
||||
Reference in New Issue
Block a user