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sungloksunglok
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Add distortion correction
1 parent 2663652 commit 21345c5

6 files changed

Lines changed: 162 additions & 7 deletions

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‎msvs/3dv_tutorial.sln‎

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@@ -11,6 +11,8 @@ Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "image_generation", "image_g
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EndProject
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Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "camera_calibration", "camera_calibration\camera_calibration.vcxproj", "{8FE6C6CB-6D5D-4745-A4CE-0621BC8633B9}"
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EndProject
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Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "distortion_correction", "distortion_correction\distortion_correction.vcxproj", "{E5444B55-196A-4A71-9BDE-C42E830B87B0}"
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EndProject
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Global
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GlobalSection(SolutionConfigurationPlatforms) = preSolution
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Debug|Win32 = Debug|Win32
@@ -33,6 +35,10 @@ Global
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{8FE6C6CB-6D5D-4745-A4CE-0621BC8633B9}.Debug|Win32.Build.0 = Debug|Win32
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{8FE6C6CB-6D5D-4745-A4CE-0621BC8633B9}.Release|Win32.ActiveCfg = Release|Win32
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{8FE6C6CB-6D5D-4745-A4CE-0621BC8633B9}.Release|Win32.Build.0 = Release|Win32
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{E5444B55-196A-4A71-9BDE-C42E830B87B0}.Debug|Win32.ActiveCfg = Debug|Win32
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{E5444B55-196A-4A71-9BDE-C42E830B87B0}.Debug|Win32.Build.0 = Debug|Win32
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{E5444B55-196A-4A71-9BDE-C42E830B87B0}.Release|Win32.ActiveCfg = Release|Win32
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{E5444B55-196A-4A71-9BDE-C42E830B87B0}.Release|Win32.Build.0 = Release|Win32
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EndGlobalSection
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GlobalSection(SolutionProperties) = preSolution
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HideSolutionNode = FALSE

‎msvs/distortion_correction/distortion_correction.vcxproj‎

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<?xml version="1.0" encoding="utf-8"?>
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<Project DefaultTargets="Build" ToolsVersion="12.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
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<ItemGroup Label="ProjectConfigurations">
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<ProjectConfiguration Include="Debug|Win32">
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<Configuration>Debug</Configuration>
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<Platform>Win32</Platform>
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</ProjectConfiguration>
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<ProjectConfiguration Include="Release|Win32">
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<Configuration>Release</Configuration>
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<Platform>Win32</Platform>
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</ProjectConfiguration>
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</ItemGroup>
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<PropertyGroup Label="Globals">
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<ProjectGuid>{E5444B55-196A-4A71-9BDE-C42E830B87B0}</ProjectGuid>
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<Keyword>Win32Proj</Keyword>
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<RootNamespace>3dv_tutorial</RootNamespace>
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</PropertyGroup>
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<Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
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<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
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<ConfigurationType>Application</ConfigurationType>
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<UseDebugLibraries>true</UseDebugLibraries>
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<PlatformToolset>v120</PlatformToolset>
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<CharacterSet>Unicode</CharacterSet>
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</PropertyGroup>
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<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
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<ConfigurationType>Application</ConfigurationType>
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<UseDebugLibraries>false</UseDebugLibraries>
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<PlatformToolset>v120</PlatformToolset>
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<WholeProgramOptimization>true</WholeProgramOptimization>
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<CharacterSet>Unicode</CharacterSet>
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</PropertyGroup>
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<Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
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<ImportGroup Label="ExtensionSettings">
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</ImportGroup>
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<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
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<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
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</ImportGroup>
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<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
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<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
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</ImportGroup>
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<PropertyGroup Label="UserMacros" />
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<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
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<LinkIncremental>true</LinkIncremental>
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<OutDir>..\..\bin</OutDir>
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</PropertyGroup>
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<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
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<LinkIncremental>false</LinkIncremental>
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<OutDir>..\..\bin</OutDir>
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</PropertyGroup>
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<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
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<ClCompile>
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<PrecompiledHeader>
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</PrecompiledHeader>
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<WarningLevel>Level3</WarningLevel>
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<Optimization>Disabled</Optimization>
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<PreprocessorDefinitions>WIN32;_DEBUG;_CONSOLE;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
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<SDLCheck>true</SDLCheck>
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<AdditionalIncludeDirectories>..\..\EXTERNAL\OpenCV\include</AdditionalIncludeDirectories>
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</ClCompile>
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<Link>
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<SubSystem>Console</SubSystem>
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<GenerateDebugInformation>true</GenerateDebugInformation>
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<AdditionalLibraryDirectories>..\..\EXTERNAL\OpenCV\lib</AdditionalLibraryDirectories>
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</Link>
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</ItemDefinitionGroup>
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<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
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<ClCompile>
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<WarningLevel>Level3</WarningLevel>
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<PrecompiledHeader>
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</PrecompiledHeader>
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<Optimization>MaxSpeed</Optimization>
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<FunctionLevelLinking>true</FunctionLevelLinking>
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<IntrinsicFunctions>true</IntrinsicFunctions>
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<PreprocessorDefinitions>WIN32;NDEBUG;_CONSOLE;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
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<SDLCheck>true</SDLCheck>
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<AdditionalIncludeDirectories>..\..\EXTERNAL\OpenCV\include</AdditionalIncludeDirectories>
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</ClCompile>
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<Link>
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<SubSystem>Console</SubSystem>
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<GenerateDebugInformation>true</GenerateDebugInformation>
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<EnableCOMDATFolding>true</EnableCOMDATFolding>
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<OptimizeReferences>true</OptimizeReferences>
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<AdditionalLibraryDirectories>..\..\EXTERNAL\OpenCV\lib</AdditionalLibraryDirectories>
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</Link>
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</ItemDefinitionGroup>
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<ItemGroup>
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<ClCompile Include="..\..\src\distortion_correction.cpp" />
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</ItemGroup>
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<Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
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<ImportGroup Label="ExtensionTargets">
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</ImportGroup>
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</Project>

‎msvs/distortion_correction/distortion_correction.vcxproj.user‎

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<?xml version="1.0" encoding="utf-8"?>
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<Project ToolsVersion="12.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
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<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
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<LocalDebuggerWorkingDirectory>$(OutDir)</LocalDebuggerWorkingDirectory>
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<DebuggerFlavor>WindowsLocalDebugger</DebuggerFlavor>
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</PropertyGroup>
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<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
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<LocalDebuggerWorkingDirectory>$(OutDir)</LocalDebuggerWorkingDirectory>
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<DebuggerFlavor>WindowsLocalDebugger</DebuggerFlavor>
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</PropertyGroup>
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</Project>

‎src/camera_calibration.cpp‎

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@@ -5,11 +5,11 @@ int main(void)
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cv::Size board_pattern(10, 7);
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double board_cellsize = 0.025;
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// Open an video and get the initial image
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// Open an video
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cv::VideoCapture video;
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if (!video.open("data/chessboard.avi")) return -1;
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// Find 2D points from selected images
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// Select images and find 2D corner points from them
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cv::Size image_size;
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std::vector<std::vector<cv::Point2f> > image_points;
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while (true)
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// Show the image and keep it if necessary
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cv::imshow("3DV Tutorial: Camera Calibration", image);
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int key = cv::waitKey(1);
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if (key == 27) break; // "ESC" key
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else if (key == 32) // "Space" key
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if (key == 27) break; // "ESC" key
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else if (key == 32) // "Space" key
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{
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std::vector<cv::Point2f> pts;
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bool complete = cv::findChessboardCorners(image, board_pattern, pts);
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cv::drawChessboardCorners(image, board_pattern, pts, complete);
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cv::imshow("3DV Tutorial: Camera Calibration", image);
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key = cv::waitKey();
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if (key == 27) break; // "ESC" key
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else if (complete && key == 13) // "Enter" key
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if (key == 27) break; // "ESC" key
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else if (complete && key == 13) // "Enter" key
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{
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image_points.push_back(pts);
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std::cout << image_points.size() << " images are selected for camera calibration." << std::endl;

‎src/distortion_correction.cpp‎

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#include "opencv_all.hpp"
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int main(void)
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{
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cv::Mat K = (cv::Mat_<double>(3, 3) << 864.43, 0, 952.16, 0, 861.90, 581.92, 0, 0, 1);
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cv::Mat dist_coeff = (cv::Mat_<double>(5, 1) << -0.2862454796798899, 0.104008092811024, -0.000707339764553983, 6.557555700709726e-005, -0.01922363820734248);
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// Open an video
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cv::VideoCapture video;
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if (!video.open("data/chessboard.avi")) return -1;
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// Run distortion correction
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bool show_rectify = true;
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cv::Mat map1, map2;
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while (true)
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{
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// Grab an image from the video
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cv::Mat image;
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video >> image;
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if (image.empty()) break;
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// Rectify geometric distortion (c.f. 'cv::undistort()' can be applied for one-time remapping.)
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if (show_rectify)
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{
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if (map1.empty() || map2.empty())
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cv::initUndistortRectifyMap(K, dist_coeff, cv::Mat(), cv::Mat(), image.size(), CV_32FC1, map1, map2);
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cv::remap(image, image, map1, map2, cv::InterpolationFlags::INTER_LINEAR);
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}
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// Show the image
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cv::imshow("3DV Tutorial: Distortion Correction", image);
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int key = cv::waitKey(1);
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if (key == 27) break; // "ESC" key
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else if (key == 9) show_rectify = !show_rectify; // "Tab" key
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else if (key == 32) // "Space" key
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{
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key = cv::waitKey();
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if (key == 27) break; // "ESC" key
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else if (key == 9) show_rectify = !show_rectify; // "Tab" key
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}
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}
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video.release();
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return 0;
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}

‎src/image_generation.cpp‎

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fclose(fin);
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X = X.reshape(1, X.rows / 4).t(); // Convert to a 4 x N matrix
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// Generate images for each camera pose
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cv::Mat K = (cv::Mat_<double>(3, 3) << camera_focal, 0, camera_center.x, 0, camera_focal, camera_center.y, 0, 0, 1);
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for (int i = 0; i < sizeof(camera_pos) / sizeof(cv::Point3d); i++)
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{
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}
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return 0;
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}
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}

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