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sungloksunglok
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Add camera calibration
1 parent a9f68a5 commit 2663652

7 files changed

Lines changed: 179 additions & 2 deletions

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‎bin/data/chessboard.avi‎

9.3 MB
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‎msvs/3dv_tutorial.sln‎

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@@ -9,6 +9,8 @@ Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "mono_visual_odometry", "mon
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EndProject
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Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "image_generation", "image_generation\image_generation.vcxproj", "{27C07F93-22C6-4ACD-A55B-B449F2212937}"
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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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Global
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GlobalSection(SolutionConfigurationPlatforms) = preSolution
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Debug|Win32 = Debug|Win32
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{27C07F93-22C6-4ACD-A55B-B449F2212937}.Debug|Win32.Build.0 = Debug|Win32
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{27C07F93-22C6-4ACD-A55B-B449F2212937}.Release|Win32.ActiveCfg = Release|Win32
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{27C07F93-22C6-4ACD-A55B-B449F2212937}.Release|Win32.Build.0 = Release|Win32
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{8FE6C6CB-6D5D-4745-A4CE-0621BC8633B9}.Debug|Win32.ActiveCfg = Debug|Win32
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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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EndGlobalSection
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GlobalSection(SolutionProperties) = preSolution
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HideSolutionNode = FALSE

‎msvs/camera_calibration/camera_calibration.vcxproj‎

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<?xml version="1.0" encoding="utf-8"?>
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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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<ProjectGuid>{8FE6C6CB-6D5D-4745-A4CE-0621BC8633B9}</ProjectGuid>
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<Keyword>Win32Proj</Keyword>
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<RootNamespace>3dv_tutorial</RootNamespace>
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<SDLCheck>true</SDLCheck>
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<GenerateDebugInformation>true</GenerateDebugInformation>
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<ClCompile Include="..\..\src\camera_calibration.cpp" />
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‎msvs/camera_calibration/camera_calibration.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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</Project>

‎src/camera_calibration.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::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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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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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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{
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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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image_size = image.size();
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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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{
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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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{
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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;
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}
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}
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}
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video.release();
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if (image_points.empty()) return -1;
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// Prepare 3D points from the chess board
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std::vector<std::vector<cv::Point3f> > object_points(1);
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for (int r = 0; r < board_pattern.height; r++)
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for (int c = 0; c < board_pattern.width; c++)
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object_points[0].push_back(cv::Point3d(board_cellsize * c, board_cellsize * r, 0));
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object_points.resize(image_points.size(), object_points[0]); // Copy
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// Calibrate the camera
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cv::Mat K = cv::Mat::eye(3, 3, CV_64F);
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cv::Mat dist_coeff = cv::Mat::zeros(4, 1, CV_64F);
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std::vector<cv::Mat> rvecs, tvecs;
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double rms = cv::calibrateCamera(object_points, image_points, image_size, K, dist_coeff, rvecs, tvecs);
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// Report calibration results
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std::ofstream report("camera_calibration.txt");
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if (!report.is_open()) return -1;
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report << "## Camera Calbration Results" << std::endl;
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report << "* The number of applied images = " << image_points.size() << std::endl;
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report << "* RMS error = " << rms << std::endl;
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report << "* Camera matrix (K) = " << std::endl << " " << K.row(0) << K.row(1) << K.row(2) << std::endl;
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report << "* Distortion coefficient (k1, k2, p1, p2, k3, ...) = " << std::endl << " " << dist_coeff.t() << std::endl;
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report.close();
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return 0;
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}

‎src/image_generation.cpp‎

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cv::waitKey(0);
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std::ofstream fout(cv::format("camera_points%d.csv", i));
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if (!fout.is_open()) break;
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fout << cv::format(x.t(), cv::Formatter::FMT_CSV);
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fout.close();
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}

‎src/mono_visual_odometry.cpp‎

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cv::Point2d camera_center(607.1928, 185.2157);
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// Open a file to write camera trajectory
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FILE* camera_traj = NULL;
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camera_traj = fopen("camera_trajectory.csv", "wt");
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FILE* camera_traj = fopen("camera_trajectory.csv", "wt");
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if (camera_traj == NULL) return -1;
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// Open an video and get the initial image

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