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baisheng lai
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modules/ccalib/include/opencv2/multiCameraCalibration.hpp
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modules/ccalib/include/opencv2/multiCameraCalibration.hpp
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/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2015, Baisheng Lai (laibaisheng@gmail.com), Zhejiang University,
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// all rights reserved.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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// This software is provided by the copyright holders and contributors "as is" and
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#ifndef __OPENCV_MULTICAMERACALIBRATION_HPP__
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#define __OPENCV_MULTICAMERACALIBRATION_HPP__
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#include "precomp.hpp"
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#include "randomPatten.hpp"
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#include "omnidir.hpp"
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#include <string>
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#include <iostream>
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using namespace cv;
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#define HEAD -1
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#define INVALID -2
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/** @brief Class for multiple camera calibration that supports pinhole camera and omnidirection camera.
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For omnidirectional camera model, please refer to omnidir.hpp in ccalib module.
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It first calibrate each camera individually, then a bundle adjustment like optimization is applied to
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refine extrinsic parameters. So far, it only support "random" pattern for calibration,
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see randomPattern.hpp in ccalib module for details.
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Images that are used should be named by "cameraIdx-timestamp.*", several images with the same timestamp
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means that they are the same pattern that are photographed. cameraIdx should start from 0.
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For more details, please refer to paper
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B. Li, L. Heng, K. Kevin and M. Pollefeys, "A Multiple-Camera System
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Calibration Toolbox Using A Feature Descriptor-Based Calibration
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Pattern", in IROS 2013.
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*/
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class CV_EXPORTS multiCameraCalibration
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{
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public:
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enum {
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PINHOLE,
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OMNIDIRECTIONAL
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//FISHEYE
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};
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// an edge connects a camera and pattern
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struct edge
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{
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int cameraVertex; // vertex index for camera in this edge
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int photoVertex; // vertex index for pattern in this edge
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int photoIndex; // photo index among photos for this camera
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Mat transform; // transform from pattern to camera
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edge(int cv, int pv, int pi, Mat trans)
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{
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cameraVertex = cv;
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photoVertex = pv;
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photoIndex = pi;
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transform = trans;
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}
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};
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struct vertex
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{
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Mat pose; // relative pose to the first camera. For camera vertex, it is the
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// transform from the first camera to this camera, for pattern vertex,
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// it is the transform from pattern to the first camera
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int timestamp; // timestamp of photo, only available for photo vertex
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vertex(Mat po, int ts)
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{
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pose = po;
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timestamp = ts;
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}
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vertex()
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{
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pose = Mat::eye(4, 4, CV_32F);
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timestamp = -1;
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}
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};
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/* @brief Constructor
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@param cameraType camera type, PINHOLE or OMNIDIRECTIONAL
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@param nCameras number of cameras
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@fileName filename of string list that are used for calibration, the file is generated
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by imagelist_creator from OpenCv samples. The first one in the list is the pattern filename.
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@patternWidth the physical width of pattern, in user defined unit.
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@patternHeight the physical height of pattern, in user defined unit.
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@showExtration whether show extracted features and feature filtering.
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@nMiniMatches minimal number of matched features for a frame.
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@criteria optimization stopping criteria.
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@detector feature detector that detect feature points in pattern and images.
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@descriptor feature descriptor.
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@matcher feature matcher.
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*/
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multiCameraCalibration(int cameraType, int nCameras, const std::string& fileName, float patternWidth,
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float patternHeight, int showExtration = 0, int nMiniMatches = 20, int flags = 0,
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TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 300, 1e-7),
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Ptr<FeatureDetector> detector = AKAZE::create(AKAZE::DESCRIPTOR_MLDB, 0, 3, 0.002f),
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Ptr<DescriptorExtractor> descriptor = AKAZE::create(AKAZE::DESCRIPTOR_MLDB,0, 3, 0.002f),
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Ptr<DescriptorMatcher> matcher = DescriptorMatcher::create("BruteForce-L1"));
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/* @brief load images
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*/
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void loadImages();
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/* @brief initialize multiple camera calibration. It calibrates each camera individually.
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*/
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void initialize();
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/* @brief optimization extrinsic parameters
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*/
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double optimizeExtrinsics();
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/* @brief run multi-camera camera calibration, it runs loadImage(), initialize() and optimizeExtrinsics()
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*/
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double run();
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/* @brief write camera parameters to file.
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*/
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void writeParameters(const std::string& filename);
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private:
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std::vector<std::string> readStringList();
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int getPhotoVertex(int timestamp);
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void graphTraverse(const Mat& G, int begin, std::vector<int>& order, std::vector<int>& pre);
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void findRowNonZero(const Mat& row, Mat& idx);
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void computeJacobianExtrinsic(const Mat& extrinsicParams, Mat& JTJ_inv, Mat& JTE);
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void computePhotoCameraJacobian(const Mat& rvecPhoto, const Mat& tvecPhoto, const Mat& rvecCamera,
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const Mat& tvecCamera, Mat& rvecTran, Mat& tvecTran, const Mat& objectPoints, const Mat& imagePoints, const Mat& K,
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const Mat& distort, const Mat& xi, Mat& jacobianPhoto, Mat& jacobianCamera, Mat& E);
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void compose_motion(InputArray _om1, InputArray _T1, InputArray _om2, InputArray _T2, Mat& om3, Mat& T3, Mat& dom3dom1,
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Mat& dom3dT1, Mat& dom3dom2, Mat& dom3dT2, Mat& dT3dom1, Mat& dT3dT1, Mat& dT3dom2, Mat& dT3dT2);
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void JRodriguesMatlab(const Mat& src, Mat& dst);
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void dAB(InputArray A, InputArray B, OutputArray dABdA, OutputArray dABdB);
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double computeProjectError(Mat& parameters);
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void vector2parameters(const Mat& parameters, std::vector<Vec3f>& rvecVertex, std::vector<Vec3f>& tvecVertexs);
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void parameters2vector(const std::vector<Vec3f>& rvecVertex, const std::vector<Vec3f>& tvecVertex, Mat& parameters);
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int _camType; //PINHOLE, FISHEYE or OMNIDIRECTIONAL
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int _nCamera;
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int _nMiniMatches;
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int _flags;
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double _error;
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float _patternWidth, _patternHeight;
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TermCriteria _criteria;
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std::string _filename;
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int _showExtraction;
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Ptr<FeatureDetector> _detector;
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Ptr<DescriptorExtractor> _descriptor;
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Ptr<DescriptorMatcher> _matcher;
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std::vector<edge> _edgeList;
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std::vector<vertex> _vertexList;
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std::vector<std::vector<cv::Mat> > _objectPointsForEachCamera;
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std::vector<std::vector<cv::Mat> > _imagePointsForEachCamera;
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std::vector<cv::Mat> _cameraMatrix;
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std::vector<cv::Mat> _distortCoeffs;
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std::vector<cv::Mat> _xi;
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std::vector<std::vector<Mat> > _omEachCamera, _tEachCamera;
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};
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#endif
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