First CommitHEADmaster

1 files changed, 212 insertions, 0 deletions

diff --git a/thirdparty/linux/include/opencv2/ccalib/multicalib.hpp b/thirdparty/linux/include/opencv2/ccalib/multicalib.hpp
new file mode 100644
index 0000000..686d7a5
--- /dev/null
+++ b/thirdparty/linux/include/opencv2/ccalib/multicalib.hpp
@@ -0,0 +1,212 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2015, Baisheng Lai (laibaisheng@gmail.com), Zhejiang University,
+// all rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_MULTICAMERACALIBRATION_HPP__
+#define __OPENCV_MULTICAMERACALIBRATION_HPP__
+
+#include "opencv2/ccalib/randpattern.hpp"
+#include "opencv2/ccalib/omnidir.hpp"
+#include <string>
+#include <iostream>
+
+namespace cv { namespace multicalib {
+
+//! @addtogroup ccalib
+//! @{
+
+#define HEAD -1
+#define INVALID -2
+
+/** @brief Class for multiple camera calibration that supports pinhole camera and omnidirection camera.
+For omnidirectional camera model, please refer to omnidir.hpp in ccalib module.
+It first calibrate each camera individually, then a bundle adjustment like optimization is applied to
+refine extrinsic parameters. So far, it only support "random" pattern for calibration,
+see randomPattern.hpp in ccalib module for details.
+Images that are used should be named by "cameraIdx-timestamp.*", several images with the same timestamp
+means that they are the same pattern that are photographed. cameraIdx should start from 0.
+
+For more details, please refer to paper
+    B. Li, L. Heng, K. Kevin  and M. Pollefeys, "A Multiple-Camera System
+    Calibration Toolbox Using A Feature Descriptor-Based Calibration
+    Pattern", in IROS 2013.
+*/
+
+class CV_EXPORTS MultiCameraCalibration
+{
+public:
+    enum {
+        PINHOLE,
+        OMNIDIRECTIONAL
+        //FISHEYE
+    };
+
+    // an edge connects a camera and pattern
+    struct edge
+    {
+        int cameraVertex;   // vertex index for camera in this edge
+        int photoVertex;    // vertex index for pattern in this edge
+        int photoIndex;     // photo index among photos for this camera
+        Mat transform;      // transform from pattern to camera
+
+        edge(int cv, int pv, int pi, Mat trans)
+        {
+            cameraVertex = cv;
+            photoVertex = pv;
+            photoIndex = pi;
+            transform = trans;
+        }
+    };
+
+    struct vertex
+    {
+        Mat pose;   // relative pose to the first camera. For camera vertex, it is the
+                    // transform from the first camera to this camera, for pattern vertex,
+                    // it is the transform from pattern to the first camera
+        int timestamp;  // timestamp of photo, only available for photo vertex
+
+        vertex(Mat po, int ts)
+        {
+            pose = po;
+            timestamp = ts;
+        }
+
+        vertex()
+        {
+            pose = Mat::eye(4, 4, CV_32F);
+            timestamp = -1;
+        }
+    };
+    /* @brief Constructor
+    @param cameraType camera type, PINHOLE or OMNIDIRECTIONAL
+    @param nCameras number of cameras
+    @fileName filename of string list that are used for calibration, the file is generated
+    by imagelist_creator from OpenCv samples. The first one in the list is the pattern filename.
+    @patternWidth the physical width of pattern, in user defined unit.
+    @patternHeight the physical height of pattern, in user defined unit.
+    @showExtration whether show extracted features and feature filtering.
+    @nMiniMatches minimal number of matched features for a frame.
+	@flags Calibration flags
+    @criteria optimization stopping criteria.
+    @detector feature detector that detect feature points in pattern and images.
+    @descriptor feature descriptor.
+    @matcher feature matcher.
+    */
+    MultiCameraCalibration(int cameraType, int nCameras, const std::string& fileName, float patternWidth,
+        float patternHeight, int verbose = 0, int showExtration = 0, int nMiniMatches = 20, int flags = 0,
+        TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 200, 1e-7),
+        Ptr<FeatureDetector> detector = AKAZE::create(AKAZE::DESCRIPTOR_MLDB, 0, 3, 0.006f),
+        Ptr<DescriptorExtractor> descriptor = AKAZE::create(AKAZE::DESCRIPTOR_MLDB,0, 3, 0.006f),
+        Ptr<DescriptorMatcher> matcher = DescriptorMatcher::create("BruteForce-L1"));
+
+    /* @brief load images
+    */
+    void loadImages();
+
+    /* @brief initialize multiple camera calibration. It calibrates each camera individually.
+    */
+    void initialize();
+
+    /* @brief optimization extrinsic parameters
+    */
+    double optimizeExtrinsics();
+
+    /* @brief run multi-camera camera calibration, it runs loadImage(), initialize() and optimizeExtrinsics()
+    */
+    double run();
+
+    /* @brief write camera parameters to file.
+    */
+    void writeParameters(const std::string& filename);
+
+private:
+    std::vector<std::string> readStringList();
+
+    int getPhotoVertex(int timestamp);
+
+    void graphTraverse(const Mat& G, int begin, std::vector<int>& order, std::vector<int>& pre);
+
+    void findRowNonZero(const Mat& row, Mat& idx);
+
+    void computeJacobianExtrinsic(const Mat& extrinsicParams, Mat& JTJ_inv, Mat& JTE);
+
+    void computePhotoCameraJacobian(const Mat& rvecPhoto, const Mat& tvecPhoto, const Mat& rvecCamera,
+        const Mat& tvecCamera, Mat& rvecTran, Mat& tvecTran, const Mat& objectPoints, const Mat& imagePoints, const Mat& K,
+        const Mat& distort, const Mat& xi, Mat& jacobianPhoto, Mat& jacobianCamera, Mat& E);
+
+    void compose_motion(InputArray _om1, InputArray _T1, InputArray _om2, InputArray _T2, Mat& om3, Mat& T3, Mat& dom3dom1,
+        Mat& dom3dT1, Mat& dom3dom2, Mat& dom3dT2, Mat& dT3dom1, Mat& dT3dT1, Mat& dT3dom2, Mat& dT3dT2);
+
+    void JRodriguesMatlab(const Mat& src, Mat& dst);
+    void dAB(InputArray A, InputArray B, OutputArray dABdA, OutputArray dABdB);
+
+    double computeProjectError(Mat& parameters);
+
+    void vector2parameters(const Mat& parameters, std::vector<Vec3f>& rvecVertex, std::vector<Vec3f>& tvecVertexs);
+    void parameters2vector(const std::vector<Vec3f>& rvecVertex, const std::vector<Vec3f>& tvecVertex, Mat& parameters);
+
+    int _camType; //PINHOLE, FISHEYE or OMNIDIRECTIONAL
+    int _nCamera;
+    int _nMiniMatches;
+    int _flags;
+	int _verbose;
+    double _error;
+    float _patternWidth, _patternHeight;
+    TermCriteria _criteria;
+    std::string _filename;
+    int _showExtraction;
+    Ptr<FeatureDetector> _detector;
+    Ptr<DescriptorExtractor> _descriptor;
+    Ptr<DescriptorMatcher> _matcher;
+
+    std::vector<edge> _edgeList;
+    std::vector<vertex> _vertexList;
+    std::vector<std::vector<cv::Mat> > _objectPointsForEachCamera;
+    std::vector<std::vector<cv::Mat> > _imagePointsForEachCamera;
+    std::vector<cv::Mat> _cameraMatrix;
+    std::vector<cv::Mat> _distortCoeffs;
+    std::vector<cv::Mat> _xi;
+    std::vector<std::vector<Mat> > _omEachCamera, _tEachCamera;
+};
+
+//! @}
+
+}} // namespace multicalib, cv
+#endif
\ No newline at end of file