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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
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