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calicam.cpp
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// This is No Warranty No Copyright Software.
// astar.ai
// Nov 16, 2018
#include <opencv2/opencv.hpp>
////////////////////////////////////////////////////////////////////////////////
bool live = false;
//To run live mode, you need a CaliCam from www.astar.ai
int vfov_bar = 0, width_bar = 0, height_bar = 0;
int vfov_max = 60, width_max = 480, height_max = 360;
int vfov_now = 60, width_now = 480, height_now = 360;
int ndisp_bar = 1, wsize_bar = 2;
int ndisp_max = 2, wsize_max = 4;
int ndisp_now = 32, wsize_now = 7;
int cap_cols, cap_rows, img_width;
bool changed = false;
bool is_sgbm = true;
cv::Mat Translation, Kl, Kr, Dl, Dr, xil, xir, Rl, Rr, smap[2][2], Knew;
std::string cam_model;
////////////////////////////////////////////////////////////////////////////////
void OnTrackAngle(int value, void*) {
vfov_bar = value;
vfov_now = 60 + vfov_bar;
changed = true;
}
////////////////////////////////////////////////////////////////////////////////
void OnTrackWidth(int value, void*) {
width_bar = value;
width_now = 480 + width_bar;
if (width_now % 2 == 1)
width_now--;
changed = true;
}
////////////////////////////////////////////////////////////////////////////////
void OnTrackHeight(int value, void*) {
height_bar = value;
height_now = 360 + height_bar;
if (height_now % 2 == 1)
height_now--;
changed = true;
}
////////////////////////////////////////////////////////////////////////////////
void OnTrackNdisp(int value, void*) {
ndisp_bar = value;
ndisp_now = 16 + 16 * ndisp_bar;
changed = true;
}
////////////////////////////////////////////////////////////////////////////////
void OnTrackWsize(int value, void*) {
wsize_bar = value;
wsize_now = 3 + 2 * wsize_bar;
changed = true;
}
////////////////////////////////////////////////////////////////////////////////
void LoadParameters(std::string file_name) {
cv::FileStorage fs(file_name, cv::FileStorage::READ);
if (!fs.isOpened()) {
std::cout << "Failed to open ini parameters" << std::endl;
exit(-1);
}
cv::Size cap_size;
fs["cam_model"] >> cam_model;
fs["cap_size" ] >> cap_size;
fs["Kl" ] >> Kl;
fs["Dl" ] >> Dl;
fs["xil" ] >> xil;
Rl = cv::Mat::eye(3, 3, CV_64F);
if (cam_model == "stereo") {
fs["Rl" ] >> Rl;
fs["Kr" ] >> Kr;
fs["Dr" ] >> Dr;
fs["xir" ] >> xir;
fs["Rr" ] >> Rr;
fs["T" ] >> Translation;
}
fs.release();
img_width = cap_size.width;
cap_cols = cap_size.width;
cap_rows = cap_size.height;
if (cam_model == "stereo")
img_width = cap_size.width / 2;
}
////////////////////////////////////////////////////////////////////////////////
inline double MatRowMul(cv::Mat m, double x, double y, double z, int r) {
return m.at<double>(r,0) * x + m.at<double>(r,1) * y + m.at<double>(r,2) * z;
}
////////////////////////////////////////////////////////////////////////////////
void InitUndistortRectifyMap(cv::Mat K, cv::Mat D, cv::Mat xi, cv::Mat R,
cv::Mat P, cv::Size size,
cv::Mat& map1, cv::Mat& map2) {
map1 = cv::Mat(size, CV_32F);
map2 = cv::Mat(size, CV_32F);
double fx = K.at<double>(0,0);
double fy = K.at<double>(1,1);
double cx = K.at<double>(0,2);
double cy = K.at<double>(1,2);
double s = K.at<double>(0,1);
double xid = xi.at<double>(0,0);
double k1 = D.at<double>(0,0);
double k2 = D.at<double>(0,1);
double p1 = D.at<double>(0,2);
double p2 = D.at<double>(0,3);
cv::Mat KRi = (P * R).inv();
for (int r = 0; r < size.height; ++r) {
for (int c = 0; c < size.width; ++c) {
double xc = MatRowMul(KRi, c, r, 1., 0);
double yc = MatRowMul(KRi, c, r, 1., 1);
double zc = MatRowMul(KRi, c, r, 1., 2);
double rr = sqrt(xc * xc + yc * yc + zc * zc);
double xs = xc / rr;
double ys = yc / rr;
double zs = zc / rr;
double xu = xs / (zs + xid);
double yu = ys / (zs + xid);
double r2 = xu * xu + yu * yu;
double r4 = r2 * r2;
double xd = (1+k1*r2+k2*r4)*xu + 2*p1*xu*yu + p2*(r2+2*xu*xu);
double yd = (1+k1*r2+k2*r4)*yu + 2*p2*xu*yu + p1*(r2+2*yu*yu);
double u = fx * xd + s * yd + cx;
double v = fy * yd + cy;
map1.at<float>(r,c) = (float) u;
map2.at<float>(r,c) = (float) v;
}
}
}
////////////////////////////////////////////////////////////////////////////////
void InitRectifyMap() {
double vfov_rad = vfov_now * CV_PI / 180.;
double focal = height_now / 2. / tan(vfov_rad / 2.);
Knew = (cv::Mat_<double>(3, 3) << focal, 0., width_now / 2. - 0.5,
0., focal, height_now / 2. - 0.5,
0., 0., 1.);
cv::Size img_size(width_now, height_now);
InitUndistortRectifyMap(Kl, Dl, xil, Rl, Knew,
img_size, smap[0][0], smap[0][1]);
std::cout << "Width: " << width_now << "\t"
<< "Height: " << height_now << "\t"
<< "V.Fov: " << vfov_now << "\n";
std::cout << "K Matrix: \n" << Knew << std::endl;
if (cam_model == "stereo") {
InitUndistortRectifyMap(Kr, Dr, xir, Rr, Knew,
img_size, smap[1][0], smap[1][1]);
std::cout << "Ndisp: " << ndisp_now << "\t"
<< "Wsize: " << wsize_now << "\n";
}
std::cout << std::endl;
}
////////////////////////////////////////////////////////////////////////////////
void DisparityImage(const cv::Mat& recl, const cv::Mat& recr, cv::Mat& disp) {
cv::Mat disp16s;
int N = ndisp_now, W = wsize_now, C = recl.channels();
if (is_sgbm) {
cv::Ptr<cv::StereoSGBM> sgbm =
cv::StereoSGBM::create(0, N, W, 8 * C * W * W, 32 * C * W * W);
sgbm->compute(recl, recr, disp16s);
} else {
cv::Mat grayl, grayr;
cv::cvtColor(recl, grayl, cv::COLOR_BGR2GRAY);
cv::cvtColor(recr, grayr, cv::COLOR_BGR2GRAY);
cv::Ptr<cv::StereoBM> sbm = cv::StereoBM::create(N, W);
sbm->setPreFilterCap(31);
sbm->setMinDisparity(0);
sbm->setTextureThreshold(10);
sbm->setUniquenessRatio(15);
sbm->setSpeckleWindowSize(100);
sbm->setSpeckleRange(32);
sbm->setDisp12MaxDiff(1);
sbm->compute(grayl, grayr, disp16s);
}
double minVal, maxVal;
minMaxLoc(disp16s, &minVal, &maxVal);
disp16s.convertTo(disp, CV_8UC1, 255 / (maxVal - minVal));
/* How to get the depth map
double fx = Knew.at<double>(0,0);
double fy = Knew.at<double>(1,1);
double cx = Knew.at<double>(0,2);
double cy = Knew.at<double>(1,2);
double bl = -Translation.at<double>(0,0);
cv::Mat dispf;
disp16s.convertTo(dispf, CV_32F, 1.f / 16.f);
for (int r = 0; r < dispf.rows; ++r) {
for (int c = 0; c < dispf.cols; ++c) {
double e = (c - cx) / fx;
double f = (r - cy) / fy;
double disp = dispf.at<float>(r,c);
if (disp <= 0.f)
continue;
double depth = fx * bl / disp;
double x = e * depth;
double y = f * depth;
double z = depth;
}
} */
}
////////////////////////////////////////////////////////////////////////////////
int main(int argc, char** argv) {
std::string file_name = argc == 2 ? argv[1] : "../astar_calicam.yml";
LoadParameters(file_name);
InitRectifyMap();
cv::Mat raw_img;
cv::VideoCapture vcapture;
if (live) {
vcapture.open(0);
if (!vcapture.isOpened()) {
std::cout << "Camera doesn't work" << std::endl;
exit(-1);
}
vcapture.set(cv::CAP_PROP_FRAME_WIDTH, cap_cols);
vcapture.set(cv::CAP_PROP_FRAME_HEIGHT, cap_rows);
vcapture.set(cv::CAP_PROP_FPS, 30);
} else {
raw_img = cv::imread("../dasl_wood_shop.jpg", cv::IMREAD_COLOR);
}
char win_name[256];
sprintf(win_name, "Raw Image: %d x %d", img_width, cap_rows);
std::string param_win_name(win_name);
cv::namedWindow(param_win_name);
cv::createTrackbar("V. FoV: 60 +", param_win_name, nullptr, vfov_max, OnTrackAngle);
cv::createTrackbar("Width: 480 +", param_win_name, nullptr, width_max, OnTrackWidth);
cv::createTrackbar("Height: 360 +", param_win_name, nullptr, height_max, OnTrackHeight);
std::string disp_win_name = "Disparity Image";
if (cam_model == "stereo") {
cv::namedWindow(disp_win_name);
cv::createTrackbar("Num Disp: 16 + 16 *", disp_win_name, nullptr, ndisp_max, OnTrackNdisp);
cv::setTrackbarPos("Num Disp: 16 + 16 *", disp_win_name, ndisp_bar);
cv::createTrackbar("Blk Size : 3 + 2 *", disp_win_name, nullptr, wsize_max, OnTrackWsize);
cv::setTrackbarPos("Blk Size : 3 + 2 *", disp_win_name, wsize_bar);
}
cv::Mat raw_imgl, raw_imgr, rect_imgl, rect_imgr;
while (1) {
if (changed) {
InitRectifyMap();
changed = false;
}
if (live)
vcapture >> raw_img;
if (raw_img.total() == 0) {
std::cout << "Image capture error" << std::endl;
exit(-1);
}
if (cam_model == "stereo") {
raw_img(cv::Rect( 0, 0, img_width, cap_rows)).copyTo(raw_imgl);
raw_img(cv::Rect(img_width, 0, img_width, cap_rows)).copyTo(raw_imgr);
cv::remap(raw_imgl, rect_imgl, smap[0][0], smap[0][1], 1, 0);
cv::remap(raw_imgr, rect_imgr, smap[1][0], smap[1][1], 1, 0);
} else {
raw_imgl = raw_img;
cv::remap(raw_img, rect_imgl, smap[0][0], smap[0][1], 1, 0);
}
cv::Mat small_img;
cv::resize(raw_imgl, small_img, cv::Size(), 0.5, 0.5);
imshow(param_win_name, small_img);
imshow("Rectified Image", rect_imgl);
if (cam_model == "stereo") {
cv::Mat disp_img;
DisparityImage(rect_imgl, rect_imgr, disp_img);
imshow(disp_win_name, disp_img);
}
char key = cv::waitKey(1);
if (key == 'q' || key == 'Q' || key == 27)
break;
}
return 0;
}
////////////////////////////////////////////////////////////////////////////////