potok/opencv
1
0
Fork 0
mirror of https://github.com/opencv/opencv.git synced 2026-07-30 07:43:03 +04:00
Code Packages Releases Wiki Activity

Heterogenious cameras support in multiview calibration.

Browse Source
This commit is contained in:
Alexander Smorkalov
2024-10-01 20:27:30 +03:00
parent 3bcab8db0a
commit ae52db549d
3 changed files with 160 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files
modules/calib/src/multiview_calibration.cpp
+84 -12
View File
@@ -260,6 +260,69 @@ static void thresholdPatternCameraAngles (int NUM_PATTERN_PTS, double THR_PATTER
}
}
static void pairwiseRegistration (const std::vector<std::pair<int,int>> &pairs,
const cv::Mat &models, const std::vector<Mat> &objPoints_norm,
const std::vector<std::vector<Mat>> &imagePoints, const std::vector<std::vector<int>> &overlaps,
const std::vector<std::vector<bool>> &detection_mask_mat, const std::vector<Mat> &Ks,
const std::vector<Mat> &distortions, std::vector<Matx33d> &Rs_vec, std::vector<Vec3d> &Ts_vec,
Mat &intrinsic_flags, int extrinsic_flags = 0) {
CV_UNUSED(intrinsic_flags);
const int NUM_FRAMES = (int)objPoints_norm.size();
const int NUM_CAMERAS = (int)detection_mask_mat.size();
std::vector<Matx33d> Rs_prior;
std::vector<Vec3d> Ts_prior;
if (extrinsic_flags & cv::CALIB_USE_EXTRINSIC_GUESS) {
Rs_prior.resize(NUM_CAMERAS);
Ts_prior.resize(NUM_CAMERAS);
for (int i = 0; i < NUM_CAMERAS; i++) {
Rs_vec[i].copyTo(Rs_prior[i]);
Ts_vec[i].copyTo(Ts_prior[i]);
}
}
for (const auto &pair : pairs) {
const int c1 = pair.first, c2 = pair.second, overlap = overlaps[c1][c2];
// prepare image points of two cameras and grid points
std::vector<Mat> image_points1, image_points2, grid_points1, grid_points2;
grid_points1.reserve(overlap);
grid_points2.reserve(overlap);
image_points1.reserve(overlap);
image_points2.reserve(overlap);
for (int f = 0; f < NUM_FRAMES; f++) {
if (detection_mask_mat[c1][f] && detection_mask_mat[c2][f]) {
grid_points1.emplace_back(objPoints_norm[f]);
grid_points2.emplace_back(objPoints_norm[f]);
image_points1.emplace_back(imagePoints[c1][f]);
image_points2.emplace_back(imagePoints[c2][f]);
}
}
Matx33d R;
Vec3d T;
if (extrinsic_flags & cv::CALIB_USE_EXTRINSIC_GUESS) {
R = Rs_prior[c2] * Rs_prior[c1].t();
T = -R * Ts_prior[c1] + Ts_prior[c2];
}
extrinsic_flags |= CALIB_FIX_INTRINSIC;
registerCameras(grid_points1, grid_points2, image_points1, image_points2,
Ks[c1], distortions[c1], cv::CameraModel(models.at<uchar>(c1)),
Ks[c2], distortions[c2], cv::CameraModel(models.at<uchar>(c2)),
R, T, noArray(), noArray(), noArray(), noArray(), noArray(), extrinsic_flags);
// R_0 = I
// R_ij = R_i R_j^T => R_i = R_ij R_j
// t_ij = ti - R_ij tj => t_i = t_ij + R_ij t_j
if (c1 == 0) {
Rs_vec[c2] = R;
Ts_vec[c2] = T;
} else {
Rs_vec[c2] = Matx33d(Mat(R * Rs_vec[c1]));
Ts_vec[c2] = Vec3d(Mat(T + R * Ts_vec[c1]));
}
}
}
static void pairwiseStereoCalibration (const std::vector<std::pair<int,int>> &pairs,
const cv::Mat &models, const std::vector<Mat> &objPoints_norm,
const std::vector<std::vector<Mat>> &imagePoints, const std::vector<std::vector<int>> &overlaps,
@@ -528,19 +591,22 @@ double calibrateMultiview(
CV_CheckEQ(detection_mask_.type(), CV_8U, "detectionMask must be of type CV_8U");
CV_CheckEQ(models_mat.type(), CV_8U, "models must be of type CV_8U");
bool is_fisheye = false;
bool is_pinhole = false;
if(flags & cv::CALIB_STEREO_REGISTRATION)
{
bool is_fisheye = false;
bool is_pinhole = false;
for (int i = 0; i < (int)models_mat.total(); i++) {
if (models_mat.at<uchar>(i) == cv::CALIB_MODEL_FISHEYE) {
is_fisheye = true;
} else if (models_mat.at<uchar>(i) == cv::CALIB_MODEL_PINHOLE) {
is_pinhole = true;
} else {
CV_Error(Error::StsBadArg, "Unsupported camera model");
for (int i = 0; i < (int)models_mat.total(); i++) {
if (models_mat.at<uchar>(i) == cv::CALIB_MODEL_FISHEYE) {
is_fisheye = true;
} else if (models_mat.at<uchar>(i) == cv::CALIB_MODEL_PINHOLE) {
is_pinhole = true;
} else {
CV_Error(Error::StsBadArg, "Unsupported camera model");
}
}
CV_CheckEQ(is_fisheye && is_pinhole, false, "Mix of pinhole and fisheye cameras is not supported with CALIB_STEREO_REGISTRATION flag");
}
CV_CheckEQ(is_fisheye && is_pinhole, false, "Mix of pinhole and fisheye cameras is not supported for now");
// equal number of cameras
CV_Assert(imageSize.size() == imagePoints.size());
@@ -732,8 +798,14 @@ double calibrateMultiview(
}
pairs_mat.copyTo(initializationPairs);
}
multiview::pairwiseStereoCalibration(pairs, models_mat, objPoints_norm, imagePoints,
overlaps, detection_mask_mat, Ks_vec, distortions_vec, Rs_vec, Ts_vec, flagsForIntrinsics_mat);
if(flags & cv::CALIB_STEREO_REGISTRATION) {
multiview::pairwiseStereoCalibration(pairs, models_mat, objPoints_norm, imagePoints,
overlaps, detection_mask_mat, Ks_vec, distortions_vec, Rs_vec, Ts_vec, flagsForIntrinsics_mat);
} else {
multiview::pairwiseRegistration(pairs, models_mat, objPoints_norm, imagePoints,
overlaps, detection_mask_mat, Ks_vec, distortions_vec, Rs_vec, Ts_vec, flagsForIntrinsics_mat);
}
const int NUM_VALID_FRAMES = countNonZero(valid_frames);
const int nparams = (NUM_VALID_FRAMES + NUM_CAMERAS - 1) * 6; // rvecs + tvecs (6)