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Delphi-OpenCV/samples/CameraCalibrate/CameraCalibrate.dpr

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[+] CameraCalibrate [+] Stereo Signed-off-by: Laex <laex@bk.ru>
2013-03-31 22:30:13 +02:00
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>,
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>
// <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// calib.cpp
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>:
// calib board_w board_h number_of_views
//
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>p<EFBFBD> - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>/<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>, ESC - <20><><EFBFBD><EFBFBD><EFBFBD>
{$APPTYPE CONSOLE}
// JCL_DEBUG_EXPERT_GENERATEJDBG OFF
// JCL_DEBUG_EXPERT_INSERTJDBG OFF
// JCL_DEBUG_EXPERT_DELETEMAPFILE OFF
program CameraCalibrate;
{$R *.res}
uses
System.SysUtils,
LibName in '..\..\include\LibName.pas',
highgui_c in '..\..\include\highgui\highgui_c.pas',
core_c in '..\..\include\<5C>ore\core_c.pas',
Core.types_c in '..\..\include\<5C>ore\Core.types_c.pas',
imgproc.types_c in '..\..\include\imgproc\imgproc.types_c.pas',
imgproc_c in '..\..\include\imgproc\imgproc_c.pas',
legacy in '..\..\include\legacy\legacy.pas',
calib3d in '..\..\include\calib3d\calib3d.pas',
types_c in '..\..\include\<5C>ore\types_c.pas';
Type
pCvPoint2D32fArray = ^TCvPoint2D32fArray;
TCvPoint2D32fArray = array [0 .. 1] of TCvPoint2D32f;
Const
float = SizeOf(Single);
Var
n_boards: Integer = 0; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
board_dt: Integer = 20; // <20><><EFBFBD><EFBFBD> 20 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>
board_w: Integer;
board_h: Integer;
board_n: Integer;
board_sz: TCvSize;
capture: pCvCapture;
image_points: pCvMat;
object_points: pCvMat;
point_counts: pCvMat;
intrinsic_matrix: pCvMat;
distortion_coeffs: pCvMat;
corners: pCvPoint2D32f;
corner_count: Integer;
successes: Integer = 0;
step: Integer = 0;
frame: Integer = 0;
image: pIplImage;
gray_image: pIplImage;
found: Integer;
i, j: Integer;
c: Integer;
object_points2: pCvMat;
image_points2: pCvMat;
point_counts2: pCvMat;
intrinsic: pCvMat;
Distortion: pCvMat;
mapx: pIplImage;
mapy: pIplImage;
t: pIplImage;
s: Single;
procedure CV_MAT_ELEMS(const Mat: pCvMat; const x, y: Integer; const Value: Single); overload;
Var
P: Pointer;
begin
P := Pointer(Integer(Mat^.data) + SizeOf(Value) * x * Mat^.step + SizeOf(Value) * y);
Move(Value, P^, SizeOf(Value));
end;
function CV_MAT_ELEMS(const Mat: pCvMat; const x, y: Integer): Single; overload;
begin
Result := pSingle(Integer(Mat^.data) + SizeOf(Result) * x * Mat^.step + SizeOf(Result) * y)^;
end;
procedure CV_MAT_ELEMI(const Mat: pCvMat; const x, y: Integer; const Value: Integer); overload;
Var
P: Pointer;
begin
P := Pointer(Integer(Mat^.data) + SizeOf(Value) * x * Mat^.step + SizeOf(Value) * y);
Move(Value, P^, SizeOf(Value));
end;
function CV_MAT_ELEMI(const Mat: pCvMat; const x, y: Integer): Integer; overload;
begin
Result := pInteger(Integer(Mat^.data) + SizeOf(Result) * x * Mat^.step + SizeOf(Result) * y)^;
end;
begin
try
if ParamCount <> 3 then
begin
Writeln('ERROR: Wrong number of input parameters');
Halt;
end;
board_w := StrToInt(ParamStr(1));
board_h := StrToInt(ParamStr(2));
n_boards := StrToInt(ParamStr(3));
board_n := board_w * board_h;
board_sz := cvSize(board_w, board_h);
capture := cvCreateCameraCapture(0);
assert(Assigned(capture));
cvNamedWindow('Calibration');
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
image_points := cvCreateMat(n_boards * board_n, 2, CV_32FC1);
object_points := cvCreateMat(n_boards * board_n, 3, CV_32FC1);
point_counts := cvCreateMat(n_boards, 1, CV_32SC1);
intrinsic_matrix := cvCreateMat(3, 3, CV_32FC1);
distortion_coeffs := cvCreateMat(5, 1, CV_32FC1);
corners := AllocMem(SizeOf(CvPoint2D32f) * board_n);
image := cvQueryFrame(capture);
gray_image := cvCreateImage(cvGetSize(image), 8, 1); // subpixel
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> n_boards
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> (<28><><EFBFBD> <20><><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>)
//
while (successes < n_boards) do
begin
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> board_dt <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>
if ((frame div board_dt) = 0) then
begin
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>:
found := cvFindChessboardCorners(image, board_sz, corners, @corner_count, CV_CALIB_CB_ADAPTIVE_THRESH or
CV_CALIB_CB_FILTER_QUADS);
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>
cvCvtColor(image, gray_image, CV_BGR2GRAY);
cvFindCornerSubPix(gray_image, corners, corner_count, cvSize(11, 11), cvSize(-1, -1),
cvTermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>
cvDrawChessboardCorners(image, board_sz, corners, corner_count, found);
cvShowImage('Calibration', image);
// <20><><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
if (corner_count = board_n) then
begin
step := successes * board_n;
i := step;
j := 0;
while j < board_n do
begin
Inc(i);
Inc(j);
CV_MAT_ELEMS(image_points, i, 0, pCvPoint2D32fArray(corners)^[j].x);
CV_MAT_ELEMS(image_points, i, 1, pCvPoint2D32fArray(corners)^[j].y);
CV_MAT_ELEMS(object_points, i, 0, j / board_w);
CV_MAT_ELEMS(object_points, i, 1, j div board_w);
CV_MAT_ELEMS(object_points, i, 2, 0);
end;
CV_MAT_ELEMI(point_counts, successes, 0, board_n);
Inc(successes);
end;
end; // end skip board_dt between chessboard capture
// Handle pause/unpause and ESC
c := cvWaitKey(15);
if (c = Ord('p')) then
begin
c := 0;
while (c <> Ord('p')) and (c <> 27) do
begin
c := cvWaitKey(250);
end;
end;
if (c = 27) then
Halt;
image := cvQueryFrame(capture); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
end; // <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> WHILE.
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
object_points2 := cvCreateMat(successes * board_n, 3, CV_32FC1);
image_points2 := cvCreateMat(successes * board_n, 2, CV_32FC1);
point_counts2 := cvCreateMat(successes, 1, CV_32SC1);
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
// <20><> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>:
// image_points->rows := object_points->rows := \
// successes*board_n; point_counts->rows := successes;
i := 0;
While i < successes * board_n do
begin
Inc(i);
CV_MAT_ELEMS(image_points2, i, 0, CV_MAT_ELEMS(image_points, i, 0));
CV_MAT_ELEMS(image_points2, i, 1, CV_MAT_ELEMS(image_points, i, 1));
CV_MAT_ELEMS(object_points2, i, 0, CV_MAT_ELEMS(object_points, i, 0));
CV_MAT_ELEMS(object_points2, i, 1, CV_MAT_ELEMS(object_points, i, 1));
CV_MAT_ELEMS(object_points2, i, 2, CV_MAT_ELEMS(object_points, i, 2));
end;
i := 0;
While i < successes do
begin // <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><> <20><> <20><><EFBFBD><EFBFBD><EFBFBD>
Inc(i);
CV_MAT_ELEMI(point_counts2, i, 0, CV_MAT_ELEMI(point_counts, i, 0));
end;
cvReleaseMat(object_points);
cvReleaseMat(image_points);
cvReleaseMat(point_counts);
// <20><><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>.
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>, <20><><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 1.0
CV_MAT_ELEMS(intrinsic_matrix, 0, 0, 1);
CV_MAT_ELEMS(intrinsic_matrix, 1, 1, 1);
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>!
cvCalibrateCamera2(object_points2, image_points2, point_counts2, cvGetSize(image), intrinsic_matrix,
distortion_coeffs, nil, nil, 0, // CV_CALIB_FIX_ASPECT_RATIO
cvTermCriteria(CV_TERMCRIT_ITER + CV_TERMCRIT_EPS, 30, DBL_EPSILON));
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
cvSave('Intrinsics.xml', intrinsic_matrix);
cvSave('Distortion.xml', distortion_coeffs);
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>:
intrinsic := cvLoad('Intrinsics.xml');
Distortion := cvLoad('Distortion.xml');
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
//
mapx := cvCreateImage(cvGetSize(image), IPL_DEPTH_32F, 1);
mapy := cvCreateImage(cvGetSize(image), IPL_DEPTH_32F, 1);
cvInitUndistortMap(intrinsic, Distortion, mapx, mapy);
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>
// <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
//
cvNamedWindow('Undistort');
while Assigned(image) do
begin
t := cvCloneImage(image);
cvShowImage('Calibration', image); // Show raw image
cvRemap(t, image, mapx, mapy, CV_INTER_LINEAR + CV_WARP_FILL_OUTLIERS, cvScalarAll(0)); // Undistort image
cvReleaseImage(t);
cvShowImage('Undistort', image); // Show corrected image
// Handle pause/unpause and ESC
c := cvWaitKey(15);
if (c = Ord('p')) then
begin
c := 0;
while (c <> Ord('p')) and (c <> 27) do
begin
c := cvWaitKey(250);
end;
end;
if (c = 27) then
break;
image := cvQueryFrame(capture);
end;
except
on E: Exception do
Writeln(E.ClassName, ': ', E.Message);
end;
end.
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