Delphi-OpenCV/samples/MultiDemo/CameraCalibrate/CameraCalibrate.dpr

(* /*****************************************************************
  //                       Delphi-OpenCV Demo
  //               Copyright (C) 2013 Project Delphi-OpenCV
  // ****************************************************************
  // Contributor:
  // laentir Valetov
  // email:laex@bk.ru
  // ****************************************************************
  // You may retrieve the latest version of this file at the GitHub,
  // located at git://github.com/Laex/Delphi-OpenCV.git
  // ****************************************************************
  // The contents of this file are used with permission, subject to
  // the Mozilla Public License Version 1.1 (the "License"); you may
  // not use this file except in compliance with the License. You may
  // obtain a copy of the License at
  // http://www.mozilla.org/MPL/MPL-1_1Final.html
  //
  // Software distributed under the License is distributed on an
  // "AS IS" basis, WITHOUT WARRANTY OF ANY KIND, either express or
  // implied. See the License for the specific language governing
  // rights and limitations under the License.
  ******************************************************************* *)
// JCL_DEBUG_EXPERT_GENERATEJDBG OFF
// JCL_DEBUG_EXPERT_INSERTJDBG OFF
// JCL_DEBUG_EXPERT_DELETEMAPFILE OFF
program CameraCalibrate;

{$APPTYPE CONSOLE}
{$POINTERMATH ON}
{$R *.res}

uses
  System.SysUtils,
  uLibName in '..\..\..\include\uLibName.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',
  imgproc in '..\..\..\include\imgproc\imgproc.pas',
  haar in '..\..\..\include\objdetect\haar.pas',
  objdetect in '..\..\..\include\objdetect\objdetect.pas',
  tracking in '..\..\..\include\video\tracking.pas',
  Core in '..\..\..\include\<5C>ore\core.pas';

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;

begin
  try
    if ParamCount = 3 then
    begin
      board_w := StrToInt(ParamStr(1));
      board_h := StrToInt(ParamStr(2));
      n_boards := StrToInt(ParamStr(3));
    end
    else
    begin
      board_w := 7;
      board_h := 3;
      n_boards := 10;
    end;

    board_n := board_w * board_h;
    Writeln('Cells: ', board_n);
    board_sz := cvSize(board_w, board_h);
    capture := cvCreateCameraCapture(CV_CAP_ANY);
    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(TCvPoint2D32f) * 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
        Writeln('Successes: ', successes);
        // <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 i < board_n do
          begin
            pSingle(CV_MAT_ELEM(image_points^, SizeOf(Single), i, 0))^ := corners[j].x;
            pSingle(CV_MAT_ELEM(image_points^, SizeOf(Single), i, 1))^ := corners[j].y;
            pSingle(CV_MAT_ELEM(object_points^, SizeOf(Single), i, 0))^ := j / board_w;
            pSingle(CV_MAT_ELEM(object_points^, SizeOf(Single), i, 1))^ := j div board_w;
            pSingle(CV_MAT_ELEM(object_points^, SizeOf(Single), i, 2))^ := 0;
            Inc(i);
            Inc(j);
          end;
          pInteger(CV_MAT_ELEM(point_counts^, SizeOf(Integer), 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(50);
        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
      pSingle(CV_MAT_ELEM(image_points2^, SizeOf(Single), i, 0))^ :=
        pSingle(CV_MAT_ELEM(image_points^, SizeOf(Single), i, 0))^;
      pSingle(CV_MAT_ELEM(image_points2^, SizeOf(Single), i, 1))^ :=
        pSingle(CV_MAT_ELEM(image_points^, SizeOf(Single), i, 1))^;
      pSingle(CV_MAT_ELEM(object_points2^, SizeOf(Single), i, 0))^ :=
        pSingle(CV_MAT_ELEM(object_points^, SizeOf(Single), i, 0))^;
      pSingle(CV_MAT_ELEM(object_points2^, SizeOf(Single), i, 1))^ :=
        pSingle(CV_MAT_ELEM(object_points^, SizeOf(Single), i, 1))^;
      pSingle(CV_MAT_ELEM(object_points2^, SizeOf(Single), i, 2))^ :=
        pSingle(CV_MAT_ELEM(object_points^, SizeOf(Single), i, 2))^;
      Inc(i);
    end;
    i := 0;
    While i < successes do
    begin // <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><> <20><> <20><><EFBFBD><EFBFBD><EFBFBD>
      pInteger(CV_MAT_ELEM(point_counts2^, SizeOf(Integer), i, 0))^ :=
        pInteger(CV_MAT_ELEM(point_counts^, SizeOf(Integer), i, 0))^;
      Inc(i);
    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

    cvZero(intrinsic_matrix);
    // pSingle(CV_MAT_ELEM(intrinsic_matrix^, CV_32FC1, 0, 0))^ := 1;
    // pSingle(CV_MAT_ELEM(intrinsic_matrix^, CV_32FC1, 1, 1))^ := 1;
    // pSingle(CV_MAT_ELEM(intrinsic_matrix^, CV_32FC1, 2, 2))^ := 1;

    pSingle(CV_MAT_ELEM(intrinsic_matrix^, SizeOf(Single), 0, 0))^ := 520.0;
    pSingle(CV_MAT_ELEM(intrinsic_matrix^, SizeOf(Single), 1, 1))^ := 520.0;
    pSingle(CV_MAT_ELEM(intrinsic_matrix^, SizeOf(Single), 2, 2))^ := 1;
    pSingle(CV_MAT_ELEM(intrinsic_matrix^, SizeOf(Single), 0, 2))^ := 70.0;
    pSingle(CV_MAT_ELEM(intrinsic_matrix^, SizeOf(Single), 1, 2))^ := 70.0;

    for i := 0 to intrinsic_matrix^.rows - 1 do
    begin
      for j := 0 to intrinsic_matrix^.cols - 1 do
        Write(Format('%.0f ', [pSingle(CV_MAT_ELEM(intrinsic_matrix^, SizeOf(Single), i, j))^]));
      Writeln;
    end;
    Writeln;

    // <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,
      CV_CALIB_USE_INTRINSIC_GUESS,
      { } 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('result\Intrinsics.xml', intrinsic_matrix);
    cvSave('result\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('result\Intrinsics.xml');
    Distortion := cvLoad('result\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.