mirror of
https://github.com/Laex/Delphi-OpenCV.git
synced 2024-11-16 16:25:53 +01:00
278 lines
8.8 KiB
ObjectPascal
278 lines
8.8 KiB
ObjectPascal
// ×òåíèå øèðèíû è âûñîòû øàõìàòíîé äîñêè,
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// ÷òåíèå è êîëëåêöèîíèðîâàíèå çàïðîøåííîãî êîëè÷åñòâà âèäîâ
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// è êàëèáðîâêà êàìåðû
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// calib.cpp
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// Èíèöèàëèçàöèÿ âõîäíûõ äàííûõ:
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// calib board_w board_h number_of_views
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//
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// Íàæàòèå ‘p’ - óñòàíîâêà/âûêëþ÷åíèå ïàóçû, ESC - âûõîä
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{$APPTYPE CONSOLE}
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// JCL_DEBUG_EXPERT_GENERATEJDBG OFF
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// JCL_DEBUG_EXPERT_INSERTJDBG OFF
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// JCL_DEBUG_EXPERT_DELETEMAPFILE OFF
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program CameraCalibrate;
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{$R *.res}
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uses
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System.SysUtils,
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LibName in '..\..\include\LibName.pas',
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highgui_c in '..\..\include\highgui\highgui_c.pas',
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core_c in '..\..\include\ñore\core_c.pas',
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Core.types_c in '..\..\include\ñore\Core.types_c.pas',
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imgproc.types_c in '..\..\include\imgproc\imgproc.types_c.pas',
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imgproc_c in '..\..\include\imgproc\imgproc_c.pas',
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legacy in '..\..\include\legacy\legacy.pas',
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calib3d in '..\..\include\calib3d\calib3d.pas',
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types_c in '..\..\include\ñore\types_c.pas';
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Type
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pCvPoint2D32fArray = ^TCvPoint2D32fArray;
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TCvPoint2D32fArray = array [0 .. 1] of TCvPoint2D32f;
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Const
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float = SizeOf(Single);
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Var
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n_boards: Integer = 0; // Óñòàíîâèì âõîäíîé ñïèñîê
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board_dt: Integer = 20; // Æäåì 20 ôðåéìîâ ñ âèäàìè øàõìàòíîé äîñêè
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board_w: Integer;
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board_h: Integer;
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board_n: Integer;
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board_sz: TCvSize;
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capture: pCvCapture;
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image_points: pCvMat;
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object_points: pCvMat;
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point_counts: pCvMat;
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intrinsic_matrix: pCvMat;
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distortion_coeffs: pCvMat;
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corners: pCvPoint2D32f;
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corner_count: Integer;
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successes: Integer = 0;
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step: Integer = 0;
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frame: Integer = 0;
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image: pIplImage;
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gray_image: pIplImage;
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found: Integer;
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i, j: Integer;
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c: Integer;
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object_points2: pCvMat;
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image_points2: pCvMat;
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point_counts2: pCvMat;
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intrinsic: pCvMat;
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Distortion: pCvMat;
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mapx: pIplImage;
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mapy: pIplImage;
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t: pIplImage;
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s: Single;
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procedure CV_MAT_ELEMS(const Mat: pCvMat; const x, y: Integer; const Value: Single); overload;
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Var
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P: Pointer;
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begin
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P := Pointer(Integer(Mat^.data) + SizeOf(Value) * x * Mat^.step + SizeOf(Value) * y);
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Move(Value, P^, SizeOf(Value));
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end;
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function CV_MAT_ELEMS(const Mat: pCvMat; const x, y: Integer): Single; overload;
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begin
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Result := pSingle(Integer(Mat^.data) + SizeOf(Result) * x * Mat^.step + SizeOf(Result) * y)^;
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end;
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procedure CV_MAT_ELEMI(const Mat: pCvMat; const x, y: Integer; const Value: Integer); overload;
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Var
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P: Pointer;
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begin
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P := Pointer(Integer(Mat^.data) + SizeOf(Value) * x * Mat^.step + SizeOf(Value) * y);
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Move(Value, P^, SizeOf(Value));
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end;
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function CV_MAT_ELEMI(const Mat: pCvMat; const x, y: Integer): Integer; overload;
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begin
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Result := pInteger(Integer(Mat^.data) + SizeOf(Result) * x * Mat^.step + SizeOf(Result) * y)^;
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end;
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begin
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try
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if ParamCount <> 3 then
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begin
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Writeln('ERROR: Wrong number of input parameters');
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Halt;
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end;
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board_w := StrToInt(ParamStr(1));
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board_h := StrToInt(ParamStr(2));
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n_boards := StrToInt(ParamStr(3));
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board_n := board_w * board_h;
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board_sz := cvSize(board_w, board_h);
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capture := cvCreateCameraCapture(0);
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assert(Assigned(capture));
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cvNamedWindow('Calibration');
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// ÂÛÄÅËßÅÌ ÕÐÀÍÈËÈÙÅ ÏÀÌßÒÈ
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image_points := cvCreateMat(n_boards * board_n, 2, CV_32FC1);
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object_points := cvCreateMat(n_boards * board_n, 3, CV_32FC1);
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point_counts := cvCreateMat(n_boards, 1, CV_32SC1);
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intrinsic_matrix := cvCreateMat(3, 3, CV_32FC1);
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distortion_coeffs := cvCreateMat(5, 1, CV_32FC1);
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corners := AllocMem(SizeOf(CvPoint2D32f) * board_n);
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image := cvQueryFrame(capture);
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gray_image := cvCreateImage(cvGetSize(image), 8, 1); // subpixel
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// ÇÀÕÂÀÒ Â ÖÈÊËÅ ÈÇÎÁÐÀÆÅÍÈÉ Ñ ÓÃËÀÌÈ ÏÎÊÀ ÌÛ ÍÅ ÏËÎÓ×ÈÌ n_boards
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// ÏÎËÍÛÕ ÇÀÕÂÀÒÎÂ (ÂÑÅ ÓÃËÛ ÍÀ ÄÎÑÊÅ ÁÛËÈ ÍÀÉÄÅÍÛ)
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//
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while (successes < n_boards) do
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begin
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// Ïðîïóñêàåì board_dt ôðåéìîâ, ïðåäîñòàâëåííûå ïîëüçîâàòåëåì, äâèãàþùèì äîñêó
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if ((frame div board_dt) = 0) then
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begin
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// Íàõîäèì óãëû øàõìàòíîé äîñêè:
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found := cvFindChessboardCorners(image, board_sz, corners, @corner_count, CV_CALIB_CB_ADAPTIVE_THRESH or
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CV_CALIB_CB_FILTER_QUADS);
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// Ïîëó÷åíèå ñóáïèêñåëüíîé òî÷íîñòè íà ýòèõ óãëàõ
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cvCvtColor(image, gray_image, CV_BGR2GRAY);
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cvFindCornerSubPix(gray_image, corners, corner_count, cvSize(11, 11), cvSize(-1, -1),
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cvTermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));
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// Íàðèñóåì ýòî
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cvDrawChessboardCorners(image, board_sz, corners, corner_count, found);
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cvShowImage('Calibration', image);
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// Åñëè ìû ïîëó÷èëè õîðîøóþ äîñêó, äîáàâèì åå ê íàøèì äàííûì
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if (corner_count = board_n) then
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begin
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step := successes * board_n;
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i := step;
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j := 0;
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while j < board_n do
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begin
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Inc(i);
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Inc(j);
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CV_MAT_ELEMS(image_points, i, 0, pCvPoint2D32fArray(corners)^[j].x);
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CV_MAT_ELEMS(image_points, i, 1, pCvPoint2D32fArray(corners)^[j].y);
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CV_MAT_ELEMS(object_points, i, 0, j / board_w);
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CV_MAT_ELEMS(object_points, i, 1, j div board_w);
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CV_MAT_ELEMS(object_points, i, 2, 0);
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end;
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CV_MAT_ELEMI(point_counts, successes, 0, board_n);
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Inc(successes);
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end;
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end; // end skip board_dt between chessboard capture
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// Handle pause/unpause and ESC
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c := cvWaitKey(15);
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if (c = Ord('p')) then
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begin
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c := 0;
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while (c <> Ord('p')) and (c <> 27) do
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begin
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c := cvWaitKey(250);
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end;
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end;
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if (c = 27) then
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Halt;
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image := cvQueryFrame(capture); // Ïîëó÷àåì ñëåäóþùåå èçîáðàæåíèå
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end; // ÊÎÍÅÖ ÊÎËËÅÊÖÈÎÍÈÐÎÂÀÍÈÅ ÖÈÊËÎÌ WHILE.
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// ÂÛÄÅËßÅÌ ÌÀÒÐÈÖÛ Ê ÒÀÊÎÌÓ ÊÎËÈ×ÅÑÒÂÓ ØÀÕÌÀÒÍÛÕ ÄÎÑÊ, ÑÊÎËÜÊÎ ÁÛËÎ ÍÀÉÄÅÍÎ
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object_points2 := cvCreateMat(successes * board_n, 3, CV_32FC1);
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image_points2 := cvCreateMat(successes * board_n, 2, CV_32FC1);
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point_counts2 := cvCreateMat(successes, 1, CV_32SC1);
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// ÏÅÐÅÌÅÙÀÅÌ ÒÎ×ÊÈ Â ÌÀÒÐÈÖÛ ÏÐÀÂÈËÜÍÎÃÎ ÐÀÇÌÅÐÀ
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// Íèæå ìû îïèøåì ýòî äåòàëüíî â ñëåäóþùèõ äâóõ öèêëàõ.
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// Ìû ìîæåì âìåñòî ýòîãî íàïèñàòü:
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// image_points->rows := object_points->rows := \
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// successes*board_n; point_counts->rows := successes;
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i := 0;
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While i < successes * board_n do
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begin
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Inc(i);
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CV_MAT_ELEMS(image_points2, i, 0, CV_MAT_ELEMS(image_points, i, 0));
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CV_MAT_ELEMS(image_points2, i, 1, CV_MAT_ELEMS(image_points, i, 1));
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CV_MAT_ELEMS(object_points2, i, 0, CV_MAT_ELEMS(object_points, i, 0));
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CV_MAT_ELEMS(object_points2, i, 1, CV_MAT_ELEMS(object_points, i, 1));
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CV_MAT_ELEMS(object_points2, i, 2, CV_MAT_ELEMS(object_points, i, 2));
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end;
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i := 0;
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While i < successes do
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begin // Çäåñü âñå òå æå ÷èñëà
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Inc(i);
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CV_MAT_ELEMI(point_counts2, i, 0, CV_MAT_ELEMI(point_counts, i, 0));
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end;
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cvReleaseMat(object_points);
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cvReleaseMat(image_points);
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cvReleaseMat(point_counts);
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// Äëÿ ýòèõ òî÷åê ìû èìååì âñå óãëû øàõìàòíîé äîñêè, êîòîðûå íàì íóæíû.
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// Èíèöèàëèçèðóåì ìàòðèöó âíóòðåííèõ ïàðàìåòðîâ òàê, ÷òî îáà ôîêàëüíûõ
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// ðàññòîÿíèÿ áóäóò èìåòü ñîîòíîøåíèå 1.0
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CV_MAT_ELEMS(intrinsic_matrix, 0, 0, 1);
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CV_MAT_ELEMS(intrinsic_matrix, 1, 1, 1);
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// ÊÀËÈÁÐÓÅÌ ÊÀÌÅÐÓ!
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cvCalibrateCamera2(object_points2, image_points2, point_counts2, cvGetSize(image), intrinsic_matrix,
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distortion_coeffs, nil, nil, 0, // CV_CALIB_FIX_ASPECT_RATIO
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cvTermCriteria(CV_TERMCRIT_ITER + CV_TERMCRIT_EPS, 30, DBL_EPSILON));
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// ÑÎÕÐÀÍßÅÌ ÂÍÓÒÐÅÍÍÈÅ ÏÀÐÀÌÅÒÐÛ È ÄÈÑÒÎÐÑÈÞ
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cvSave('Intrinsics.xml', intrinsic_matrix);
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cvSave('Distortion.xml', distortion_coeffs);
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// ÏÐÈÌÅÐ ÇÀÃÐÓÇÊÈ ÝÒÈÕ ÌÀÒÐÈÖ ÍÀÇÀÄ Â ÏÐÎÃÐÀÌÌÌÓ:
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intrinsic := cvLoad('Intrinsics.xml');
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Distortion := cvLoad('Distortion.xml');
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// Ñòðîèì êàðòó àíäèñòîðñèè, êîòîðóþ ìû áóäåì èñïîëüçîâàòü
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// äëÿ âñåõ ïîñëåäóþùèõ êàäðîâ.
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//
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mapx := cvCreateImage(cvGetSize(image), IPL_DEPTH_32F, 1);
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mapy := cvCreateImage(cvGetSize(image), IPL_DEPTH_32F, 1);
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cvInitUndistortMap(intrinsic, Distortion, mapx, mapy);
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// Òîëüêî êàìåðà ñíèìàåò, ñðàçó âèäèì ñûðîå
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// è íåèñêàæåííîå èçîáðàæåíèå.
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//
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cvNamedWindow('Undistort');
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while Assigned(image) do
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begin
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t := cvCloneImage(image);
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cvShowImage('Calibration', image); // Show raw image
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cvRemap(t, image, mapx, mapy, CV_INTER_LINEAR + CV_WARP_FILL_OUTLIERS, cvScalarAll(0)); // Undistort image
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cvReleaseImage(t);
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cvShowImage('Undistort', image); // Show corrected image
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// Handle pause/unpause and ESC
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c := cvWaitKey(15);
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if (c = Ord('p')) then
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begin
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c := 0;
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while (c <> Ord('p')) and (c <> 27) do
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begin
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c := cvWaitKey(250);
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end;
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end;
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if (c = 27) then
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break;
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image := cvQueryFrame(capture);
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end;
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except
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on E: Exception do
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Writeln(E.ClassName, ': ', E.Message);
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end;
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end.
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