mirror of
https://github.com/Laex/Delphi-OpenCV.git
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345 lines
13 KiB
ObjectPascal
345 lines
13 KiB
ObjectPascal
// *****************************************************************
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// Delphi-OpenCV Demo
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// Copyright (C) 2013 Project Delphi-OpenCV
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// ****************************************************************
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// Contributor:
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// Laentir Valetov
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// email:laex@bk.ru
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// ****************************************************************
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// You may retrieve the latest version of this file at the GitHub,
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// located at git://github.com/Laex/Delphi-OpenCV.git
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// ****************************************************************
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// The contents of this file are used with permission, subject to
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// the Mozilla Public License Version 1.1 (the "License"); you may
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// not use this file except in compliance with the License. You may
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// obtain a copy of the License at
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// http://www.mozilla.org/MPL/MPL-1_1Final.html
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//
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// Software distributed under the License is distributed on an
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// "AS IS" basis, WITHOUT WARRANTY OF ANY KIND, either express or
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// implied. See the License for the specific language governing
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// rights and limitations under the License.
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// *******************************************************************
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program CameraCalibrate;
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{$APPTYPE CONSOLE}
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{$POINTERMATH ON}
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{$R *.res}
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uses
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System.SysUtils,
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ocv.highgui_c,
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ocv.core_c,
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ocv.core.types_c,
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ocv.imgproc_c,
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ocv.imgproc.types_c,
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ocv.calib3d_c,
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uResourcePaths;
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var
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// Setting the input list //Ócòàíîâèì âõîäíîé cïècîê
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n_boards: Integer = 0;
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// We are waiting for 20 frames with views chessboard//Æäåì 20 ôðåéìîâ c âèäàìè øàõìàòíîé äîcêè
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board_dt: Integer = 20;
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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 = nil;
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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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RMS: double;
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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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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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end
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else
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begin
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board_w := 7;
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board_h := 3;
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n_boards := 10;
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end;
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board_n := board_w * board_h;
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Writeln('Cells: ', board_n);
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board_sz := cvSize(board_w, board_h);
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capture := cvCreateCameraCapture(CV_CAP_ANY);
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assert(Assigned(capture));
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cvNamedWindow('Calibration');
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// Allocates memory for data storage//ÂÛÄÅËßÅÌ ÏÀÌßÒü äëÿ õðàíåíèÿ äàííûõ
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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(TCvPoint2D32f) * 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 c ÓÃËÀÌÈ ÏÎÊÀ ÌÛ ÍÅ ÏËÎÓ×ÈÌ n_boards
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// ÏÎËÍÛÕ ÇÀÕÂÀÒÎÂ (ÂcÅ ÓÃËÛ ÍÀ ÄÎcÊÅ ÁÛËÈ ÍÀÉÄÅÍÛ)
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///
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// IMAGE CAPTURE in the cycles with angles until we got n_boards
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// Total capture (all the angles on the board WERE FOUND)
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while (successes < n_boards) do
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begin
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// Ïðîïócêàåì board_dt ôðåéìîâ, ïðåäîcòàâëåííûå ïîëüçîâàòåëåì, äâèãàþùèì äîcêó
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// Skip the "board_dt" frames supplied by the user to move the board
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if ((frame mod board_dt) = 0) then // At this point - the error is found and corrected CLubfitter73
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begin
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Writeln('Successes: ', successes);
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// Íàõîäèì óãëû øàõìàòíîé äîcêè
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// Find the corners of the chessboard
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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 cóáïèêcåëüíîé òî÷íîcòè íà ýòèõ óãëàõ
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// Getting a sub-pixel accuracy on these corners
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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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// Íàðècóåì ýòî
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// Let's draw it
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cvDrawChessboardCorners(image, board_sz, corners, corner_count, found);
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cvShowImage('Calibration', image);
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// Åcëè ìû ïîëó÷èëè õîðîøóþ äîcêó, äîáàâèì åå ê íàøèì äàííûì
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// If we got a good board, add it to our data
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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 // At this point - the error is found and corrected CLubfitter73
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begin
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pSingle(CV_MAT_ELEM(image_points^, SizeOf(Single), i, 0))^ := corners[j].x;
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pSingle(CV_MAT_ELEM(image_points^, SizeOf(Single), i, 1))^ := corners[j].y;
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// By default, the division operation returns Double
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// When implicitly cast the Double to Single - the result is zero
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// Integer to Double and Single given correctly
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//
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// Frans
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//
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pSingle(CV_MAT_ELEM(object_points^, SizeOf(Single), i, 0))^ := j mod board_w;
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pSingle(CV_MAT_ELEM(object_points^, SizeOf(Single), i, 1))^ := j div board_w;
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pSingle(CV_MAT_ELEM(object_points^, SizeOf(Single), i, 2))^ := 0;
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Inc(i);
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Inc(j);
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end;
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pInteger(CV_MAT_ELEM(point_counts^, SizeOf(Integer), 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(50);
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end;
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end;
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if (c = 27) then
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begin
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// release resources//îcâîáîæäàåì ðåcóðcû
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// cvReleaseImage(mapx); - This has zero//ýòà åùå íóëåâàÿ
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// cvReleaseImage(mapy); - This has zero//ýòà åùå íóëåâàÿ
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cvReleaseImage(gray_image);
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// cvReleaseImage(image); - this can not be//ýòîãî äåëàòü íåëüçÿ
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// cì. http://docs.ocv.org/modules/highgui/doc/reading_and_writing_images_and_video.html?highlight=cvqueryframe#IplImage*%20cvQueryFrame%28CvCapture*%20capture%29
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// Note
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// OpenCV 1.x functions cvRetrieveFrame and cv.RetrieveFrame return image
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// stored inside the video capturing structure. It is not allowed to modify
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// or release the image! You can copy the frame using cvCloneImage()
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// and then do whatever you want with the copy.
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//
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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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cvReleaseMat(intrinsic_matrix);
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cvReleaseMat(distortion_coeffs);
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cvReleaseCapture(capture);
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cvDestroyAllWindows;
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Halt;
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end;
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image := cvQueryFrame(capture); // We get the following picture//Ïîëó÷àåì cëåäóþùåå èçîáðàæåíèå
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Inc(frame); // At this point - the error is found and corrected CLubfitter73
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end;
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// ÂÛÄÅËßÅÌ ÌÀÒÐÈÖÛ Ê ÒÀÊÎÌÓ ÊÎËÈ×ÅcÒÂÓ ØÀÕÌÀÒÍÛÕ ÄÎcÊ, cÊÎËÜÊÎ ÁÛËÎ ÍÀÉÄÅÍÎ
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// MATRIX is allocated to that amount of a chessboard, how much was FOUND
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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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// Move point in the matrix of the correct size of
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// Íèæå ìû îïèøåì ýòî äåòàëüíî â cëåäóþùèõ äâóõ öèêëàõ.
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// Below, we describe it in detail in the next two cycles.
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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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pSingle(CV_MAT_ELEM(image_points2^, SizeOf(Single), i, 0))^ := pSingle(CV_MAT_ELEM(image_points^, SizeOf(Single), i, 0))^;
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pSingle(CV_MAT_ELEM(image_points2^, SizeOf(Single), i, 1))^ := pSingle(CV_MAT_ELEM(image_points^, SizeOf(Single), i, 1))^;
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pSingle(CV_MAT_ELEM(object_points2^, SizeOf(Single), i, 0))^ := pSingle(CV_MAT_ELEM(object_points^, SizeOf(Single), i, 0))^;
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pSingle(CV_MAT_ELEM(object_points2^, SizeOf(Single), i, 1))^ := pSingle(CV_MAT_ELEM(object_points^, SizeOf(Single), i, 1))^;
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pSingle(CV_MAT_ELEM(object_points2^, SizeOf(Single), i, 2))^ := pSingle(CV_MAT_ELEM(object_points^, SizeOf(Single), i, 2))^;
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Inc(i);
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end;
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i := 0;
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While i < successes do
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begin // There are the same number//Çäåcü âcå òå æå ÷ècëà
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pInteger(CV_MAT_ELEM(point_counts2^, SizeOf(Integer), i, 0))^ :=
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pInteger(CV_MAT_ELEM(point_counts^, SizeOf(Integer), i, 0))^;
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Inc(i);
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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 âcå óãëû øàõìàòíîé äîcêè, êîòîðûå íàì íóæíû.
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// Èíèöèàëèçèðóåì ìàòðèöó âíóòðåííèõ ïàðàìåòðîâ òàê, ÷òî îáà ôîêàëüíûõ
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// ðcccòîÿíèÿ áóäóò èìåòü cîîòíîøåíèå 1.0
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///
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// For these points we have all thumbnails corners of chess board that we need.
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// Initialize the matrix of internal parameters so that the two focal
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// Distance will have a ratio of 1.0
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cvZero(intrinsic_matrix);
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// pSingle(CV_MAT_ELEM(intrinsic_matrix^, CV_32FC1, 0, 0))^ := 1;
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// pSingle(CV_MAT_ELEM(intrinsic_matrix^, CV_32FC1, 1, 1))^ := 1;
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// pSingle(CV_MAT_ELEM(intrinsic_matrix^, CV_32FC1, 2, 2))^ := 1;
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// pSingle(CV_MAT_ELEM(intrinsic_matrix^, SizeOf(Single), 0, 0))^ := 520.0;
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// pSingle(CV_MAT_ELEM(intrinsic_matrix^, SizeOf(Single), 1, 1))^ := 520.0;
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// pSingle(CV_MAT_ELEM(intrinsic_matrix^, SizeOf(Single), 2, 2))^ := 1;
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// pSingle(CV_MAT_ELEM(intrinsic_matrix^, SizeOf(Single), 0, 2))^ := 70.0;
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// pSingle(CV_MAT_ELEM(intrinsic_matrix^, SizeOf(Single), 1, 2))^ := 70.0;
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// At this point - the error is found and corrected CLubfitter73
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pSingle(CV_MAT_ELEM(intrinsic_matrix^, SizeOf(Single), 0, 0))^ := 1;
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pSingle(CV_MAT_ELEM(intrinsic_matrix^, SizeOf(Single), 1, 1))^ := 1;
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for i := 0 to intrinsic_matrix^.rows - 1 do
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begin
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for j := 0 to intrinsic_matrix^.cols - 1 do
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Write(Format('%.0f ', [pSingle(CV_MAT_ELEM(intrinsic_matrix^, SizeOf(Single), i, j))^]));
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Writeln;
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end;
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Writeln;
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// ÊÀËÈÁÐÓÅÌ ÊÀÌÅÐÓ!
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// Calibrating the camera!
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RMS := cvCalibrateCamera2(object_points2, image_points2, point_counts2, cvGetSize(image), intrinsic_matrix,
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distortion_coeffs, nil, nil,
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// {}0,
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{} CV_CALIB_FIX_ASPECT_RATIO,
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// {}CV_CALIB_USE_INTRINSIC_GUESS,
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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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// Parameters and maintains internal distortion
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cvSave(cResourceResult + 'Intrinsics.xml', intrinsic_matrix);
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cvSave(cResourceResult + 'Distortion.xml', distortion_coeffs);
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// -------------------------------------------------------------
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// ÏÐÈÌÅÐ ÇÀÃÐÓÇÊÈ ÝÒÈÕ ÌÀÒÐÈÖ ÍÀÇÀÄ Â ÏÐÎÃÐÀÌÌÌÓ:
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// Loading examples of these matrices back into the program:
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intrinsic := cvLoad(cResourceResult + 'Intrinsics.xml');
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Distortion := cvLoad(cResourceResult + 'Distortion.xml');
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// còðîèì êàðòó àíäècòîðcèè, êîòîðóþ ìû áóäåì ècïîëüçîâàòü
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// äëÿ âcåõ ïîcëåäóþùèõ êàäðîâ.
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// Construct a map andictorcii, we will use for all pocleduyuschih frames.
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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 cíèìàåò, cðàçó âèäèì cûðîå
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// è íåècêàæåííîå èçîáðàæåíèå.
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// Display on the screen is what gets camera - raw image
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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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// release resources//îcâîáîæäàåì ðåcóðcû
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cvReleaseImage(mapx);
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cvReleaseImage(mapy);
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cvReleaseImage(gray_image);
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cvReleaseMat(intrinsic_matrix);
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cvReleaseMat(distortion_coeffs);
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cvReleaseMat(object_points2);
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cvReleaseMat(image_points2);
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cvReleaseMat(point_counts2);
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cvReleaseCapture(capture);
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cvDestroyAllWindows;
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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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