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example 10-01, Exercises_8_1, Readme
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,19 @@ | ||
| <?xml version="1.0"?> | ||
| <opencv_storage> | ||
| <image_width>1600</image_width> | ||
| <image_height>1200</image_height> | ||
| <camera_matrix type_id="opencv-matrix"> | ||
| <rows>3</rows> | ||
| <cols>3</cols> | ||
| <dt>d</dt> | ||
| <data> | ||
| 1.7473845059199218e+03 0. 800. 0. 1.7523330232672765e+03 600. 0. 0. | ||
| 1.</data></camera_matrix> | ||
| <distortion_coefficients type_id="opencv-matrix"> | ||
| <rows>1</rows> | ||
| <cols>5</cols> | ||
| <dt>d</dt> | ||
| <data> | ||
| 1.0558825619798969e-01 -1.2250501555283355e+00 0. 0. | ||
| 4.2302514361517840e+00</data></distortion_coefficients> | ||
| </opencv_storage> |
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|---|---|---|
| @@ -0,0 +1,169 @@ | ||
| //Example 19 - 1. Bird’s - eye view | ||
| #include <opencv2/opencv.hpp> | ||
| #include <iostream> | ||
| using namespace std; | ||
|
|
||
| void help(char *argv[]) { | ||
| cout << "\nExample 19-01, using homography to get a bird's eye view." | ||
| << "\nThis file relies on you having created an intrinsic file via example_18-01_from_disk" | ||
| << "\n but here, that file is already stored in ../birdseye/intrinsics.xml" | ||
| << "\nCall:" | ||
| << "\n./example_19-01 <chessboard_width> <chessboard_height> <path/camera_calib_filename> <path/chessboard_image>" | ||
| << "\n\nExample:" | ||
| << "\n./example_19-01 0 0 ../birdseye/intrinsics.xml ../birdseye\n" | ||
| << "\nPress 'd' for lower birdseye view, and 'u' for higher (it adjusts the apparent 'Z' height), Esc to exit\n" | ||
| << endl; | ||
| } | ||
|
|
||
| // args: [board_w] [board_h] [intrinsics.xml] [checker_image] | ||
| // | ||
| int main(int argc, char *argv[]) { | ||
| if (argc != 5) { | ||
| cout << "\nERROR: too few parameters\n"; | ||
| help(argv); | ||
| return -1; | ||
| } | ||
| // Input Parameters: | ||
| // | ||
| int board_w = atoi(argv[1]); | ||
| int board_h = atoi(argv[2]); | ||
| int board_n = board_w * board_h; | ||
| cv::Size board_sz(board_w, board_h); | ||
| cv::FileStorage fs(argv[3], cv::FileStorage::READ); | ||
| cv::Mat intrinsic, distortion; | ||
|
|
||
| fs["camera_matrix"] >> intrinsic; | ||
| fs["distortion_coefficients"] >> distortion; | ||
|
|
||
| if (!fs.isOpened() || intrinsic.empty() || distortion.empty()) { | ||
| cout << "Error: Couldn't load intrinsic parameters from " << argv[3] | ||
| << endl; | ||
| return -1; | ||
| } | ||
| fs.release(); | ||
|
|
||
| cv::Mat gray_image, image, image0 = cv::imread(argv[4], 1); | ||
| if (image0.empty()) { | ||
| cout << "Error: Couldn't load image " << argv[4] << endl; | ||
| return -1; | ||
| } | ||
|
|
||
| // UNDISTORT OUR IMAGE | ||
| // | ||
| cv::undistort(image0, image, intrinsic, distortion, intrinsic); | ||
| cv::cvtColor(image, gray_image, cv::COLOR_BGRA2GRAY); | ||
|
|
||
| // GET THE CHECKERBOARD ON THE PLANE | ||
| // | ||
| vector<cv::Point2f> corners; | ||
| bool found = cv::findChessboardCorners( // True if found | ||
| image, // Input image | ||
| board_sz, // Pattern size | ||
| corners, // Results | ||
| cv::CALIB_CB_ADAPTIVE_THRESH | cv::CALIB_CB_FILTER_QUADS); | ||
| if (!found) { | ||
| cout << "Couldn't acquire checkerboard on " << argv[4] << ", only found " | ||
| << corners.size() << " of " << board_n << " corners\n"; | ||
| return -1; | ||
| } | ||
|
|
||
| // Get Subpixel accuracy on those corners | ||
| // | ||
| cv::cornerSubPix( | ||
| gray_image, // Input image | ||
| corners, // Initial guesses, also output | ||
| cv::Size(11, 11), // Search window size | ||
| cv::Size(-1, -1), // Zero zone (in this case, don't use) | ||
| cv::TermCriteria(cv::TermCriteria::EPS | cv::TermCriteria::COUNT, 30, | ||
| 0.1)); | ||
|
|
||
| // GET THE IMAGE AND OBJECT POINTS: | ||
| // Object points are at (r,c): | ||
| // (0,0), (board_w-1,0), (0,board_h-1), (board_w-1,board_h-1) | ||
| // That means corners are at: corners[r*board_w + c] | ||
| // | ||
| cv::Point2f objPts[4], imgPts[4]; | ||
| objPts[0].x = 0; | ||
| objPts[0].y = 0; | ||
| objPts[1].x = board_w - 1; | ||
| objPts[1].y = 0; | ||
| objPts[2].x = 0; | ||
| objPts[2].y = board_h - 1; | ||
| objPts[3].x = board_w - 1; | ||
| objPts[3].y = board_h - 1; | ||
| imgPts[0] = corners[0]; | ||
| imgPts[1] = corners[board_w - 1]; | ||
| imgPts[2] = corners[(board_h - 1) * board_w]; | ||
| imgPts[3] = corners[(board_h - 1) * board_w + board_w - 1]; | ||
|
|
||
| // DRAW THE POINTS in order: B,G,R,YELLOW | ||
| // | ||
| cv::circle(image, imgPts[0], 9, cv::Scalar(255, 0, 0), 3); | ||
| cv::circle(image, imgPts[1], 9, cv::Scalar(0, 255, 0), 3); | ||
| cv::circle(image, imgPts[2], 9, cv::Scalar(0, 0, 255), 3); | ||
| cv::circle(image, imgPts[3], 9, cv::Scalar(0, 255, 255), 3); | ||
|
|
||
| // DRAW THE FOUND CHECKERBOARD | ||
| // | ||
| cv::drawChessboardCorners(image, board_sz, corners, found); | ||
| cv::imshow("Checkers", image); | ||
|
|
||
| // FIND THE HOMOGRAPHY | ||
| // | ||
| cv::Mat H = cv::getPerspectiveTransform(objPts, imgPts); | ||
|
|
||
| // LET THE USER ADJUST THE Z HEIGHT OF THE VIEW | ||
| // | ||
| cout << "\nPress 'd' for lower birdseye view, and 'u' for higher (it adjusts the apparent 'Z' height), Esc to exit" << endl; | ||
| double Z = 25; | ||
| cv::Mat birds_image; | ||
| for (;;) { | ||
| // escape key stops | ||
| H.at<double>(2, 2) = Z; | ||
| // USE HOMOGRAPHY TO REMAP THE VIEW | ||
| // | ||
| cv::warpPerspective(image, // Source image | ||
| birds_image, // Output image | ||
| H, // Transformation matrix | ||
| image.size(), // Size for output image | ||
| cv::WARP_INVERSE_MAP | cv::INTER_LINEAR, | ||
| cv::BORDER_CONSTANT, cv::Scalar::all(0) // Fill border with black | ||
| ); | ||
| cv::imshow("Birds_Eye", birds_image); | ||
| int key = cv::waitKey() & 255; | ||
| if (key == 'u') | ||
| Z += 0.5; | ||
| if (key == 'd') | ||
| Z -= 0.5; | ||
| if (key == 27) | ||
| break; | ||
| } | ||
|
|
||
| // SHOW ROTATION AND TRANSLATION VECTORS | ||
| // | ||
| vector<cv::Point2f> image_points; | ||
| vector<cv::Point3f> object_points; | ||
| for (int i = 0; i < 4; ++i) { | ||
| image_points.push_back(imgPts[i]); | ||
| object_points.push_back(cv::Point3f(objPts[i].x, objPts[i].y, 0)); | ||
| } | ||
| cv::Mat rvec, tvec, rmat; | ||
| cv::solvePnP(object_points, // 3-d points in object coordinate | ||
| image_points, // 2-d points in image coordinates | ||
| intrinsic, // Our camera matrix | ||
| cv::Mat(), // Since we corrected distortion in the | ||
| // beginning,now we have zero distortion | ||
| // coefficients | ||
| rvec, // Output rotation *vector*. | ||
| tvec // Output translation vector. | ||
| ); | ||
| cv::Rodrigues(rvec, rmat); | ||
|
|
||
| // PRINT AND EXIT | ||
| cout << "rotation matrix: " << rmat << endl; | ||
| cout << "translation vector: " << tvec << endl; | ||
| cout << "homography matrix: " << H << endl; | ||
| cout << "inverted homography matrix: " << H.inv() << endl; | ||
|
|
||
| return 1; | ||
| } |