private void monoCameraCalibrateButton_Click(object sender, EventArgs e)
{
this.calibrationStatusLabel.Invoke((MethodInvoker)delegate { this.Text = "calibrating..."; });
this.MonoCalibTestFiles = Directory.GetFiles(this.MonoCalibTestFolder).ToList();
var calibData = new MonoCameraCalibrationData()
{
SquareSize = 1.0,
SampleImagesNames = this.MonoCalibTestFiles,
BoardSquareSize = new Size(9, 6)
};
var cameraRes = this.odometerCalibrator.CalibrateMono(calibData);
this.MonoCameraParams = cameraRes;
//var img = new Image<Bgr, byte>(images[0]);
//var undistRes = cameraRes.IntrinsicCameraParameters.Undistort(img);
this.calibrationStatusLabel.Text = "calibrated!";
}
public MonoCameraParams CalibrateMono(MonoCameraCalibrationData calibData)
{
var imgCount = calibData.SampleImagesNames.Count;
var imagePoints = new List<List<PointF>>();
int foundImagesCount = 0;
Size? imgSize = null;
for (int i = 0; i < imgCount; ++i)
{
String fileName = calibData.SampleImagesNames[i];
var image = new Image<Bgr, byte>(fileName);
if (imgSize == null)
{
imgSize = image.Size;
}
else if(!image.Size.Equals(imgSize.Value))
{
//TODO: maybe implement scaling to the right size, who knows...
continue;
}
PointF[] corners = null;
//
Image<Bgr, byte> tImg = image;
corners = CameraCalibration.FindChessboardCorners(
tImg.Convert<Gray, byte>(),
calibData.BoardSquareSize,
CALIB_CB_TYPE.ADAPTIVE_THRESH | CALIB_CB_TYPE.NORMALIZE_IMAGE
);
//TODO: implement scaling if not found
bool found = (corners != null && corners.Count() != 0);
if (found)
{
var subCorners = new PointF[1][];
subCorners[0] = corners.ToArray();
image.Convert<Gray, byte>().FindCornerSubPix(
subCorners,
new Size(11, 11),
new Size(-1, -1),
new MCvTermCriteria(30, 0.01));
corners = subCorners[0];
imagePoints.Add(new List<PointF>(corners));
++foundImagesCount;
}
//
}
var objectPoints = new List<List<MCvPoint3D32f>>();
for (int i = 0; i < foundImagesCount; ++i)
{
objectPoints.Add(new List<MCvPoint3D32f>());
for (int j = 0; j < calibData.BoardSquareSize.Height; ++j)
{
for (int k = 0; k < calibData.BoardSquareSize.Width; ++k)
{
objectPoints[i].Add(new MCvPoint3D32f((float)(j * calibData.SquareSize), (float)(k * calibData.SquareSize), 0));
}
}
}
var objectPointsArray = objectPoints.Select(x => x.ToArray()).ToArray();
var imagePointsArray = imagePoints.Select(x => x.ToArray()).ToArray();
var intrinsicCameraParameters = new IntrinsicCameraParameters(8);
ExtrinsicCameraParameters[] extrinsicParams;
CameraCalibration.CalibrateCamera(
objectPointsArray,
imagePointsArray,
imgSize.Value,
intrinsicCameraParameters,
CALIB_TYPE.DEFAULT,
new MCvTermCriteria(100, 1e-5),
out extrinsicParams
);
return new MonoCameraParams()
{
ExtrinsicCameraParameters = extrinsicParams,
IntrinsicCameraParameters = intrinsicCameraParameters
};
}