+++ /dev/null
-/*M///////////////////////////////////////////////////////////////////////////////////////
-//
-// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
-//
-// By downloading, copying, installing or using the software you agree to this license.
-// If you do not agree to this license, do not download, install,
-// copy or use the software.
-//
-//
-// Intel License Agreement
-// For Open Source Computer Vision Library
-//
-// Copyright (C) 2002, Intel Corporation, all rights reserved.
-// Third party copyrights are property of their respective owners.
-//
-// Redistribution and use in source and binary forms, with or without modification,
-// are permitted provided that the following conditions are met:
-//
-// * Redistributions of source code must retain the above copyright notice,
-// this list of conditions and the following disclaimer.
-//
-// * Redistributions in binary form must reproduce the above copyright notice,
-// this list of conditions and the following disclaimer in the documentation
-// and/or other materials provided with the distribution.
-//
-// * The name of Intel Corporation may not be used to endorse or promote products
-// derived from this software without specific prior written permission.
-//
-// This software is provided by the copyright holders and contributors "as is" and
-// any express or implied warranties, including, but not limited to, the implied
-// warranties of merchantability and fitness for a particular purpose are disclaimed.
-// In no event shall the Intel Corporation or contributors be liable for any direct,
-// indirect, incidental, special, exemplary, or consequential damages
-// (including, but not limited to, procurement of substitute goods or services;
-// loss of use, data, or profits; or business interruption) however caused
-// and on any theory of liability, whether in contract, strict liability,
-// or tort (including negligence or otherwise) arising in any way out of
-// the use of this software, even if advised of the possibility of such damage.
-//
-//M*/
-
-#include "_cvaux.h"
-
-#if _MSC_VER >= 1200
-#pragma warning(disable:4786) // Disable MSVC warnings in the standard library.
-#pragma warning(disable:4100)
-#pragma warning(disable:4512)
-#endif
-#include <stdio.h>
-#include <map>
-#include <algorithm>
-#if _MSC_VER >= 1200
-#pragma warning(default:4100)
-#pragma warning(default:4512)
-#endif
-
-#define ARRAY_SIZEOF(a) (sizeof(a)/sizeof((a)[0]))
-
-static void FillObjectPoints(CvPoint3D32f *obj_points, CvSize etalon_size, float square_size);
-static void DrawEtalon(IplImage *img, CvPoint2D32f *corners,
- int corner_count, CvSize etalon_size, int draw_ordered);
-static void MultMatrix(float rm[4][4], const float m1[4][4], const float m2[4][4]);
-static void MultVectorMatrix(float rv[4], const float v[4], const float m[4][4]);
-static CvPoint3D32f ImageCStoWorldCS(const Cv3dTrackerCameraInfo &camera_info, CvPoint2D32f p);
-static bool intersection(CvPoint3D32f o1, CvPoint3D32f p1,
- CvPoint3D32f o2, CvPoint3D32f p2,
- CvPoint3D32f &r1, CvPoint3D32f &r2);
-
-/////////////////////////////////
-// cv3dTrackerCalibrateCameras //
-/////////////////////////////////
-CV_IMPL CvBool cv3dTrackerCalibrateCameras(int num_cameras,
- const Cv3dTrackerCameraIntrinsics camera_intrinsics[], // size is num_cameras
- CvSize etalon_size,
- float square_size,
- IplImage *samples[], // size is num_cameras
- Cv3dTrackerCameraInfo camera_info[]) // size is num_cameras
-{
- CV_FUNCNAME("cv3dTrackerCalibrateCameras");
- const int num_points = etalon_size.width * etalon_size.height;
- int cameras_done = 0; // the number of cameras whose positions have been determined
- CvPoint3D32f *object_points = NULL; // real-world coordinates of checkerboard points
- CvPoint2D32f *points = NULL; // 2d coordinates of checkerboard points as seen by a camera
- IplImage *gray_img = NULL; // temporary image for color conversion
- IplImage *tmp_img = NULL; // temporary image used by FindChessboardCornerGuesses
- int c, i, j;
-
- if (etalon_size.width < 3 || etalon_size.height < 3)
- CV_ERROR(CV_StsBadArg, "Chess board size is invalid");
-
- for (c = 0; c < num_cameras; c++)
- {
- // CV_CHECK_IMAGE is not available in the cvaux library
- // so perform the checks inline.
-
- //CV_CALL(CV_CHECK_IMAGE(samples[c]));
-
- if( samples[c] == NULL )
- CV_ERROR( CV_HeaderIsNull, "Null image" );
-
- if( samples[c]->dataOrder != IPL_DATA_ORDER_PIXEL && samples[c]->nChannels > 1 )
- CV_ERROR( CV_BadOrder, "Unsupported image format" );
-
- if( samples[c]->maskROI != 0 || samples[c]->tileInfo != 0 )
- CV_ERROR( CV_StsBadArg, "Unsupported image format" );
-
- if( samples[c]->imageData == 0 )
- CV_ERROR( CV_BadDataPtr, "Null image data" );
-
- if( samples[c]->roi &&
- ((samples[c]->roi->xOffset | samples[c]->roi->yOffset
- | samples[c]->roi->width | samples[c]->roi->height) < 0 ||
- samples[c]->roi->xOffset + samples[c]->roi->width > samples[c]->width ||
- samples[c]->roi->yOffset + samples[c]->roi->height > samples[c]->height ||
- (unsigned) (samples[c]->roi->coi) > (unsigned) (samples[c]->nChannels)))
- CV_ERROR( CV_BadROISize, "Invalid ROI" );
-
- // End of CV_CHECK_IMAGE inline expansion
-
- if (samples[c]->depth != IPL_DEPTH_8U)
- CV_ERROR(CV_BadDepth, "Channel depth of source image must be 8");
-
- if (samples[c]->nChannels != 3 && samples[c]->nChannels != 1)
- CV_ERROR(CV_BadNumChannels, "Source image must have 1 or 3 channels");
- }
-
- CV_CALL(object_points = (CvPoint3D32f *)cvAlloc(num_points * sizeof(CvPoint3D32f)));
- CV_CALL(points = (CvPoint2D32f *)cvAlloc(num_points * sizeof(CvPoint2D32f)));
-
- // fill in the real-world coordinates of the checkerboard points
- FillObjectPoints(object_points, etalon_size, square_size);
-
- for (c = 0; c < num_cameras; c++)
- {
- CvSize image_size = cvSize(samples[c]->width, samples[c]->height);
- IplImage *img;
-
- // The input samples are not required to all have the same size or color
- // format. If they have different sizes, the temporary images are
- // reallocated as necessary.
- if (samples[c]->nChannels == 3)
- {
- // convert to gray
- if (gray_img == NULL || gray_img->width != samples[c]->width ||
- gray_img->height != samples[c]->height )
- {
- if (gray_img != NULL)
- cvReleaseImage(&gray_img);
- CV_CALL(gray_img = cvCreateImage(image_size, IPL_DEPTH_8U, 1));
- }
-
- CV_CALL(cvCvtColor(samples[c], gray_img, CV_BGR2GRAY));
-
- img = gray_img;
- }
- else
- {
- // no color conversion required
- img = samples[c];
- }
-
- if (tmp_img == NULL || tmp_img->width != samples[c]->width ||
- tmp_img->height != samples[c]->height )
- {
- if (tmp_img != NULL)
- cvReleaseImage(&tmp_img);
- CV_CALL(tmp_img = cvCreateImage(image_size, IPL_DEPTH_8U, 1));
- }
-
- int count = num_points;
- bool found = cvFindChessBoardCornerGuesses(img, tmp_img, 0,
- etalon_size, points, &count) != 0;
- if (count == 0)
- continue;
-
- // If found is true, it means all the points were found (count = num_points).
- // If found is false but count is non-zero, it means that not all points were found.
-
- cvFindCornerSubPix(img, points, count, cvSize(5,5), cvSize(-1,-1),
- cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS, 10, 0.01f));
-
- // If the image origin is BL (bottom-left), fix the y coordinates
- // so they are relative to the true top of the image.
- if (samples[c]->origin == IPL_ORIGIN_BL)
- {
- for (i = 0; i < count; i++)
- points[i].y = samples[c]->height - 1 - points[i].y;
- }
-
- if (found)
- {
- // Make sure x coordinates are increasing and y coordinates are decreasing.
- // (The y coordinate of point (0,0) should be the greatest, because the point
- // on the checkerboard that is the origin is nearest the bottom of the image.)
- // This is done after adjusting the y coordinates according to the image origin.
- if (points[0].x > points[1].x)
- {
- // reverse points in each row
- for (j = 0; j < etalon_size.height; j++)
- {
- CvPoint2D32f *row = &points[j*etalon_size.width];
- for (i = 0; i < etalon_size.width/2; i++)
- std::swap(row[i], row[etalon_size.width-i-1]);
- }
- }
-
- if (points[0].y < points[etalon_size.width].y)
- {
- // reverse points in each column
- for (i = 0; i < etalon_size.width; i++)
- {
- for (j = 0; j < etalon_size.height/2; j++)
- std::swap(points[i+j*etalon_size.width],
- points[i+(etalon_size.height-j-1)*etalon_size.width]);
- }
- }
- }
-
- DrawEtalon(samples[c], points, count, etalon_size, found);
-
- if (!found)
- continue;
-
- float rotVect[3];
- float rotMatr[9];
- float transVect[3];
-
- cvFindExtrinsicCameraParams(count,
- image_size,
- points,
- object_points,
- const_cast<float *>(camera_intrinsics[c].focal_length),
- camera_intrinsics[c].principal_point,
- const_cast<float *>(camera_intrinsics[c].distortion),
- rotVect,
- transVect);
-
- // Check result against an arbitrary limit to eliminate impossible values.
- // (If the chess board were truly that far away, the camera wouldn't be able to
- // see the squares.)
- if (transVect[0] > 1000*square_size
- || transVect[1] > 1000*square_size
- || transVect[2] > 1000*square_size)
- {
- // ignore impossible results
- continue;
- }
-
- CvMat rotMatrDescr = cvMat(3, 3, CV_32FC1, rotMatr);
- CvMat rotVectDescr = cvMat(3, 1, CV_32FC1, rotVect);
-
- /* Calc rotation matrix by Rodrigues Transform */
- cvRodrigues2( &rotVectDescr, &rotMatrDescr );
-
- //combine the two transformations into one matrix
- //order is important! rotations are not commutative
- float tmat[4][4] = { { 1.f, 0.f, 0.f, 0.f },
- { 0.f, 1.f, 0.f, 0.f },
- { 0.f, 0.f, 1.f, 0.f },
- { transVect[0], transVect[1], transVect[2], 1.f } };
-
- float rmat[4][4] = { { rotMatr[0], rotMatr[1], rotMatr[2], 0.f },
- { rotMatr[3], rotMatr[4], rotMatr[5], 0.f },
- { rotMatr[6], rotMatr[7], rotMatr[8], 0.f },
- { 0.f, 0.f, 0.f, 1.f } };
-
-
- MultMatrix(camera_info[c].mat, tmat, rmat);
-
- // change the transformation of the cameras to put them in the world coordinate
- // system we want to work with.
-
- // Start with an identity matrix; then fill in the values to accomplish
- // the desired transformation.
- float smat[4][4] = { { 1.f, 0.f, 0.f, 0.f },
- { 0.f, 1.f, 0.f, 0.f },
- { 0.f, 0.f, 1.f, 0.f },
- { 0.f, 0.f, 0.f, 1.f } };
-
- // First, reflect through the origin by inverting all three axes.
- smat[0][0] = -1.f;
- smat[1][1] = -1.f;
- smat[2][2] = -1.f;
- MultMatrix(tmat, camera_info[c].mat, smat);
-
- // Scale x and y coordinates by the focal length (allowing for non-square pixels
- // and/or non-symmetrical lenses).
- smat[0][0] = 1.0f / camera_intrinsics[c].focal_length[0];
- smat[1][1] = 1.0f / camera_intrinsics[c].focal_length[1];
- smat[2][2] = 1.0f;
- MultMatrix(camera_info[c].mat, smat, tmat);
-
- camera_info[c].principal_point = camera_intrinsics[c].principal_point;
- camera_info[c].valid = true;
-
- cameras_done++;
- }
-
-exit:
- cvReleaseImage(&gray_img);
- cvReleaseImage(&tmp_img);
- cvFree(&object_points);
- cvFree(&points);
-
- return cameras_done == num_cameras;
-}
-
-// fill in the real-world coordinates of the checkerboard points
-static void FillObjectPoints(CvPoint3D32f *obj_points, CvSize etalon_size, float square_size)
-{
- int x, y, i;
-
- for (y = 0, i = 0; y < etalon_size.height; y++)
- {
- for (x = 0; x < etalon_size.width; x++, i++)
- {
- obj_points[i].x = square_size * x;
- obj_points[i].y = square_size * y;
- obj_points[i].z = 0;
- }
- }
-}
-
-
-// Mark the points found on the input image
-// The marks are drawn multi-colored if all the points were found.
-static void DrawEtalon(IplImage *img, CvPoint2D32f *corners,
- int corner_count, CvSize etalon_size, int draw_ordered)
-{
- const int r = 4;
- int i;
- int x, y;
- CvPoint prev_pt = { 0, 0 };
- static const CvScalar rgb_colors[] = {
- {{0,0,255}},
- {{0,128,255}},
- {{0,200,200}},
- {{0,255,0}},
- {{200,200,0}},
- {{255,0,0}},
- {{255,0,255}} };
- static const CvScalar gray_colors[] = {
- {{80}}, {{120}}, {{160}}, {{200}}, {{100}}, {{140}}, {{180}}
- };
- const CvScalar* colors = img->nChannels == 3 ? rgb_colors : gray_colors;
-
- CvScalar color = colors[0];
- for (y = 0, i = 0; y < etalon_size.height; y++)
- {
- if (draw_ordered)
- color = colors[y % ARRAY_SIZEOF(rgb_colors)];
-
- for (x = 0; x < etalon_size.width && i < corner_count; x++, i++)
- {
- CvPoint pt;
- pt.x = cvRound(corners[i].x);
- pt.y = cvRound(corners[i].y);
- if (img->origin == IPL_ORIGIN_BL)
- pt.y = img->height - 1 - pt.y;
-
- if (draw_ordered)
- {
- if (i != 0)
- cvLine(img, prev_pt, pt, color, 1, CV_AA);
- prev_pt = pt;
- }
-
- cvLine( img, cvPoint(pt.x - r, pt.y - r),
- cvPoint(pt.x + r, pt.y + r), color, 1, CV_AA );
- cvLine( img, cvPoint(pt.x - r, pt.y + r),
- cvPoint(pt.x + r, pt.y - r), color, 1, CV_AA );
- cvCircle( img, pt, r+1, color, 1, CV_AA );
- }
- }
-}
-
-// Find the midpoint of the line segment between two points.
-static CvPoint3D32f midpoint(const CvPoint3D32f &p1, const CvPoint3D32f &p2)
-{
- return cvPoint3D32f((p1.x+p2.x)/2, (p1.y+p2.y)/2, (p1.z+p2.z)/2);
-}
-
-static void operator +=(CvPoint3D32f &p1, const CvPoint3D32f &p2)
-{
- p1.x += p2.x;
- p1.y += p2.y;
- p1.z += p2.z;
-}
-
-static CvPoint3D32f operator /(const CvPoint3D32f &p, int d)
-{
- return cvPoint3D32f(p.x/d, p.y/d, p.z/d);
-}
-
-static const Cv3dTracker2dTrackedObject *find(const Cv3dTracker2dTrackedObject v[], int num_objects, int id)
-{
- for (int i = 0; i < num_objects; i++)
- {
- if (v[i].id == id)
- return &v[i];
- }
- return NULL;
-}
-
-#define CAMERA_POS(c) (cvPoint3D32f((c).mat[3][0], (c).mat[3][1], (c).mat[3][2]))
-
-//////////////////////////////
-// cv3dTrackerLocateObjects //
-//////////////////////////////
-CV_IMPL int cv3dTrackerLocateObjects(int num_cameras, int num_objects,
- const Cv3dTrackerCameraInfo camera_info[], // size is num_cameras
- const Cv3dTracker2dTrackedObject tracking_info[], // size is num_objects*num_cameras
- Cv3dTrackerTrackedObject tracked_objects[]) // size is num_objects
-{
- /*CV_FUNCNAME("cv3dTrackerLocateObjects");*/
- int found_objects = 0;
-
- // count how many cameras could see each object
- std::map<int, int> count;
- for (int c = 0; c < num_cameras; c++)
- {
- if (!camera_info[c].valid)
- continue;
-
- for (int i = 0; i < num_objects; i++)
- {
- const Cv3dTracker2dTrackedObject *o = &tracking_info[c*num_objects+i];
- if (o->id != -1)
- count[o->id]++;
- }
- }
-
- // process each object that was seen by at least two cameras
- for (std::map<int, int>::iterator i = count.begin(); i != count.end(); i++)
- {
- if (i->second < 2)
- continue; // ignore object seen by only one camera
- int id = i->first;
-
- // find an approximation of the objects location for each pair of cameras that
- // could see this object, and average them
- CvPoint3D32f total = cvPoint3D32f(0, 0, 0);
- int weight = 0;
-
- for (int c1 = 0; c1 < num_cameras-1; c1++)
- {
- if (!camera_info[c1].valid)
- continue;
-
- const Cv3dTracker2dTrackedObject *o1 = find(&tracking_info[c1*num_objects],
- num_objects, id);
- if (o1 == NULL)
- continue; // this camera didn't see this object
-
- CvPoint3D32f p1a = CAMERA_POS(camera_info[c1]);
- CvPoint3D32f p1b = ImageCStoWorldCS(camera_info[c1], o1->p);
-
- for (int c2 = c1 + 1; c2 < num_cameras; c2++)
- {
- if (!camera_info[c2].valid)
- continue;
-
- const Cv3dTracker2dTrackedObject *o2 = find(&tracking_info[c2*num_objects],
- num_objects, id);
- if (o2 == NULL)
- continue; // this camera didn't see this object
-
- CvPoint3D32f p2a = CAMERA_POS(camera_info[c2]);
- CvPoint3D32f p2b = ImageCStoWorldCS(camera_info[c2], o2->p);
-
- // these variables are initialized simply to avoid erroneous error messages
- // from the compiler
- CvPoint3D32f r1 = cvPoint3D32f(0, 0, 0);
- CvPoint3D32f r2 = cvPoint3D32f(0, 0, 0);
-
- // find the intersection of the two lines (or the points of closest
- // approach, if they don't intersect)
- if (!intersection(p1a, p1b, p2a, p2b, r1, r2))
- continue;
-
- total += midpoint(r1, r2);
- weight++;
- }
- }
-
- CvPoint3D32f center = total/weight;
- tracked_objects[found_objects++] = cv3dTrackerTrackedObject(id, center);
- }
-
- return found_objects;
-}
-
-#define EPS 1e-9
-
-// Compute the determinant of the 3x3 matrix represented by 3 row vectors.
-static inline double det(CvPoint3D32f v1, CvPoint3D32f v2, CvPoint3D32f v3)
-{
- return v1.x*v2.y*v3.z + v1.z*v2.x*v3.y + v1.y*v2.z*v3.x
- - v1.z*v2.y*v3.x - v1.x*v2.z*v3.y - v1.y*v2.x*v3.z;
-}
-
-static CvPoint3D32f operator +(CvPoint3D32f a, CvPoint3D32f b)
-{
- return cvPoint3D32f(a.x + b.x, a.y + b.y, a.z + b.z);
-}
-
-static CvPoint3D32f operator -(CvPoint3D32f a, CvPoint3D32f b)
-{
- return cvPoint3D32f(a.x - b.x, a.y - b.y, a.z - b.z);
-}
-
-static CvPoint3D32f operator *(CvPoint3D32f v, double f)
-{
- return cvPoint3D32f(f*v.x, f*v.y, f*v.z);
-}
-
-
-// Find the intersection of two lines, or if they don't intersect,
-// the points of closest approach.
-// The lines are defined by (o1,p1) and (o2, p2).
-// If they intersect, r1 and r2 will be the same.
-// Returns false on error.
-static bool intersection(CvPoint3D32f o1, CvPoint3D32f p1,
- CvPoint3D32f o2, CvPoint3D32f p2,
- CvPoint3D32f &r1, CvPoint3D32f &r2)
-{
- CvPoint3D32f x = o2 - o1;
- CvPoint3D32f d1 = p1 - o1;
- CvPoint3D32f d2 = p2 - o2;
-
- CvPoint3D32f cross = cvPoint3D32f(d1.y*d2.z - d1.z*d2.y,
- d1.z*d2.x - d1.x*d2.z,
- d1.x*d2.y - d1.y*d2.x);
- double den = cross.x*cross.x + cross.y*cross.y + cross.z*cross.z;
-
- if (den < EPS)
- return false;
-
- double t1 = det(x, d2, cross) / den;
- double t2 = det(x, d1, cross) / den;
-
- r1 = o1 + d1 * t1;
- r2 = o2 + d2 * t2;
-
- return true;
-}
-
-// Convert from image to camera space by transforming point p in
-// the image plane by the camera matrix.
-static CvPoint3D32f ImageCStoWorldCS(const Cv3dTrackerCameraInfo &camera_info, CvPoint2D32f p)
-{
- float tp[4];
- tp[0] = (float)p.x - camera_info.principal_point.x;
- tp[1] = (float)p.y - camera_info.principal_point.y;
- tp[2] = 1.f;
- tp[3] = 1.f;
-
- float tr[4];
- //multiply tp by mat to get tr
- MultVectorMatrix(tr, tp, camera_info.mat);
-
- return cvPoint3D32f(tr[0]/tr[3], tr[1]/tr[3], tr[2]/tr[3]);
-}
-
-// Multiply affine transformation m1 by the affine transformation m2 and
-// return the result in rm.
-static void MultMatrix(float rm[4][4], const float m1[4][4], const float m2[4][4])
-{
- for (int i=0; i<=3; i++)
- for (int j=0; j<=3; j++)
- {
- rm[i][j]= 0.0;
- for (int k=0; k <= 3; k++)
- rm[i][j] += m1[i][k]*m2[k][j];
- }
-}
-
-// Multiply the vector v by the affine transformation matrix m and return the
-// result in rv.
-void MultVectorMatrix(float rv[4], const float v[4], const float m[4][4])
-{
- for (int i=0; i<=3; i++)
- {
- rv[i] = 0.f;
- for (int j=0;j<=3;j++)
- rv[i] += v[j] * m[j][i];
- }
-}
projects / opencv / blobdiff