ExtrinsicParameterCalculatorCV.cpp

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// Filename:  ExtrinsicParameterCalculatorCV.cpp
// Author:    Pedram Azad
// Date:      27.03.2007
// ****************************************************************************


// ****************************************************************************
// Includes
// ****************************************************************************

#include <new> // for explicitly using correct new/delete operators on VC DSPs

#include "ExtrinsicParameterCalculatorCV.h"
#include "Image/PrimitivesDrawerCV.h"
#include "Image/PrimitivesDrawer.h"
#include "Image/ImageProcessor.h"
#include "Image/IplImageAdaptor.h"
#include "Image/ByteImage.h"
#include "Calibration/Calibration.h"
#include "Math/Math3d.h"
#include "Math/Math2d.h"
#include "Helpers/helpers.h"

#include <stdio.h>
#include <opencv2/legacy/compat.hpp>


// ****************************************************************************
// Functions
// ****************************************************************************

bool ExtrinsicParameterCalculatorCV::GetPointsAndTranslationAndRotation(const CCalibration *pCalibration,
                const CByteImage *pImage, int nColumns, int nRows, float fSquareSize, // input
                Vec2d *pPoints, Mat3d &rotation, Vec3d &translation) // output
{
        CByteImage gray_image(pImage->width, pImage->height, CByteImage::eGrayScale);
        CByteImage temp_image(&gray_image);
        
        ImageProcessor::ConvertImage(pImage, &gray_image);

        IplImage *pIplImage = IplImageAdaptor::Adapt(&gray_image);
        IplImage *pIplTempImage = IplImageAdaptor::Adapt(&temp_image);
        CvMemStorage *pStorage = cvCreateMemStorage();

        CvPoint2D32f *pIplPoints = new CvPoint2D32f[nColumns * nRows];

        int nPoints = 0;

        if (cvFindChessBoardCornerGuesses(pIplImage, pIplTempImage, pStorage, 
                cvSize(nColumns - 1, nRows - 1), pIplPoints, &nPoints) == 0 ||
                nPoints != (nRows - 1) * (nColumns - 1))
        {
                // free memory
                cvReleaseImageHeader(&pIplImage);
                cvReleaseImageHeader(&pIplTempImage);
                cvReleaseMemStorage(&pStorage);
                delete [] pIplPoints;
                return false;
        }

        cvFindCornerSubPix(pIplImage, pIplPoints, nPoints,
                                                        cvSize(5, 5), cvSize(-1, -1),
                                                        cvTermCriteria(CV_TERMCRIT_ITER |CV_TERMCRIT_EPS, 10, 0.1));

        const CCalibration::CCameraParameters &cameraParameters = pCalibration->GetCameraParameters();

        float distortion[] = { (float) cameraParameters.distortion[0], (float) cameraParameters.distortion[1], (float) cameraParameters.distortion[2], (float) cameraParameters.distortion[3] };
        float focalLength[] = { (float) cameraParameters.focalLength.x, (float) cameraParameters.focalLength.y };
        CvPoint2D32f principalPoint;
        float rotationVector[3];
        float translationVector[3];

        principalPoint.x = (float) cameraParameters.principalPoint.x;
        principalPoint.y = (float) cameraParameters.principalPoint.y;

        CvPoint3D32f *pIplObjectPoints = (CvPoint3D32f *) malloc(nPoints * sizeof(CvPoint3D32f));

        int i = 0;
        for (int y = 0; y < nRows - 1; y++)
                for (int x = 0; x < nColumns - 1; x++, i++)
                {
                        pIplObjectPoints[i].x = fSquareSize * x;
                        pIplObjectPoints[i].y = fSquareSize * y;
                        pIplObjectPoints[i].z = 0;
                }

        cvFindExtrinsicCameraParams(nPoints,
                                cvSize(pImage->width, pImage->height),
                                pIplPoints,
                                                                pIplObjectPoints,
                                focalLength,
                                                                principalPoint,
                                                                distortion,
                                                                rotationVector,
                                                                translationVector);

        float rotationMatrix[9];

        CvMat rmat = cvMat(3, 3, CV_32FC1, rotationMatrix);
        CvMat rvec = cvMat(3, 1, CV_32FC1, rotationVector);
        cvRodrigues(&rmat, &rvec, 0, CV_RODRIGUES_V2M);

        // result:

        // translation
        Math3d::SetVec(translation, translationVector[0], translationVector[1], translationVector[2]);

        // rotation
        rotation.r1 = rotationMatrix[0];
        rotation.r2 = rotationMatrix[1];
        rotation.r3 = rotationMatrix[2];
        rotation.r4 = rotationMatrix[3];
        rotation.r5 = rotationMatrix[4];
        rotation.r6 = rotationMatrix[5];
        rotation.r7 = rotationMatrix[6];
        rotation.r8 = rotationMatrix[7];
        rotation.r9 = rotationMatrix[8];

        // corner points
        for (i = 0; i < nPoints; i++)
                Math2d::SetVec(pPoints[i], pIplPoints[i].x, pIplPoints[i].y);

        // free memory
        cvReleaseImageHeader(&pIplImage);
        cvReleaseImageHeader(&pIplTempImage);
        cvReleaseMemStorage(&pStorage);
        free(pIplObjectPoints);
        delete [] pIplPoints;

        return true;
}


void ExtrinsicParameterCalculatorCV::DrawExtrinsic(CByteImage *pResultImage, const CCalibration *pCalibration, const Vec2d *pPoints, int nPoints, float fSquareSize)
{
        Vec3d worldPoint0 = { 0, 0, 0 };
        Vec3d worldPointX = { 2 * fSquareSize, 0, 0 };
        Vec3d worldPointY = { 0, 2 * fSquareSize, 0 };
        Vec2d imagePoint0, imagePointX, imagePointY;
        pCalibration->WorldToImageCoordinates(worldPoint0, imagePoint0);
        pCalibration->WorldToImageCoordinates(worldPointX, imagePointX);
        pCalibration->WorldToImageCoordinates(worldPointY, imagePointY);
        
        PrimitivesDrawer::DrawLine(pResultImage, imagePoint0, imagePointX, 0, 0, 0, 2);
        PrimitivesDrawer::DrawLine(pResultImage, imagePoint0, imagePointY, 0, 0, 0, 2);
        PrimitivesDrawer::DrawCircle(pResultImage, imagePoint0, 5, 0, 0, 0, -1);
        PrimitivesDrawerCV::PutText(pResultImage, "x", imagePointX.x, imagePointX.y, 0.75, 0.75, 0, 0, 0, 2);
        PrimitivesDrawerCV::PutText(pResultImage, "y", imagePointY.x, imagePointY.y, 0.75, 0.75, 0, 0, 0, 2);
        
        if (pPoints && nPoints > 0)
        {
                Vec2d last_point;
                Math2d::SetVec(last_point, pPoints[0]);

                for (int i = 0; i < nPoints; i++)
                {
                        int r, g, b;
                        hsv2rgb(int(float(i) / (nPoints - 1) * 240), 255, 255, r, g, b);
                        PrimitivesDrawer::DrawCircle(pResultImage, pPoints[i], 3, r, g, b, -1);
                        PrimitivesDrawer::DrawLine(pResultImage, last_point, pPoints[i], r, g, b, 1);
                        Math2d::SetVec(last_point, pPoints[i]);
                }
        }
}