cameraparameters.cpp
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1 /*****************************
2 Copyright 2011 Rafael Muñoz Salinas. All rights reserved.
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24 The views and conclusions contained in the software and documentation are those of the
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26 or implied, of Rafael Muñoz Salinas.
27 ********************************/
28 #include "cameraparameters.h"
29 #include <fstream>
30 #include <iostream>
31 #include <opencv2/core/core.hpp>
32 #include <opencv2/calib3d/calib3d.hpp>
33 using namespace std;
34 namespace aruco {
35 
36 
37 CameraParameters::CameraParameters() {
38  CameraMatrix = cv::Mat();
39  Distorsion = cv::Mat();
40  CamSize = cv::Size(-1, -1);
41 }
47 CameraParameters::CameraParameters(cv::Mat cameraMatrix, cv::Mat distorsionCoeff, cv::Size size) throw(cv::Exception) {
48  setParams(cameraMatrix, distorsionCoeff, size);
49 }
52 CameraParameters::CameraParameters(const CameraParameters &CI) {
53  CI.CameraMatrix.copyTo(CameraMatrix);
54  CI.Distorsion.copyTo(Distorsion);
55  CamSize = CI.CamSize;
56 }
57 
60 CameraParameters &CameraParameters::operator=(const CameraParameters &CI) {
61  CI.CameraMatrix.copyTo(CameraMatrix);
62  CI.Distorsion.copyTo(Distorsion);
63  CamSize = CI.CamSize;
64  return *this;
65 }
68 void CameraParameters::setParams(cv::Mat cameraMatrix, cv::Mat distorsionCoeff, cv::Size size) throw(cv::Exception) {
69  if (cameraMatrix.rows != 3 || cameraMatrix.cols != 3)
70  throw cv::Exception(9000, "invalid input cameraMatrix", "CameraParameters::setParams", __FILE__, __LINE__);
71  cameraMatrix.convertTo(CameraMatrix, CV_32FC1);
72  if (distorsionCoeff.total() < 4 || distorsionCoeff.total() >= 7)
73  throw cv::Exception(9000, "invalid input distorsionCoeff", "CameraParameters::setParams", __FILE__, __LINE__);
74  cv::Mat auxD;
75 
76  distorsionCoeff.convertTo(Distorsion, CV_32FC1);
77 
78  // Distorsion.create(1,4,CV_32FC1);
79  // for (int i=0;i<4;i++)
80  // Distorsion.ptr<float>(0)[i]=auxD.ptr<float>(0)[i];
81 
82  CamSize = size;
83 }
84 
87 cv::Point3f CameraParameters::getCameraLocation(cv::Mat Rvec, cv::Mat Tvec) {
88  cv::Mat m33(3, 3, CV_32FC1);
89  cv::Rodrigues(Rvec, m33);
90 
91  cv::Mat m44 = cv::Mat::eye(4, 4, CV_32FC1);
92  for (int i = 0; i < 3; i++)
93  for (int j = 0; j < 3; j++)
94  m44.at< float >(i, j) = m33.at< float >(i, j);
95 
96  // now, add translation information
97  for (int i = 0; i < 3; i++)
98  m44.at< float >(i, 3) = Tvec.at< float >(0, i);
99  // invert the matrix
100  m44.inv();
101  return cv::Point3f(m44.at< float >(0, 0), m44.at< float >(0, 1), m44.at< float >(0, 2));
102 }
103 
106 void CameraParameters::readFromFile(string path) throw(cv::Exception) {
107 
108  ifstream file(path.c_str());
109  if (!file)
110  throw cv::Exception(9005, "could not open file:" + path, "CameraParameters::readFromFile", __FILE__, __LINE__);
111  // Create the matrices
112  Distorsion = cv::Mat::zeros(4, 1, CV_32FC1);
113  CameraMatrix = cv::Mat::eye(3, 3, CV_32FC1);
114  char line[1024];
115  while (!file.eof()) {
116  file.getline(line, 1024);
117  char cmd[20];
118  float fval;
119  if (sscanf(line, "%s = %f", cmd, &fval) == 2) {
120  string scmd(cmd);
121  if (scmd == "fx")
122  CameraMatrix.at< float >(0, 0) = fval;
123  else if (scmd == "cx")
124  CameraMatrix.at< float >(0, 2) = fval;
125  else if (scmd == "fy")
126  CameraMatrix.at< float >(1, 1) = fval;
127  else if (scmd == "cy")
128  CameraMatrix.at< float >(1, 2) = fval;
129  else if (scmd == "k1")
130  Distorsion.at< float >(0, 0) = fval;
131  else if (scmd == "k2")
132  Distorsion.at< float >(1, 0) = fval;
133  else if (scmd == "p1")
134  Distorsion.at< float >(2, 0) = fval;
135  else if (scmd == "p2")
136  Distorsion.at< float >(3, 0) = fval;
137  else if (scmd == "width")
138  CamSize.width = fval;
139  else if (scmd == "height")
140  CamSize.height = fval;
141  }
142  }
143 }
146 void CameraParameters::saveToFile(string path, bool inXML) throw(cv::Exception) {
147  if (!isValid())
148  throw cv::Exception(9006, "invalid object", "CameraParameters::saveToFile", __FILE__, __LINE__);
149  if (!inXML) {
150  ofstream file(path.c_str());
151  if (!file)
152  throw cv::Exception(9006, "could not open file:" + path, "CameraParameters::saveToFile", __FILE__, __LINE__);
153  file << "# Aruco 1.0 CameraParameters" << endl;
154  file << "fx = " << CameraMatrix.at< float >(0, 0) << endl;
155  file << "cx = " << CameraMatrix.at< float >(0, 2) << endl;
156  file << "fy = " << CameraMatrix.at< float >(1, 1) << endl;
157  file << "cy = " << CameraMatrix.at< float >(1, 2) << endl;
158  file << "k1 = " << Distorsion.at< float >(0, 0) << endl;
159  file << "k2 = " << Distorsion.at< float >(1, 0) << endl;
160  file << "p1 = " << Distorsion.at< float >(2, 0) << endl;
161  file << "p2 = " << Distorsion.at< float >(3, 0) << endl;
162  file << "width = " << CamSize.width << endl;
163  file << "height = " << CamSize.height << endl;
164  } else {
165  cv::FileStorage fs(path, cv::FileStorage::WRITE);
166  fs << "image_width" << CamSize.width;
167  fs << "image_height" << CamSize.height;
168  fs << "camera_matrix" << CameraMatrix;
169  fs << "distortion_coefficients" << Distorsion;
170  }
171 }
172 
175 void CameraParameters::resize(cv::Size size) throw(cv::Exception) {
176  if (!isValid())
177  throw cv::Exception(9007, "invalid object", "CameraParameters::resize", __FILE__, __LINE__);
178  if (size == CamSize)
179  return;
180  // now, read the camera size
181  // resize the camera parameters to fit this image size
182  float AxFactor = float(size.width) / float(CamSize.width);
183  float AyFactor = float(size.height) / float(CamSize.height);
184  CameraMatrix.at< float >(0, 0) *= AxFactor;
185  CameraMatrix.at< float >(0, 2) *= AxFactor;
186  CameraMatrix.at< float >(1, 1) *= AyFactor;
187  CameraMatrix.at< float >(1, 2) *= AyFactor;
188 }
189 
190 /****
191  *
192  *
193  *
194  *
195  */
196 void CameraParameters::readFromXMLFile(string filePath) throw(cv::Exception) {
197  cv::FileStorage fs(filePath, cv::FileStorage::READ);
198  int w = -1, h = -1;
199  cv::Mat MCamera, MDist;
200 
201  fs["image_width"] >> w;
202  fs["image_height"] >> h;
203  fs["distortion_coefficients"] >> MDist;
204  fs["camera_matrix"] >> MCamera;
205 
206  if (MCamera.cols == 0 || MCamera.rows == 0)
207  throw cv::Exception(9007, "File :" + filePath + " does not contains valid camera matrix", "CameraParameters::readFromXML", __FILE__, __LINE__);
208  if (w == -1 || h == 0)
209  throw cv::Exception(9007, "File :" + filePath + " does not contains valid camera dimensions", "CameraParameters::readFromXML", __FILE__, __LINE__);
210 
211  if (MCamera.type() != CV_32FC1)
212  MCamera.convertTo(CameraMatrix, CV_32FC1);
213  else
214  CameraMatrix = MCamera;
215 
216  if (MDist.total() < 4)
217  throw cv::Exception(9007, "File :" + filePath + " does not contains valid distortion_coefficients", "CameraParameters::readFromXML", __FILE__,
218  __LINE__);
219  // convert to 32 and get the 4 first elements only
220  cv::Mat mdist32;
221  MDist.convertTo(mdist32, CV_32FC1);
222  // Distorsion.create(1,4,CV_32FC1);
223  // for (int i=0;i<4;i++)
224  // Distorsion.ptr<float>(0)[i]=mdist32.ptr<float>(0)[i];
225 
226  Distorsion.create(1, 5, CV_32FC1);
227  for (int i = 0; i < 5; i++)
228  Distorsion.ptr< float >(0)[i] = mdist32.ptr< float >(0)[i];
229  CamSize.width = w;
230  CamSize.height = h;
231 }
232 /****
233  *
234  */
235 void CameraParameters::glGetProjectionMatrix(cv::Size orgImgSize, cv::Size size, double proj_matrix[16], double gnear, double gfar,
236  bool invert) throw(cv::Exception) {
237 
238  if (cv::countNonZero(Distorsion) != 0)
239  std::cerr << "CameraParameters::glGetProjectionMatrix :: The camera has distortion coefficients " << __FILE__ << " " << __LINE__ << endl;
240  if (isValid() == false)
241  throw cv::Exception(9100, "invalid camera parameters", "CameraParameters::glGetProjectionMatrix", __FILE__, __LINE__);
242 
243  // Deterime the rsized info
244  double Ax = double(size.width) / double(orgImgSize.width);
245  double Ay = double(size.height) / double(orgImgSize.height);
246  double _fx = CameraMatrix.at< float >(0, 0) * Ax;
247  double _cx = CameraMatrix.at< float >(0, 2) * Ax;
248  double _fy = CameraMatrix.at< float >(1, 1) * Ay;
249  double _cy = CameraMatrix.at< float >(1, 2) * Ay;
250  double cparam[3][4] = {{_fx, 0, _cx, 0}, {0, _fy, _cy, 0}, {0, 0, 1, 0}};
251 
252  argConvGLcpara2(cparam, size.width, size.height, gnear, gfar, proj_matrix, invert);
253 }
254 
255 /*******************
256  *
257  *
258  *******************/
259 double CameraParameters::norm(double a, double b, double c) { return (sqrt(a * a + b * b + c * c)); }
260 
261 /*******************
262  *
263  *
264  *******************/
265 
266 double CameraParameters::dot(double a1, double a2, double a3, double b1, double b2, double b3) { return (a1 * b1 + a2 * b2 + a3 * b3); }
267 
268 /*******************
269  *
270  *
271  *******************/
272 
273 void CameraParameters::argConvGLcpara2(double cparam[3][4], int width, int height, double gnear, double gfar, double m[16], bool invert) throw(cv::Exception) {
274 
275  double icpara[3][4];
276  double trans[3][4];
277  double p[3][3], q[4][4];
278  int i, j;
279 
280  cparam[0][2] *= -1.0;
281  cparam[1][2] *= -1.0;
282  cparam[2][2] *= -1.0;
283 
284  if (arParamDecompMat(cparam, icpara, trans) < 0)
285  throw cv::Exception(9002, "parameter error", "MarkerDetector::argConvGLcpara2", __FILE__, __LINE__);
286 
287  for (i = 0; i < 3; i++) {
288  for (j = 0; j < 3; j++) {
289  p[i][j] = icpara[i][j] / icpara[2][2];
290  }
291  }
292  q[0][0] = (2.0 * p[0][0] / width);
293  q[0][1] = (2.0 * p[0][1] / width);
294  q[0][2] = ((2.0 * p[0][2] / width) - 1.0);
295  q[0][3] = 0.0;
296 
297  q[1][0] = 0.0;
298  q[1][1] = (2.0 * p[1][1] / height);
299  q[1][2] = ((2.0 * p[1][2] / height) - 1.0);
300  q[1][3] = 0.0;
301 
302  q[2][0] = 0.0;
303  q[2][1] = 0.0;
304  q[2][2] = (gfar + gnear) / (gfar - gnear);
305  q[2][3] = -2.0 * gfar * gnear / (gfar - gnear);
306 
307  q[3][0] = 0.0;
308  q[3][1] = 0.0;
309  q[3][2] = 1.0;
310  q[3][3] = 0.0;
311 
312  for (i = 0; i < 4; i++) {
313  for (j = 0; j < 3; j++) {
314  m[i + j * 4] = q[i][0] * trans[0][j] + q[i][1] * trans[1][j] + q[i][2] * trans[2][j];
315  }
316  m[i + 3 * 4] = q[i][0] * trans[0][3] + q[i][1] * trans[1][3] + q[i][2] * trans[2][3] + q[i][3];
317  }
318 
319  if (!invert) {
320  m[13] = -m[13];
321  m[1] = -m[1];
322  m[5] = -m[5];
323  m[9] = -m[9];
324  }
325 }
326 /*******************
327  *
328  *
329  *******************/
330 
331 int CameraParameters::arParamDecompMat(double source[3][4], double cpara[3][4], double trans[3][4]) throw(cv::Exception) {
332  int r, c;
333  double Cpara[3][4];
334  double rem1, rem2, rem3;
335 
336  if (source[2][3] >= 0) {
337  for (r = 0; r < 3; r++) {
338  for (c = 0; c < 4; c++) {
339  Cpara[r][c] = source[r][c];
340  }
341  }
342  } else {
343  for (r = 0; r < 3; r++) {
344  for (c = 0; c < 4; c++) {
345  Cpara[r][c] = -(source[r][c]);
346  }
347  }
348  }
349 
350  for (r = 0; r < 3; r++) {
351  for (c = 0; c < 4; c++) {
352  cpara[r][c] = 0.0;
353  }
354  }
355  cpara[2][2] = norm(Cpara[2][0], Cpara[2][1], Cpara[2][2]);
356  trans[2][0] = Cpara[2][0] / cpara[2][2];
357  trans[2][1] = Cpara[2][1] / cpara[2][2];
358  trans[2][2] = Cpara[2][2] / cpara[2][2];
359  trans[2][3] = Cpara[2][3] / cpara[2][2];
360 
361  cpara[1][2] = dot(trans[2][0], trans[2][1], trans[2][2], Cpara[1][0], Cpara[1][1], Cpara[1][2]);
362  rem1 = Cpara[1][0] - cpara[1][2] * trans[2][0];
363  rem2 = Cpara[1][1] - cpara[1][2] * trans[2][1];
364  rem3 = Cpara[1][2] - cpara[1][2] * trans[2][2];
365  cpara[1][1] = norm(rem1, rem2, rem3);
366  trans[1][0] = rem1 / cpara[1][1];
367  trans[1][1] = rem2 / cpara[1][1];
368  trans[1][2] = rem3 / cpara[1][1];
369 
370  cpara[0][2] = dot(trans[2][0], trans[2][1], trans[2][2], Cpara[0][0], Cpara[0][1], Cpara[0][2]);
371  cpara[0][1] = dot(trans[1][0], trans[1][1], trans[1][2], Cpara[0][0], Cpara[0][1], Cpara[0][2]);
372  rem1 = Cpara[0][0] - cpara[0][1] * trans[1][0] - cpara[0][2] * trans[2][0];
373  rem2 = Cpara[0][1] - cpara[0][1] * trans[1][1] - cpara[0][2] * trans[2][1];
374  rem3 = Cpara[0][2] - cpara[0][1] * trans[1][2] - cpara[0][2] * trans[2][2];
375  cpara[0][0] = norm(rem1, rem2, rem3);
376  trans[0][0] = rem1 / cpara[0][0];
377  trans[0][1] = rem2 / cpara[0][0];
378  trans[0][2] = rem3 / cpara[0][0];
379 
380  trans[1][3] = (Cpara[1][3] - cpara[1][2] * trans[2][3]) / cpara[1][1];
381  trans[0][3] = (Cpara[0][3] - cpara[0][1] * trans[1][3] - cpara[0][2] * trans[2][3]) / cpara[0][0];
382 
383  for (r = 0; r < 3; r++) {
384  for (c = 0; c < 3; c++) {
385  cpara[r][c] /= cpara[2][2];
386  }
387  }
388 
389  return 0;
390 }
391 
392 
393 /******
394  *
395  */
396 void CameraParameters::OgreGetProjectionMatrix(cv::Size orgImgSize, cv::Size size, double proj_matrix[16], double gnear, double gfar,
397  bool invert) throw(cv::Exception) {
398  double temp_matrix[16];
399  (*this).glGetProjectionMatrix(orgImgSize, size, temp_matrix, gnear, gfar, invert);
400  proj_matrix[0] = -temp_matrix[0];
401  proj_matrix[1] = -temp_matrix[4];
402  proj_matrix[2] = -temp_matrix[8];
403  proj_matrix[3] = temp_matrix[12];
404 
405  proj_matrix[4] = -temp_matrix[1];
406  proj_matrix[5] = -temp_matrix[5];
407  proj_matrix[6] = -temp_matrix[9];
408  proj_matrix[7] = temp_matrix[13];
409 
410  proj_matrix[8] = -temp_matrix[2];
411  proj_matrix[9] = -temp_matrix[6];
412  proj_matrix[10] = -temp_matrix[10];
413  proj_matrix[11] = temp_matrix[14];
414 
415  proj_matrix[12] = -temp_matrix[3];
416  proj_matrix[13] = -temp_matrix[7];
417  proj_matrix[14] = -temp_matrix[11];
418  proj_matrix[15] = temp_matrix[15];
419 }
420 /******
421  *
422  */
423 
424 cv::Mat CameraParameters::getRTMatrix(const cv::Mat &R_, const cv::Mat &T_, int forceType) {
425  cv::Mat M;
426  cv::Mat R, T;
427  R_.copyTo(R);
428  T_.copyTo(T);
429  if (R.type() == CV_64F) {
430  assert(T.type() == CV_64F);
431  cv::Mat Matrix = cv::Mat::eye(4, 4, CV_64FC1);
432 
433  cv::Mat R33 = cv::Mat(Matrix, cv::Rect(0, 0, 3, 3));
434  if (R.total() == 3) {
435  cv::Rodrigues(R, R33);
436  } else if (R.total() == 9) {
437  cv::Mat R64;
438  R.convertTo(R64, CV_64F);
439  R.copyTo(R33);
440  }
441  for (int i = 0; i < 3; i++)
442  Matrix.at< double >(i, 3) = T.ptr< double >(0)[i];
443  M = Matrix;
444  } else if (R.depth() == CV_32F) {
445  cv::Mat Matrix = cv::Mat::eye(4, 4, CV_32FC1);
446  cv::Mat R33 = cv::Mat(Matrix, cv::Rect(0, 0, 3, 3));
447  if (R.total() == 3) {
448  cv::Rodrigues(R, R33);
449  } else if (R.total() == 9) {
450  cv::Mat R32;
451  R.convertTo(R32, CV_32F);
452  R.copyTo(R33);
453  }
454 
455  for (int i = 0; i < 3; i++)
456  Matrix.at< float >(i, 3) = T.ptr< float >(0)[i];
457  M = Matrix;
458  }
459 
460  if (forceType == -1)
461  return M;
462  else {
463  cv::Mat MTyped;
464  M.convertTo(MTyped, forceType);
465  return MTyped;
466  }
467 }
468 };
Parameters of the camera.


asr_aruco_marker_recognition
Author(s): Allgeyer Tobias, Meißner Pascal, Qattan Mohamad
autogenerated on Mon Jun 10 2019 12:40:21