/
ExampleCalibrateMonocularPlanar.java
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/
ExampleCalibrateMonocularPlanar.java
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/*
* Copyright (c) 2011-2015, Peter Abeles. All Rights Reserved.
*
* This file is part of BoofCV (http://boofcv.org).
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
package boofcv.examples.calibration;
import boofcv.abst.calib.CalibrateMonoPlanar;
import boofcv.abst.calib.ConfigChessboard;
import boofcv.abst.calib.ConfigSquareGrid;
import boofcv.abst.calib.PlanarCalibrationDetector;
import boofcv.factory.calib.FactoryPlanarCalibrationTarget;
import boofcv.io.UtilIO;
import boofcv.io.image.ConvertBufferedImage;
import boofcv.io.image.UtilImageIO;
import boofcv.misc.BoofMiscOps;
import boofcv.struct.calib.IntrinsicParameters;
import boofcv.struct.image.ImageFloat32;
import java.awt.image.BufferedImage;
import java.util.List;
/**
* Example of how to calibrate a single (monocular) camera using a high level interface that processes images of planar
* calibration targets. The entire calibration target must be observable in the image and for best results images
* should be in focus and not blurred. For a lower level example of camera calibration which processes a set of
* observed calibration points see {@link ExampleCalibrateMonocularPlanar}.
*
* After processing both intrinsic camera parameters and lens distortion are estimated. Square grid and chessboard
* targets are demonstrated by this example. See calibration tutorial for a discussion of different target types
* and how to collect good calibration images.
*
* All the image processing and calibration is taken care of inside of {@link CalibrateMonoPlanar}. The code below
* loads calibration images as inputs, calibrates, and saves results to an XML file. See in code comments for tuning
* and implementation issues.
*
* @see CalibrateMonoPlanar
*
* @author Peter Abeles
*/
public class ExampleCalibrateMonocularPlanar {
// Detects the target and calibration point inside the target
PlanarCalibrationDetector detector;
// List of calibration images
List<String> images;
/**
* Images from Zhang's website. Square grid pattern.
*/
private void setupZhang99() {
// Creates a detector and specifies its physical characteristics
detector = FactoryPlanarCalibrationTarget.detectorSquareGrid(new ConfigSquareGrid(15, 15, 0.5, 7.0 / 18.0));
// load image list
String directory = "../data/evaluation/calibration/mono/PULNiX_CCD_6mm_Zhang";
images = BoofMiscOps.directoryList(directory,"CalibIm");
}
/**
* Images collected from a Bumblee Bee stereo camera. Large amounts of radial distortion. Chessboard pattern.
*/
private void setupBumbleBee() {
// Creates a detector and specifies its physical characteristics
detector = FactoryPlanarCalibrationTarget.detectorChessboard(new ConfigChessboard(5,7, 30));
// load image list
String directory = "../data/evaluation/calibration/stereo/Bumblebee2_Chess";
images = BoofMiscOps.directoryList(directory,"left");
}
/**
* Process calibration images, compute intrinsic parameters, save to a file
*/
public void process() {
// Declare and setup the calibration algorithm
CalibrateMonoPlanar calibrationAlg = new CalibrateMonoPlanar(detector);
// tell it type type of target and which parameters to estimate
calibrationAlg.configure( true, 2, false);
for( String n : images ) {
BufferedImage input = UtilImageIO.loadImage(n);
if( n != null ) {
ImageFloat32 image = ConvertBufferedImage.convertFrom(input,(ImageFloat32)null);
if( !calibrationAlg.addImage(image) )
System.err.println("Failed to detect target in "+n);
}
}
// process and compute intrinsic parameters
IntrinsicParameters intrinsic = calibrationAlg.process();
// save results to a file and print out
UtilIO.saveXML(intrinsic, "intrinsic.xml");
calibrationAlg.printStatistics();
System.out.println();
System.out.println("--- Intrinsic Parameters ---");
System.out.println();
intrinsic.print();
}
public static void main( String args[] ) {
ExampleCalibrateMonocularPlanar alg = new ExampleCalibrateMonocularPlanar();
// which target should it process
// alg.setupZhang99();
alg.setupBumbleBee();
// compute and save results
alg.process();
}
}