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ExampleCalibrateMonocular.java
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ExampleCalibrateMonocular.java
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/*
* Copyright (c) 2021, 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.fiducial.calib.ConfigGridDimen;
import boofcv.abst.geo.calibration.CalibrateMonoPlanar;
import boofcv.abst.geo.calibration.DetectSingleFiducialCalibration;
import boofcv.factory.fiducial.FactoryFiducialCalibration;
import boofcv.io.UtilIO;
import boofcv.io.calibration.CalibrationIO;
import boofcv.io.image.ConvertBufferedImage;
import boofcv.io.image.UtilImageIO;
import boofcv.struct.calib.CameraPinholeBrown;
import boofcv.struct.image.GrayF32;
import java.awt.image.BufferedImage;
import java.util.List;
/**
* Example of how to calibrate a single (monocular) camera using a high level interface. Depending on the calibration
* target detector and target type, the entire target might need to be visible in the image. All camera images
* should be in focus and that target evenly spread through out the images. In particular the edges of the image
* should be covered.
*
* 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.
*
* @author Peter Abeles
* @see CalibrateMonoPlanar
*/
public class ExampleCalibrateMonocular {
public static void main( String[] args ) {
DetectSingleFiducialCalibration detector;
List<String> images;
// Regular Circle Example
// detector = FactoryFiducialCalibration.circleRegularGrid(null, new ConfigGridDimen(8, 10, 1.5, 2.5));
// images = UtilIO.listByPrefix(UtilIO.pathExample("calibration/mono/Sony_DSC-HX5V_CircleRegular"),"image", null);
// Hexagonal Circle Example
// detector = FactoryFiducialCalibration.circleHexagonalGrid(null, new ConfigGridDimen(24, 28, 1, 1.2));
// images = UtilIO.listByPrefix(UtilIO.pathExample("calibration/mono/Sony_DSC-HX5V_CircleHexagonal"),"image", null);
// Square Grid example
// detector = FactoryFiducialCalibration.squareGrid(null, new ConfigGridDimen(4, 3, 30, 30));
// images = UtilIO.listByPrefix(UtilIO.pathExample("calibration/stereo/Bumblebee2_Square"),"left", null);
// ECoCheck Example
// detector = new MultiToSingleFiducialCalibration(FactoryFiducialCalibration.
// ecocheck(null, ConfigECoCheckMarkers.singleShape(9, 7, 1, 30)));
// images = UtilIO.listByPrefix(UtilIO.pathExample("calibration/stereo/Zed_ecocheck"), "left", null);
// Chessboard Example
detector = FactoryFiducialCalibration.chessboardX(null,
new ConfigGridDimen(/*numRows*/ 7,/*numCols*/ 5,/*shapeSize*/ 30));
images = UtilIO.listByPrefix(UtilIO.pathExample("calibration/stereo/Bumblebee2_Chess"), "left", null);
// Declare and setup the calibration algorithm
CalibrateMonoPlanar calibrationAlg = new CalibrateMonoPlanar(detector.getLayout());
// tell it type type of target and which intrinsic parameters to estimate
calibrationAlg.configurePinhole(
/*assumeZeroSkew*/ true,
/*numRadialParam*/ 2,
/*includeTangential*/ false);
for (String n : images) {
BufferedImage input = UtilImageIO.loadImage(n);
if (input != null) {
GrayF32 image = ConvertBufferedImage.convertFrom(input, (GrayF32)null);
if (detector.process(image)) {
calibrationAlg.addImage(detector.getDetectedPoints().copy());
} else {
System.err.println("Failed to detect target in " + n);
}
}
}
// process and compute intrinsic parameters
CameraPinholeBrown intrinsic = calibrationAlg.process();
// save results to a file and print out
CalibrationIO.save(intrinsic, "intrinsic.yaml");
calibrationAlg.printStatistics(System.out);
System.out.println();
System.out.println("--- Intrinsic Parameters ---");
System.out.println();
intrinsic.print();
}
}