checkerboard_cam_calib.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
 
#include "vision-precomp.h"  // Precompiled headers
 
#include <mrpt/system/filesystem.h>
#include <mrpt/config/CConfigFileMemory.h>
 
#include <mrpt/vision/chessboard_find_corners.h>
#include <mrpt/vision/pinhole.h>
#include <mrpt/vision/chessboard_camera_calib.h>
 
// Universal include for all versions of OpenCV
#include <mrpt/otherlibs/do_opencv_includes.h>
 
using namespace mrpt;
using namespace mrpt::vision;
using namespace mrpt::img;
using namespace mrpt::config;
using namespace mrpt::math;
using namespace mrpt::poses;
using namespace std;
 
/* -------------------------------------------------------
                                checkerBoardCameraCalibration
   ------------------------------------------------------- */
bool mrpt::vision::checkerBoardCameraCalibration(
        TCalibrationImageList& images, unsigned int check_size_x,
        unsigned int check_size_y, double check_squares_length_X_meters,
        double check_squares_length_Y_meters, CMatrixDouble33& intrinsicParams,
        std::vector<double>& distortionParams, bool normalize_image,
        double* out_MSE, bool skipDrawDetectedImgs,
        bool useScaramuzzaAlternativeDetector)
{
        // Just a wrapper for the newer version of the function which uses TCamera:
        TCamera cam;
        bool ret = checkerBoardCameraCalibration(
                images, check_size_x, check_size_y, check_squares_length_X_meters,
                check_squares_length_Y_meters, cam, normalize_image, out_MSE,
                skipDrawDetectedImgs, useScaramuzzaAlternativeDetector);
 
        intrinsicParams = cam.intrinsicParams;
        distortionParams = cam.getDistortionParamsAsVector();
        return ret;
}
 
#if MRPT_HAS_OPENCV
// JL says:  This was copied here since it seems OpenCV 2.3 had a broken
// <opencv2/core/eigen.hpp> header.
//  It should be removed in the future when 2.3 becomes too old to support.
namespace cv
{
template <
        typename _Tp, int _rows, int _cols, int _options, int _maxRows,
        int _maxCols>
void my_cv2eigen(
        const Mat& src,
        Eigen::Matrix<_Tp, _rows, _cols, _options, _maxRows, _maxCols>& dst)
{
        CV_DbgAssert(src.rows == _rows && src.cols == _cols);
        if (!(dst.Flags & Eigen::RowMajorBit))
        {
                Mat _dst(
                        src.cols, src.rows, DataType<_Tp>::type, dst.data(),
                        (size_t)(dst.stride() * sizeof(_Tp)));
                if (src.type() == _dst.type())
                        transpose(src, _dst);
                else if (src.cols == src.rows)
                {
                        src.convertTo(_dst, _dst.type());
                        transpose(_dst, _dst);
                }
                else
                        Mat(src.t()).convertTo(_dst, _dst.type());
                CV_DbgAssert(_dst.data == (uchar*)dst.data());
        }
        else
        {
                Mat _dst(
                        src.rows, src.cols, DataType<_Tp>::type, dst.data(),
                        (size_t)(dst.stride() * sizeof(_Tp)));
                src.convertTo(_dst, _dst.type());
                CV_DbgAssert(_dst.data == (uchar*)dst.data());
        }
}
}  // namespace cv
#endif
 
/* -------------------------------------------------------
                                checkerBoardCameraCalibration
   ------------------------------------------------------- */
bool mrpt::vision::checkerBoardCameraCalibration(
        TCalibrationImageList& images, unsigned int check_size_x,
        unsigned int check_size_y, double check_squares_length_X_meters,
        double check_squares_length_Y_meters, mrpt::img::TCamera& out_camera_params,
        bool normalize_image, double* out_MSE, bool skipDrawDetectedImgs,
        bool useScaramuzzaAlternativeDetector)
{
        MRPT_UNUSED_PARAM(skipDrawDetectedImgs);
#if MRPT_HAS_OPENCV
        try
        {
                ASSERT_(check_size_x > 2);
                ASSERT_(check_size_y > 2);
                ASSERT_(check_squares_length_X_meters > 0);
                ASSERT_(check_squares_length_Y_meters > 0);
 
                if (images.size() < 1)
                {
                        std::cout << "ERROR: No input images." << std::endl;
                        return false;
                }
 
                const unsigned CORNERS_COUNT = check_size_x * check_size_y;
                const CvSize check_size = cvSize(check_size_x, check_size_y);
 
                // Fill the pattern of expected pattern points only once out of the
                // loop:
                vector<cv::Point3f> pattern_obj_points(CORNERS_COUNT);
                {
                        unsigned int y, k;
                        for (y = 0, k = 0; y < check_size_y; y++)
                        {
                                for (unsigned int x = 0; x < check_size_x; x++, k++)
                                {
                                        pattern_obj_points[k].x = -check_squares_length_X_meters *
                                                                                          x;  // The "-" is for convenience,
                                        // so the camera poses appear
                                        // with Z>0
                                        pattern_obj_points[k].y = check_squares_length_Y_meters * y;
                                        pattern_obj_points[k].z = 0;
                                }
                        }
                }
 
                // First: Assure all images are loaded:
                // -------------------------------------------
                TCalibrationImageList::iterator it;
                for (it = images.begin(); it != images.end(); ++it)
                {
                        TImageCalibData& dat = it->second;
 
                        dat.projectedPoints_distorted.clear();  // Clear reprojected points.
                        dat.projectedPoints_undistorted.clear();
 
                        // Skip if images are marked as "externalStorage":
                        if (!dat.img_original.isExternallyStored() &&
                                !mrpt::system::extractFileExtension(it->first).empty())
                        {
                                if (!dat.img_original.loadFromFile(it->first))
                                        THROW_EXCEPTION_FMT(
                                                "Error reading image: %s", it->first.c_str());
 
                                dat.img_checkboard = dat.img_original;
                                dat.img_rectified = dat.img_original;
                        }
                }
 
                // For each image, find checkerboard corners:
                // -----------------------------------------------
                vector<vector<cv::Point3f>>
                        objectPoints;  // final container for detected stuff
                vector<vector<cv::Point2f>>
                        imagePoints;  // final container for detected stuff
 
                unsigned int valid_detected_imgs = 0;
                vector<string> pointsIdx2imageFile;
                cv::Size imgSize(0, 0);
 
                unsigned int i;
                for (i = 0, it = images.begin(); it != images.end(); it++, i++)
                {
                        TImageCalibData& dat = it->second;
 
                        // Make grayscale version:
                        const CImage img_gray(
                                dat.img_original, FAST_REF_OR_CONVERT_TO_GRAY);
 
                        if (!i)
                        {
                                imgSize = cv::Size(img_gray.getWidth(), img_gray.getHeight());
                                out_camera_params.ncols = imgSize.width;
                                out_camera_params.nrows = imgSize.height;
                        }
                        else
                        {
                                if (imgSize.height != (int)img_gray.getHeight() ||
                                        imgSize.width != (int)img_gray.getWidth())
                                {
                                        std::cout << "ERROR: All the images must have the same size"
                                                          << std::endl;
                                        return false;
                                }
                        }
 
                        // Try with expanded versions of the image if it fails to detect the
                        // checkerboard:
                        unsigned corners_count;
                        bool corners_found = false;
 
                        corners_count = CORNERS_COUNT;
 
                        vector<cv::Point2f> this_img_pts(
                                CORNERS_COUNT);  // Temporary buffer for points, to be added if
                        // the points pass the checks.
 
                        dat.detected_corners.clear();
 
                        // Do detection (this includes the "refine corners" with
                        // cvFindCornerSubPix):
                        vector<TPixelCoordf> detectedCoords;
                        corners_found = mrpt::vision::findChessboardCorners(
                                img_gray, detectedCoords, check_size_x, check_size_y,
                                normalize_image,  // normalize_image
                                useScaramuzzaAlternativeDetector);
 
                        corners_count = detectedCoords.size();
 
                        // Copy the data into the overall array of coords:
                        ASSERT_(detectedCoords.size() <= CORNERS_COUNT);
                        for (size_t p = 0; p < detectedCoords.size(); p++)
                        {
                                this_img_pts[p].x = detectedCoords[p].x;
                                this_img_pts[p].y = detectedCoords[p].y;
                        }
 
                        if (corners_found && corners_count != CORNERS_COUNT)
                                corners_found = false;
 
                        cout << format(
                                "Img %s: %s\n",
                                mrpt::system::extractFileName(it->first).c_str(),
                                corners_found ? "DETECTED" : "NOT DETECTED");
 
                        if (corners_found)
                        {
                                // save the corners in the data structure:
                                int x, y;
                                unsigned int k;
                                for (y = 0, k = 0; y < check_size.height; y++)
                                        for (x = 0; x < check_size.width; x++, k++)
                                                dat.detected_corners.push_back(mrpt::img::TPixelCoordf(
                                                        this_img_pts[k].x, this_img_pts[k].y));
 
                                // Draw the checkerboard in the corresponding image:
                                // ----------------------------------------------------
                                if (!dat.img_original.isExternallyStored())
                                {
                                        const int r = 4;
                                        CvPoint prev_pt = cvPoint(0, 0);
                                        const int line_max = 8;
                                        CvScalar line_colors[8];
 
                                        line_colors[0] = CV_RGB(255, 0, 0);
                                        line_colors[1] = CV_RGB(255, 128, 0);
                                        line_colors[2] = CV_RGB(255, 128, 0);
                                        line_colors[3] = CV_RGB(200, 200, 0);
                                        line_colors[4] = CV_RGB(0, 255, 0);
                                        line_colors[5] = CV_RGB(0, 200, 200);
                                        line_colors[6] = CV_RGB(0, 0, 255);
                                        line_colors[7] = CV_RGB(255, 0, 255);
 
                                        // Checkboad as color image:
                                        dat.img_original.colorImage(dat.img_checkboard);
 
                                        void* rgb_img = dat.img_checkboard.getAs<IplImage>();
 
                                        for (y = 0, k = 0; y < check_size.height; y++)
                                        {
                                                CvScalar color = line_colors[y % line_max];
                                                for (x = 0; x < check_size.width; x++, k++)
                                                {
                                                        CvPoint pt;
                                                        pt.x = cvRound(this_img_pts[k].x);
                                                        pt.y = cvRound(this_img_pts[k].y);
 
                                                        if (k != 0) cvLine(rgb_img, prev_pt, pt, color);
 
                                                        cvLine(
                                                                rgb_img, cvPoint(pt.x - r, pt.y - r),
                                                                cvPoint(pt.x + r, pt.y + r), color);
                                                        cvLine(
                                                                rgb_img, cvPoint(pt.x - r, pt.y + r),
                                                                cvPoint(pt.x + r, pt.y - r), color);
                                                        cvCircle(rgb_img, pt, r + 1, color);
                                                        prev_pt = pt;
                                                }
                                        }
                                }
 
                                // Accept this image as good:
                                pointsIdx2imageFile.push_back(it->first);
                                imagePoints.push_back(this_img_pts);
                                objectPoints.push_back(pattern_obj_points);
 
                                valid_detected_imgs++;
                        }
 
                }  // end find corners
 
                std::cout << valid_detected_imgs << " valid images." << std::endl;
                if (!valid_detected_imgs)
                {
                        std::cout << "ERROR: No valid images. Perhaps the checkerboard "
                                                 "size is incorrect?"
                                          << std::endl;
                        return false;
                }
 
                // ---------------------------------------------
                // Calculate the camera parameters
                // ---------------------------------------------
                // Calibrate camera
                cv::Mat cameraMatrix, distCoeffs(1, 5, CV_64F, cv::Scalar::all(0));
                vector<cv::Mat> rvecs, tvecs;
 
                const double cv_calib_err = cv::calibrateCamera(
                        objectPoints, imagePoints, imgSize, cameraMatrix, distCoeffs, rvecs,
                        tvecs, 0 /*flags*/);
 
                // Load matrix:
                out_camera_params.intrinsicParams =
                        CMatrixDouble33(cameraMatrix.ptr<double>());
 
                out_camera_params.dist.fill(0);
                for (int k = 0; k < 5; k++)
                        out_camera_params.dist[k] = distCoeffs.ptr<double>()[k];
 
                // Load camera poses:
                for (i = 0; i < valid_detected_imgs; i++)
                {
                        CMatrixDouble44 HM;
                        HM.zeros();
                        HM(3, 3) = 1;
 
                        {
                                // Convert rotation vectors -> rot matrices:
                                cv::Mat cv_rot;
                                cv::Rodrigues(rvecs[i], cv_rot);
 
                                Eigen::Matrix3d rot;
                                cv::my_cv2eigen(cv_rot, rot);
                                HM.block<3, 3>(0, 0) = rot;
                        }
 
                        {
                                Eigen::Matrix<double, 3, 1> trans;
                                cv::my_cv2eigen(tvecs[i], trans);
                                HM.block<3, 1>(0, 3) = trans;
                        }
 
                        CPose3D p = CPose3D(0, 0, 0) - CPose3D(HM);
 
                        images[pointsIdx2imageFile[i]].reconstructed_camera_pose = p;
 
                        std::cout << "Img: "
                                          << mrpt::system::extractFileName(pointsIdx2imageFile[i])
                                          << ": " << p << std::endl;
                }
 
                {
                        CConfigFileMemory cfg;
                        out_camera_params.saveToConfigFile("CAMERA_PARAMS", cfg);
                        std::cout << cfg.getContent() << std::endl;
                }
 
                // ----------------------------------------
                // Undistort images:
                // ----------------------------------------
                for (it = images.begin(); it != images.end(); ++it)
                {
                        TImageCalibData& dat = it->second;
                        if (!dat.img_original.isExternallyStored())
                                dat.img_original.rectifyImage(
                                        dat.img_rectified, out_camera_params);
                }  // end undistort
 
                // -----------------------------------------------
                // Reproject points to measure the fit sqr error
                // -----------------------------------------------
                double sqrErr = 0;
 
                for (i = 0; i < valid_detected_imgs; i++)
                {
                        TImageCalibData& dat = images[pointsIdx2imageFile[i]];
                        if (dat.detected_corners.size() != CORNERS_COUNT) continue;
 
                        // Reproject all the points into pixel coordinates:
                        // -----------------------------------------------------
                        vector<TPoint3D> lstPatternPoints(
                                CORNERS_COUNT);  // Points as seen from the camera:
                        for (unsigned int p = 0; p < CORNERS_COUNT; p++)
                                lstPatternPoints[p] = TPoint3D(
                                        pattern_obj_points[p].x, pattern_obj_points[p].y,
                                        pattern_obj_points[p].z);
 
                        vector<TPixelCoordf>& projectedPoints =
                                dat.projectedPoints_undistorted;
                        vector<TPixelCoordf>& projectedPoints_distorted =
                                dat.projectedPoints_distorted;
 
                        vision::pinhole::projectPoints_no_distortion(
                                lstPatternPoints,  // Input points
                                dat.reconstructed_camera_pose,
                                out_camera_params.intrinsicParams,  // calib matrix
                                projectedPoints  // Output points in pixels
                        );
 
                        vision::pinhole::projectPoints_with_distortion(
                                lstPatternPoints,  // Input points
                                dat.reconstructed_camera_pose,
                                out_camera_params.intrinsicParams,  // calib matrix
                                out_camera_params.getDistortionParamsAsVector(),
                                projectedPoints_distorted  // Output points in pixels
                        );
 
                        ASSERT_(projectedPoints.size() == CORNERS_COUNT);
                        ASSERT_(projectedPoints_distorted.size() == CORNERS_COUNT);
 
                        for (unsigned int p = 0; p < CORNERS_COUNT; p++)
                        {
                                const double px = projectedPoints[p].x;
                                const double py = projectedPoints[p].y;
 
                                const double px_d = projectedPoints_distorted[p].x;
                                const double py_d = projectedPoints_distorted[p].y;
 
                                // Only draw if the img is NOT external:
                                if (!dat.img_original.isExternallyStored())
                                {
                                        if (px >= 0 && px < imgSize.width && py >= 0 &&
                                                py < imgSize.height)
                                                cvCircle(
                                                        dat.img_rectified.getAs<IplImage>(),
                                                        cvPoint(px, py), 4, CV_RGB(0, 0, 255));
                                }
 
                                // Accumulate error:
                                sqrErr +=
                                        square(px_d - dat.detected_corners[p].x) +
                                        square(py_d - dat.detected_corners[p].y);  // Error relative
                                // to the
                                // original
                                // (distorted)
                                // image.
                        }
                }
 
                if (valid_detected_imgs)
                {
                        sqrErr /= CORNERS_COUNT * valid_detected_imgs;
                        std::cout << "Average err. of reprojection: " << sqrt(sqrErr)
                                          << " pixels (OpenCV error=" << cv_calib_err << ")\n";
                }
                if (out_MSE) *out_MSE = sqrt(sqrErr);
 
                return true;
        }
        catch (std::exception& e)
        {
                std::cout << e.what() << std::endl;
                return false;
        }
#else
        THROW_EXCEPTION("Function not available: MRPT was compiled without OpenCV");
#endif
}