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jerryzeng:main
jerryzeng:onnxDetector
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compare: jerryzeng:d51b0f23a02e8531b25918a9509d45310eb21f48
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jerryzeng:onnxDetector

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3 changed files with 133 additions and 179 deletions
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308
camCalib/camCalib.cpp
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@ -29,7 +29,7 @@ void sg_outputCalibK(const char* fileName, cv::Mat& fitMap)
return; return;
} }
void sg_outputCalibKD(const char* fileName, cv::Mat& K, cv::Mat& D, cv::Vec4f& pe) void sg_outputCalibKD(const char* fileName, cv::Mat& K, cv::Mat& D)
{ {
std::ofstream sw(fileName); std::ofstream sw(fileName);
@ -50,20 +50,6 @@ void sg_outputCalibKD(const char* fileName, cv::Mat& K, cv::Mat& D, cv::Vec4f& p
temp[_c] = D.ptr<double>(0)[_c]; temp[_c] = D.ptr<double>(0)[_c];
sprintf_s(dataStr, 250, "%g, %g, %g, %g, %g", temp[0], temp[1], temp[2], temp[3], temp[4]); sprintf_s(dataStr, 250, "%g, %g, %g, %g, %g", temp[0], temp[1], temp[2], temp[3], temp[4]);
sw << dataStr << std::endl; sw << dataStr << std::endl;
//ax+by+cz+d = 0
float a = (float)pe[0];
float b = (float)pe[1];
float c = (float)pe[2];
float d = (float)pe[3];
//将c变成-1，转成z=ax+by+c的形式，使用3个参数
a = -a / c;
b = -b / c;
d = -d / c;
c = -1;
sprintf_s(dataStr, 250, "%g, %g, %g", a, b, d);
sw << dataStr << std::endl;
sw.close(); sw.close();
return; return;
} }
@ -101,24 +87,6 @@ void sg_readCalibKD(const char* fileName, cv::Mat& K, cv::Mat& D)
return; return;
} }
void saveSubpixData(char* filename, std::vector<cv::Point2f>& subpixPnt)
{
if (subpixPnt.size() < 6)
return;
std::ofstream TXTFile(filename);
char TXTData[250];
int headOffset = 6;
for (int i = 6, i_max = (int)subpixPnt.size(); i < i_max; i++)
{
cv::Point2f a_subPix = subpixPnt[i];
snprintf(TXTData, sizeof(TXTData), "%.5f %.5f", a_subPix.x, a_subPix.y);
TXTFile << TXTData << std::endl;
}
TXTFile.close();
}
typedef struct typedef struct
{ {
int nMin; //< 最小值 int nMin; //< 最小值
@ -162,13 +130,13 @@ int main()
std::cout << "Hello World!\n"; std::cout << "Hello World!\n";
const char* calibDataPath[CALIB_TEST_GROUP] = { const char* calibDataPath[CALIB_TEST_GROUP] = {
"F:\\ShangGu\\ProductDev\\三角光相机\\相机开发\\CamAlgo_git\\camCalib\\camCalibData\\撕裂原理相机标定图像\\", //0 "F:\\ShangGu\\ProductDev\\三角光相机\\相机开发\\CamAlgo\\camCalib\\camCalibData\\撕裂原理相机标定图像\\", //0
"F:\\ShangGu\\ProductDev\\三角光相机\\相机开发\\CamAlgo_git\\camCalib\\camCalibData\\chessboard\\", //1 "F:\\ShangGu\\ProductDev\\三角光相机\\相机开发\\CamAlgo\\camCalib\\camCalibData\\chessboard\\", //1
"F:\\ShangGu\\ProductDev\\三角光相机\\相机开发\\CamAlgo_git\\camCalib\\camCalibData\\circlePoint\\", //2 "F:\\ShangGu\\ProductDev\\三角光相机\\相机开发\\CamAlgo\\camCalib\\camCalibData\\circlePoint\\", //2
"F:\\ShangGu\\ProductDev\\三角光相机\\相机开发\\CamAlgo_git\\camCalib\\camCalibData\\charuCo\\", //3 "F:\\ShangGu\\ProductDev\\三角光相机\\相机开发\\CamAlgo\\camCalib\\camCalibData\\charuCo\\", //3
}; };
const SWdNLRange fileIdx[CALIB_TEST_GROUP] = { const SWdNLRange fileIdx[CALIB_TEST_GROUP] = {
{3,39},{1,33},{1,33},{1,10} {3,39},{1,200},{1,166},{122,141}
}; };
const int boardType[CALIB_TEST_GROUP] = const int boardType[CALIB_TEST_GROUP] =
{ {
@ -180,7 +148,7 @@ int main()
for(int grp = 0; grp < CALIB_TEST_GROUP; grp ++) for(int grp = 0; grp < CALIB_TEST_GROUP; grp ++)
{ {
grp = 1; grp = 2;
int calibType = boardType[grp]; int calibType = boardType[grp];
cv::Size cbPattern; cv::Size cbPattern;
float cbSquareSize; float cbSquareSize;
@ -315,7 +283,9 @@ int main()
std::cout << "Y Mean difference: " << meanVal_y[0] << std::endl; std::cout << "Y Mean difference: " << meanVal_y[0] << std::endl;
//生成矫正图像 //生成矫正图像
for (index = startIndex; index <= endIndex; index++) { index = 3;
for (;; index++) {
char filename[256]; char filename[256];
sprintf_s(filename, "%scalib_%03d.bmp", calibDataPath[grp], index); sprintf_s(filename, "%scalib_%03d.bmp", calibDataPath[grp], index);
cv::Mat srcImg = cv::imread(filename); cv::Mat srcImg = cv::imread(filename);
@ -336,6 +306,10 @@ int main()
cv::imwrite(filename, calibImg); cv::imwrite(filename, calibImg);
} }
//output K and D
char calibKDName[256];
sprintf_s(calibKDName, "%scalib_param_K_D.txt", calibDataPath[grp]);
sg_outputCalibKD(calibKDName, K, D);
#else #else
char calibKDName[256]; char calibKDName[256];
sprintf_s(calibKDName, "%scalib_param_K_D.txt", cbImagePath); sprintf_s(calibKDName, "%scalib_param_K_D.txt", cbImagePath);
@ -380,156 +354,136 @@ int main()
#endif #endif
std::vector<cv::Point3f> all_pts3d; {
for (index = startIndex; index <= endIndex; index++) { std::vector<cv::Point3f> all_pts3d;
char filename[256]; index = 3;
sprintf_s(filename, "%scalib_%03d.bmp", calibDataPath[grp], index); for (;; index++) {
cv::Mat srcImg = cv::imread(filename);
if (srcImg.empty())
break;
cv::Mat img; char filename[256];
cv::rotate(srcImg, img, cv::ROTATE_90_COUNTERCLOCKWISE); sprintf_s(filename, "%scalib_%03d.bmp", calibDataPath[grp], index);
std::vector<cv::Point2f> corners; cv::Mat srcImg = cv::imread(filename);
detectCorners(img, cbPattern, corners); if (srcImg.empty())
if (corners.empty()) break;
continue;
// 创建棋盘格区域的掩码 cv::Mat img;
cv::Mat chessMask = cv::Mat::zeros(img.size(), CV_8UC1); cv::rotate(srcImg, img, cv::ROTATE_90_COUNTERCLOCKWISE);
// 使用多边形近似来填充角点之间的区域 std::vector<cv::Point2f> corners;
// 棋盘格区域需要比角点区域大一圈 detectCorners(img, cbPattern, corners);
std::vector<cv::Point2f> contour_line[4]; if (corners.empty())
for (int i = 0; i < cbPattern.width; i++) continue;
{
cv::Point2f pt_c = corners[i]; // 创建棋盘格区域的掩码
cv::Point2f pt_2 = corners[cbPattern.width + i]; cv::Mat chessMask = cv::Mat::zeros(img.size(), CV_8UC1);
cv::Point2f pt_1; // 使用多边形近似来填充角点之间的区域
pt_1.x = pt_c.x * 2 - pt_2.x; // 棋盘格区域需要比角点区域大一圈
pt_1.y = pt_c.y * 2 - pt_2.y; std::vector<cv::Point2f> contour_line[4];
contour_line[0].push_back(pt_1); for (int i = 0; i < cbPattern.width; i++)
} {
for (int i = 0; i < cbPattern.height; i++) cv::Point2f pt_c = corners[i];
{ cv::Point2f pt_2 = corners[cbPattern.width + i];
cv::Point2f pt_c = corners[i * cbPattern.width + cbPattern.width - 1]; cv::Point2f pt_1;
cv::Point2f pt_2 = corners[i * cbPattern.width + cbPattern.width - 2]; pt_1.x = pt_c.x * 2 - pt_2.x;
cv::Point2f pt_1; pt_1.y = pt_c.y * 2 - pt_2.y;
pt_1.x = pt_c.x * 2 - pt_2.x; contour_line[0].push_back(pt_1);
pt_1.y = pt_c.y * 2 - pt_2.y; }
contour_line[1].push_back(pt_1); for (int i = 0; i < cbPattern.height; i++)
} {
for (int i = cbPattern.width - 1; i >= 0; i--) cv::Point2f pt_c = corners[i * cbPattern.width + cbPattern.width - 1];
{ cv::Point2f pt_2 = corners[i * cbPattern.width + cbPattern.width - 2];
cv::Point2f pt_c = corners[(cbPattern.height - 1) * cbPattern.width + i]; cv::Point2f pt_1;
cv::Point2f pt_2 = corners[(cbPattern.height - 2) * cbPattern.width + i]; pt_1.x = pt_c.x * 2 - pt_2.x;
cv::Point2f pt_1; pt_1.y = pt_c.y * 2 - pt_2.y;
pt_1.x = pt_c.x * 2 - pt_2.x; contour_line[1].push_back(pt_1);
pt_1.y = pt_c.y * 2 - pt_2.y; }
contour_line[2].push_back(pt_1); for (int i = cbPattern.width - 1; i >= 0; i--)
} {
for (int i = cbPattern.height-1; i >= 0; i--) cv::Point2f pt_c = corners[(cbPattern.height - 1) * cbPattern.width + i];
{ cv::Point2f pt_2 = corners[(cbPattern.height - 2) * cbPattern.width + i];
cv::Point2f pt_c = corners[i * cbPattern.width]; cv::Point2f pt_1;
cv::Point2f pt_2 = corners[i * cbPattern.width + 1]; pt_1.x = pt_c.x * 2 - pt_2.x;
cv::Point2f pt_1; pt_1.y = pt_c.y * 2 - pt_2.y;
pt_1.x = pt_c.x * 2 - pt_2.x; contour_line[2].push_back(pt_1);
pt_1.y = pt_c.y * 2 - pt_2.y; }
contour_line[3].push_back(pt_1); for (int i = cbPattern.height-1; i >= 0; i--)
} {
std::vector<cv::Point> contours; cv::Point2f pt_c = corners[i * cbPattern.width];
//生成轮廓点 cv::Point2f pt_2 = corners[i * cbPattern.width + 1];
for (int n = 0; n < 4; n++) cv::Point2f pt_1;
{ pt_1.x = pt_c.x * 2 - pt_2.x;
int num = contour_line[n].size(); pt_1.y = pt_c.y * 2 - pt_2.y;
for (int i = 0; i < num; i++) contour_line[3].push_back(pt_1);
contours.push_back(contour_line[n][i]); }
cv::Point2f pt_c = contour_line[n][num - 1]; std::vector<cv::Point> contours;
cv::Point2f pt_2 = contour_line[n][num - 2]; //生成轮廓点
cv::Point2f pt_1; for (int n = 0; n < 4; n++)
pt_1.x = pt_c.x * 2 - pt_2.x; {
pt_1.y = pt_c.y * 2 - pt_2.y; int num = contour_line[n].size();
contours.push_back(pt_1); for (int i = 0; i < num; i++)
} contours.push_back(contour_line[n][i]);
// 使用 fillPoly 填充多边形 cv::Point2f pt_c = contour_line[n][num - 1];
cv::Scalar color(255); // 红色 cv::Point2f pt_2 = contour_line[n][num - 2];
cv::fillPoly(chessMask, contours, color); cv::Point2f pt_1;
pt_1.x = pt_c.x * 2 - pt_2.x;
pt_1.y = pt_c.y * 2 - pt_2.y;
contours.push_back(pt_1);
}
// 使用 fillPoly 填充多边形
cv::Scalar color(255); // 红色
cv::fillPoly(chessMask, contours, color);
#if 1 #if 1
sprintf_s(filename, "%schessMask_%03d.png", calibDataPath[grp], index); sprintf_s(filename, "%schessMask_%03d.png", calibDataPath[grp], index);
cv::imwrite(filename, chessMask); cv::imwrite(filename, chessMask);
#endif #endif
cv::Vec4f pe; cv::Vec4f pe;
fitChessboardPlane(corners, K, D, cbPattern, cbSquareSize, pe); fitChessboardPlane(corners, K, D, cbPattern, cbSquareSize, pe);
sprintf_s(filename, "%slaser_%03d.bmp", calibDataPath[grp], index); sprintf_s(filename, "%slaser_%03d.bmp", calibDataPath[grp], index);
cv::Mat srcLaserImg = cv::imread(filename); cv::Mat srcLaserImg = cv::imread(filename);
if (srcLaserImg.empty()) if (srcLaserImg.empty())
break; break;
cv::Mat laserImg_unMask; cv::Mat laserImg_unMask;
cv::rotate(srcLaserImg, laserImg_unMask, cv::ROTATE_90_COUNTERCLOCKWISE); cv::rotate(srcLaserImg, laserImg_unMask, cv::ROTATE_90_COUNTERCLOCKWISE);
//与Mask相与，保证待处理的激光线在标定板上 //与Mask相与，保证待处理的激光线在标定板上
cv::Mat laserImg; cv::Mat laserImg;
cv::bitwise_and(laserImg_unMask, laserImg_unMask, laserImg, chessMask); cv::bitwise_and(laserImg_unMask, laserImg_unMask, laserImg, chessMask);
#if 1 #if 1
sprintf_s(filename, "%slaser_rotate_mask_%03d.png", calibDataPath[grp], index); sprintf_s(filename, "%slaser_rotate_mask_%03d.png", calibDataPath[grp], index);
cv::imwrite(filename, laserImg); cv::imwrite(filename, laserImg);
cv::Mat calibImg;
remap(laserImg,
calibImg,
mapGen_x,
mapGen_y,
cv::INTER_LINEAR,
cv::BORDER_CONSTANT,
cv::Scalar(0, 0, 0));
sprintf_s(filename, "%slaser_%03d_calib.bmp", calibDataPath[grp], index);
cv::imwrite(filename, calibImg);
#endif #endif
std::vector<cv::Point2f> pts2d = detectLaserLine(laserImg); std::vector<cv::Point2f> pts2d = detectLaserLine(laserImg);
//显示亚像素点 //显示亚像素点
cv::Mat enlargeImg; cv::Mat enlargeImg;
if (laserImg.channels() == 1) if (laserImg.channels() == 1)
laserImg.convertTo(enlargeImg, cv::COLOR_GRAY2BGR); laserImg.convertTo(enlargeImg, cv::COLOR_GRAY2BGR);
else else
enlargeImg = laserImg.clone(); enlargeImg = laserImg.clone();
cv::Size objSize = laserImg.size(); cv::Size objSize = laserImg.size();
objSize.width = objSize.width * 5; objSize.width = objSize.width * 5;
cv::resize(enlargeImg, enlargeImg, objSize, 0, 0, cv::INTER_NEAREST); cv::resize(enlargeImg, enlargeImg, objSize, 0, 0, cv::INTER_NEAREST);
if (pts2d.size() > 0) for (int i = 0, i_max = pts2d.size(); i < i_max; i++)
{ {
sprintf_s(filename, "%slaser_rotate_enlarge_%03d_subpixData.txt", calibDataPath[grp], index); cv::Point2f a_subPix = pts2d[i];
saveSubpixData(filename, pts2d); a_subPix.x += 0.5;
} int row = (int)(a_subPix.y + 0.5);
for (int i = 0, i_max = (int)pts2d.size(); i < i_max; i++) int col = (int)(a_subPix.x * 5 + 0.5);
{ enlargeImg.at<cv::Vec3b>(row, col)[0] = 0;
cv::Point2f a_subPix = pts2d[i]; enlargeImg.at<cv::Vec3b>(row, col)[1] = 0;
int row = (int)(a_subPix.y + 0.5); enlargeImg.at<cv::Vec3b>(row, col)[2] = 255;
int col = (int)(a_subPix.x * 5 + 0.5); }
enlargeImg.at<cv::Vec3b>(row, col)[0] = 0; sprintf_s(filename, "%slaser_rotate_enlarge_%03d_subpix.png", calibDataPath[grp], index);
enlargeImg.at<cv::Vec3b>(row, col)[1] = 0; cv::imwrite(filename, enlargeImg);
enlargeImg.at<cv::Vec3b>(row, col)[2] = 255; std::vector<cv::Point3f> pts3d = project2DTo3D(pts2d, pe, K, D);
}
sprintf_s(filename, "%slaser_rotate_enlarge_%03d_subpix.png", calibDataPath[grp], index);
cv::imwrite(filename, enlargeImg);
std::vector<cv::Point3f> pts3d = project2DTo3D(pts2d, pe, K, D);
#if 1
//保存3D点
#endif all_pts3d.insert(all_pts3d.end(), pts3d.begin(), pts3d.end());
all_pts3d.insert(all_pts3d.end(), pts3d.begin(), pts3d.end()); }
cv::Vec4f pe = fitPlaneToPoints(all_pts3d);
std::cout << "pe: " << pe << std::endl;
} }
cv::Vec4f pe = fitPlaneToPoints(all_pts3d);
std::cout << "pe: " << pe << std::endl;
//output K and D
char calibKDName[256];
sprintf_s(calibKDName, "%scalib_param_K_D.txt", calibDataPath[grp]);
sg_outputCalibKD(calibKDName, K, D, pe);
} }
return 0; return 0;

2
camCalib/lineDetection_steger.cpp
View File

@ -436,7 +436,7 @@ void computePointSubpix(
if ((subpix.x >= 0) && (subpix.y >= 0)) if ((subpix.x >= 0) && (subpix.y >= 0))
{ {
subpix.x += 0.5; //图像中的像素位置表示的是像素是左下角，而此处像素坐标是指向像素中间位置，所以有0.5像素差 subpix.x += 0.5; //图像中的像素位置表示的是像素是左下角，而此处像素坐标是指向像素中间位置，所以有0.5像素差
subpix.y -= 0.5; //此处图像的Y坐标系方向与通常坐标系的方向相反 subpix.x -= 0.5; //此处图像的Y坐标系方向与通常坐标系的方向相反
posSubpix.push_back(subpix); posSubpix.push_back(subpix);
doSubPix = -1; doSubPix = -1;
} }

2
camCalib/sourceCode/MonoLaserCalibrate.cpp
View File

@ -191,7 +191,7 @@ void monocularCalibration(
flags |= cv::fisheye::CALIB_FIX_SKEW; flags |= cv::fisheye::CALIB_FIX_SKEW;
cv::fisheye::calibrate(objectPoints, imagePoints, imageSize, cameraMatrix, distCoeffs, rvecs, tvecs);// , flags, cv::TermCriteria(3, 20, 1e-6)); cv::fisheye::calibrate(objectPoints, imagePoints, imageSize, cameraMatrix, distCoeffs, rvecs, tvecs);// , flags, cv::TermCriteria(3, 20, 1e-6));
#else #else
cv::calibrateCamera(objectPoints, imagePoints, imageSize, cameraMatrix, distCoeffs, rvecs, tvecs, cv::CALIB_FIX_ASPECT_RATIO); cv::calibrateCamera(objectPoints, imagePoints, imageSize, cameraMatrix, distCoeffs, rvecs, tvecs);
#endif #endif
// 重投影三维点到二维图像点 // 重投影三维点到二维图像点
// 计算重投影误差 // 计算重投影误差