cal_main.cpp

有关摄像头定标的C++代码

#include "stdafx.h"
#include <stdlib.h>
#include <stdio.h>
#include <iostream>
#include <math.h>
#include <errno.h>
#include "matrix/matrix.h"
#include "MINPACK/minpack.h"
#include "cal_tran.h"
#include "cal_main.h"


/* Variables used by the subroutines for I/O (perhaps not the best way of doing this) */
struct camera_parameters cp;
struct calibration_data cd;
struct calibration_constants cc;

/* Local working storage */
double    Xd[MAX_POINTS],
          Yd[MAX_POINTS],
          r_squared[MAX_POINTS],
          U[7];


char   camera_type[256] = "unknown";


/************************************************************************/
void      initialize_photometrics_parms ()//初始化不同类型的相机参数；
{
    strcpy (camera_type, "Photometrics Star I");

    cp.Ncx = 576;		/* [sel]        */
    cp.Nfx = 576;		/* [pix]        */
    cp.dx = 0.023;		/* [mm/sel]     */
    cp.dy = 0.023;		/* [mm/sel]     */
    cp.dpx = cp.dx * cp.Ncx / cp.Nfx;	/* [mm/pix]     */
    cp.dpy = cp.dy;		/* [mm/pix]     */
    cp.Cx = 576 / 2;		/* [pix]        */
    cp.Cy = 384 / 2;		/* [pix]        */
    cp.sx = 1.0;		/* []		 */

    /* something a bit more realistic */
    cp.Cx = 258.0;
    cp.Cy = 204.0;
}


/************************************************************************/
void      initialize_general_imaging_mos5300_matrox_parms ()
{
    strcpy (camera_type, "General Imaging MOS5300 + Matrox");

    cp.Ncx = 649;		/* [sel]        */
    cp.Nfx = 512;		/* [pix]        */
    cp.dx = 0.015;		/* [mm/sel]     */
    cp.dy = 0.015;		/* [mm/sel]     */
    cp.dpx = cp.dx * cp.Ncx / cp.Nfx;	/* [mm/pix]     */
    cp.dpy = cp.dy;		/* [mm/pix]     */
    cp.Cx = 512 / 2;		/* [pix]        */
    cp.Cy = 480 / 2;		/* [pix]        */
    cp.sx = 1.0;		/* []		 */
}


/************************************************************************/
void      initialize_panasonic_gp_mf702_matrox_parms ()
{
    strcpy (camera_type, "Panasonic GP-MF702 + Matrox");

    cp.Ncx = 649;		/* [sel]        */
    cp.Nfx = 512;		/* [pix]        */
    cp.dx = 0.015;		/* [mm/sel]     */
    cp.dy = 0.015;		/* [mm/sel]     */
    cp.dpx = cp.dx * cp.Ncx / cp.Nfx;	/* [mm/pix]     */
    cp.dpy = cp.dy;		/* [mm/pix]     */

    cp.Cx = 268;		/* [pix]        */
    cp.Cy = 248;		/* [pix]        */

    cp.sx = 1.078647;		/* []           */
}


/************************************************************************/
void      initialize_sony_xc75_matrox_parms ()
{
    strcpy (camera_type, "Sony XC75 + Matrox");

    cp.Ncx = 768;		/* [sel]        */
    cp.Nfx = 512;		/* [pix]        */
    cp.dx = 0.0084;		/* [mm/sel]     */
    cp.dy = 0.0098;		/* [mm/sel]     */
    cp.dpx = cp.dx * cp.Ncx / cp.Nfx;	/* [mm/pix]     */
    cp.dpy = cp.dy;		/* [mm/pix]     */
    cp.Cx = 512 / 2;		/* [pix]        */
    cp.Cy = 480 / 2;		/* [pix]        */
    cp.sx = 1.0;		/* []           */
}


/************************************************************************/
void      initialize_sony_xc77_matrox_parms ()
{
    strcpy (camera_type, "Sony XC77 + Matrox");

    cp.Ncx = 768;		/* [sel]        */
    cp.Nfx = 512;		/* [pix]        */
    cp.dx = 0.011;		/* [mm/sel]     */
    cp.dy = 0.013;		/* [mm/sel]     */
    cp.dpx = cp.dx * cp.Ncx / cp.Nfx;	/* [mm/pix]     */
    cp.dpy = cp.dy;		/* [mm/pix]     */
    cp.Cx = 512 / 2;		/* [pix]        */
    cp.Cy = 480 / 2;		/* [pix]        */
    cp.sx = 1.0;		/* []           */
}


/************************************************************************/
void      initialize_sony_xc57_androx_parms ()
{
    strcpy (camera_type, "Sony XC57 + Androx");

    cp.Ncx = 510;               /* [sel]        */
    cp.Nfx = 512;               /* [pix]        */
    cp.dx = 0.017;              /* [mm/sel]     */
    cp.dy = 0.013;              /* [mm/sel]     */
    cp.dpx = cp.dx * cp.Ncx / cp.Nfx;   /* [mm/pix]     */
    cp.dpy = cp.dy;             /* [mm/pix]     */
    cp.Cx = 512 / 2;            /* [pix]        */
    cp.Cy = 480 / 2;            /* [pix]        */
    cp.sx = 1.107914;           /* []           */
}


/************************************************************************/
/* John Krumm, 9 November 1993                                          */
/* This assumes that every other row, starting with the second row from */
/* the top, has been removed.  The Xap Shot CCD only has 250 lines, and */
/* it inserts new rows in between the real rows to make a full size     */
/* picture.  Its algorithm for making these new rows isn't very good,   */
/* so it's best just to throw them away.                                */
/* The camera's specs give the CCD size as 6.4(V)x4.8(H) mm.            */
/* A call to the manufacturer found that the CCD has 250 rows           */
/* and 782 columns.  It is underscanned to 242 rows and 739 columns.    */
/************************************************************************/
void      initialize_xapshot_matrox_parms ()//佳能
{
    strcpy (camera_type, "Canon Xap Shot");

    cp.Ncx = 739;			/* [sel]        */
    cp.Nfx = 512;			/* [pix]        */
    cp.dx = 6.4 / 782.0;		/* [mm/sel]     */
    cp.dy = 4.8 / 250.0;		/* [mm/sel]     */
    cp.dpx = cp.dx * cp.Ncx / cp.Nfx;	/* [mm/pix]     */
    cp.dpy = cp.dy;			/* [mm/pix]     */
    cp.Cx = 512 / 2;			/* [pix]        */
    cp.Cy = 240 / 2;			/* [pix]        */
    cp.sx = 1.027753;	/* from noncoplanar calibration *//* []           */
}


/***********************************************************************\
* This routine solves for the roll, pitch and yaw angles (in radians)正交规范化矩阵的旋转，倾斜偏离角度	*
* for a given orthonormal rotation matrix (from Richard P. Paul,        *
* Robot Manipulators: Mathematics, Programming and Control, p70).       *
* Note 1, should the rotation matrix not be orthonormal these will not  *
* be the "best fit" roll, pitch and yaw angles.                         *
* Note 2, there are actually two possible solutions for the matrix.     *
* The second solution can be found by adding 180 degrees to Rz before   *
* Ry and Rx are calculated.                                             *
\***********************************************************************/
void      solve_RPY_transform ()
{
    double    sg,
              cg;

    cc.Rz = atan2 (cc.r4, cc.r1);

    SINCOS (cc.Rz, sg, cg);

    cc.Ry = atan2 (-cc.r7, cc.r1 * cg + cc.r4 * sg);

    cc.Rx = atan2 (cc.r3 * sg - cc.r6 * cg, cc.r5 * cg - cc.r2 * sg);
}


/***********************************************************************\
* This routine simply takes the roll, pitch and yaw angles and fills in	*
* the rotation matrix elements r1-r9.					*
\***********************************************************************/
void      apply_RPY_transform ()
{
    double    sa,
              ca,
              sb,
              cb,
              sg,
              cg;

    SINCOS (cc.Rx, sa, ca);
    SINCOS (cc.Ry, sb, cb);
    SINCOS (cc.Rz, sg, cg);

    cc.r1 = cb * cg;
    cc.r2 = cg * sa * sb - ca * sg;
    cc.r3 = sa * sg + ca * cg * sb;
    cc.r4 = cb * sg;
    cc.r5 = sa * sb * sg + ca * cg;
    cc.r6 = ca * sb * sg - cg * sa;
    cc.r7 = -sb;
    cc.r8 = cb * sa;
    cc.r9 = ca * cb;
}


/***********************************************************************\
* Routines for coplanar camera calibration共面相机的标定程序	 			*
\***********************************************************************/
void      cc_compute_Xd_Yd_and_r_squared ()
{
    int       i;

    double    Xd_,
              Yd_;

    for (i = 0; i < cd.point_count; i++) {
	Xd[i] = Xd_ = cp.dpx * (cd.Xf[i] - cp.Cx) / cp.sx;	/* [mm] */
	Yd[i] = Yd_ = cp.dpy * (cd.Yf[i] - cp.Cy);	        /* [mm] */
	r_squared[i] = SQR (Xd_) + SQR (Yd_);                   /* [mm^2] */
    }
}


void      cc_compute_U ()
{
    int       i;

    dmat      M,
              a,
              b;

    M = newdmat (0, (cd.point_count - 1), 0, 4, &errno);
    if (errno) {
	fprintf (stderr, "cc compute U: unable to allocate matrix M\n");
        exit (-1);
    }

    a = newdmat (0, 4, 0, 0, &errno);
    if (errno) {
	fprintf (stderr, "cc compute U: unable to allocate vector a\n");
	exit (-1);
    }

    b = newdmat (0, (cd.point_count - 1), 0, 0, &errno);
    if (errno) {
	fprintf (stderr, "cc compute U: unable to allocate vector b\n");
	exit (-1);
    }

    for (i = 0; i < cd.point_count; i++) {
	M.el[i][0] = Yd[i] * cd.xw[i];
	M.el[i][1] = Yd[i] * cd.yw[i];
	M.el[i][2] = Yd[i];
	M.el[i][3] = -Xd[i] * cd.xw[i];
	M.el[i][4] = -Xd[i] * cd.yw[i];
	b.el[i][0] = Xd[i];
    }

    if (solve_system (M, a, b)) {
	fprintf (stderr, "cc compute U: unable to solve system  Ma=b\n");
	exit (-1);
    }

    U[0] = a.el[0][0];
    U[1] = a.el[1][0];
    U[2] = a.el[2][0];
    U[3] = a.el[3][0];
    U[4] = a.el[4][0];

    freemat (M);
    freemat (a);
    freemat (b);
}


void      cc_compute_Tx_and_Ty ()
{
    int       i,
              far_point;

    double    Tx,
              Ty,
              Ty_squared,
              x,
              y,
              Sr,
              r1p,
              r2p,
              r4p,
              r5p,
              r1,
              r2,
              r4,
              r5,
              distance,
              far_distance;

    r1p = U[0];
    r2p = U[1];
    r4p = U[3];
    r5p = U[4];

    /* first find the square of the magnitude of Ty */
    if ((fabs (r1p) < EPSILON) && (fabs (r2p) < EPSILON))
	Ty_squared = 1 / (SQR (r4p) + SQR (r5p));
    else if ((fabs (r4p) < EPSILON) && (fabs (r5p) < EPSILON))
	Ty_squared = 1 / (SQR (r1p) + SQR (r2p));
    else if ((fabs (r1p) < EPSILON) && (fabs (r4p) < EPSILON))
	Ty_squared = 1 / (SQR (r2p) + SQR (r5p));
    else if ((fabs (r2p) < EPSILON) && (fabs (r5p) < EPSILON))
	Ty_squared = 1 / (SQR (r1p) + SQR (r4p));
    else {
	Sr = SQR (r1p) + SQR (r2p) + SQR (r4p) + SQR (r5p);
	Ty_squared = (Sr - sqrt (SQR (Sr) - 4 * SQR (r1p * r5p - r4p * r2p))) /
	 (2 * SQR (r1p * r5p - r4p * r2p));
    }

    /* find a point that is far from the image center */
    far_distance = 0;
    far_point = 0;
    for (i = 0; i < cd.point_count; i++)
	if ((distance = r_squared[i]) > far_distance) {
	    far_point = i;
	    far_distance = distance;
	}

    /* now find the sign for Ty */
    /* start by assuming Ty > 0 */
    Ty = sqrt (Ty_squared);
    r1 = U[0] * Ty;
    r2 = U[1] * Ty;
    Tx = U[2] * Ty;
    r4 = U[3] * Ty;
    r5 = U[4] * Ty;
    x = r1 * cd.xw[far_point] + r2 * cd.yw[far_point] + Tx;
    y = r4 * cd.xw[far_point] + r5 * cd.yw[far_point] + Ty;

    /* flip Ty if we guessed wrong */
    if ((SIGNBIT (x) != SIGNBIT (Xd[far_point])) ||
	(SIGNBIT (y) != SIGNBIT (Yd[far_point])))
	Ty = -Ty;

    /* update the calibration constants */
    cc.Tx = U[2] * Ty;
    cc.Ty = Ty;
}


void      cc_compute_R ()
{
    double    r1,
              r2,
              r3,
              r4,
              r5,
              r6,
              r7,
              r8,
              r9;

    r1 = U[0] * cc.Ty;
    r2 = U[1] * cc.Ty;
    r3 = sqrt (1 - SQR (r1) - SQR (r2));

    r4 = U[3] * cc.Ty;
    r5 = U[4] * cc.Ty;
    r6 = sqrt (1 - SQR (r4) - SQR (r5));
    if (!SIGNBIT (r1 * r4 + r2 * r5))
	r6 = -r6;

    /* use the outer product of the first two rows to get the last row */
    r7 = r2 * r6 - r3 * r5;
    r8 = r3 * r4 - r1 * r6;
    r9 = r1 * r5 - r2 * r4;

    /* update the calibration constants */
    cc.r1 = r1;
    cc.r2 = r2;
    cc.r3 = r3;
    cc.r4 = r4;
    cc.r5 = r5;
    cc.r6 = r6;
    cc.r7 = r7;
    cc.r8 = r8;
    cc.r9 = r9;

    /* fill in cc.Rx, cc.Ry and cc.Rz */
    solve_RPY_transform ();
}


void      cc_compute_approximate_f_and_Tz ()
{
    int       i;

    dmat      M,
              a,
              b;

    M = newdmat (0, (cd.point_count - 1), 0, 1, &errno);
    if (errno) {
	fprintf (stderr, "cc compute apx: unable to allocate matrix M\n");
	exit (-1);
    }

    a = newdmat (0, 1, 0, 0, &errno);
    if (errno) {
	fprintf (stderr, "cc compute apx: unable to allocate vector a\n");
	exit (-1);
    }

    b = newdmat (0, (cd.point_count - 1), 0, 0, &errno);
    if (errno) {
	fprintf (stderr, "cc compute apx: unable to allocate vector b\n");
	exit (-1);
    }

    for (i = 0; i < cd.point_count; i++) {
	M.el[i][0] = cc.r4 * cd.xw[i] + cc.r5 * cd.yw[i] + cc.Ty;
	M.el[i][1] = -Yd[i];
	b.el[i][0] = (cc.r7 * cd.xw[i] + cc.r8 * cd.yw[i]) * Yd[i];
    }

    if (solve_system (M, a, b)) {
	fprintf (stderr, "cc compute apx: unable to solve system  Ma=b\n");
	exit (-1);
    }

    /* update the calibration constants */
    cc.f = a.el[0][0];//求f和tz；
    cc.Tz = a.el[1][0];
    cc.kappa1 = 0.0;		/* this is the assumption that our calculation was made under */

    freemat (M);
    freemat (a);
    freemat (b);
}


/************************************************************************/
//计算精确的F和TZ误差；
void      cc_compute_exact_f_and_Tz_error (long *m_ptr, long *n_ptr, double *params, double *err)
{
    int       i;

    double    f,
              Tz,
              kappa1,
              xc,
              yc,
              zc,
              Xu_1,
              Yu_1,
              Xu_2,
              Yu_2,
              distortion_factor;

    f = params[0];
    Tz = params[1];
    kappa1 = params[2];

    for (i = 0; i < cd.point_count; i++) {
	/* convert from world coordinates to camera coordinates */
		//世界坐标系和图像坐标系的转化；zw被假设为0；
	/* Note: zw is implicitly assumed to be zero for these (coplanar) calculations */
	xc = cc.r1 * cd.xw[i] + cc.r2 * cd.yw[i] + cc.Tx;
	yc = cc.r4 * cd.xw[i] + cc.r5 * cd.yw[i] + cc.Ty;
	zc = cc.r7 * cd.xw[i] + cc.r8 * cd.yw[i] + Tz;

	/* convert from camera coordinates to undistorted sensor coordinates */
	Xu_1 = f * xc / zc;
	Yu_1 = f * yc / zc;

	/* convert from distorted sensor coordinates to undistorted sensor coordinates */
	distortion_factor = 1 + kappa1 * (SQR (Xd[i]) + SQR (Yd[i]));
	Xu_2 = Xd[i] * distortion_factor;
	Yu_2 = Yd[i] * distortion_factor;

        /* record the error in the undistorted sensor coordinates */
        err[i] = hypot (Xu_1 - Xu_2, Yu_1 - Yu_2);
    }
}


void      cc_compute_exact_f_and_Tz ()
{
#define NPARAMS 3

    int       i;

    /* Parameters needed by MINPACK's lmdif() */

    long     m = cd.point_count;
    long     n = NPARAMS;
    double  x[NPARAMS];
    double *fvec;
    double  ftol = REL_SENSOR_TOLERANCE_ftol;
    double  xtol = REL_PARAM_TOLERANCE_xtol;
    double  gtol = ORTHO_TOLERANCE_gtol;
    long     maxfev = MAXFEV;
    double  epsfcn = EPSFCN;
    double  diag[NPARAMS];
    long     mode = MODE;
    double  factor = FACTOR;
    long     nprint = 0;
    long     info;
    long     nfev;
    double *fjac;
    long     ldfjac = m;
    long     ipvt[NPARAMS];
    double  qtf[NPARAMS];
    double  wa1[NPARAMS];
    double  wa2[NPARAMS];
    double  wa3[NPARAMS];
    double *wa4;

    /* allocate some workspace */
    if (( fvec = (double *) calloc ((unsigned int) m, (unsigned int) sizeof(double))) == NULL ) {
       fprintf(stderr,"calloc: Cannot allocate workspace fvec\n");
       exit(-1);
    }

    if (( fjac = (double *) calloc ((unsigned int) m*n, (unsigned int) sizeof(double))) == NULL ) {
       fprintf(stderr,"calloc: Cannot allocate workspace fjac\n");
       exit(-1);
    }

    if (( wa4 = (double *) calloc ((unsigned int) m, (unsigned int) sizeof(double))) == NULL ) {
       fprintf(stderr,"calloc: Cannot allocate workspace wa4\n");
       exit(-1);
    }

    /* use the current calibration constants as an initial guess */
    x[0] = cc.f;
    x[1] = cc.Tz;
    x[2] = cc.kappa1;

    /* define optional scale factors for the parameters */