Why is calibration result value of stereo camera zoom?

asked 2017-12-26 03:06:40 -0500

kasthe gravatar image

Calibration is carried out using a stereo camera.

However, the result value is output as Zoom.

What I want is to measure the actual distance after calibration.

Help me.

       // global variables
        Size boardSize;
        Size2f squareSize;
        vector<vector<Point2f>> imagePoints1, imagePoints2;
        Size imageSize;
        Mat image1, image2;
        Mat disparityMap;

        // mouse event
        void onMouse(int event, int x, int y, int flags, void* param)
        {
            char text[100];

            uchar disparity = disparityMap.at<uchar>(y, x);
            if (disparity != 0) {
            float baseLength = 60.93;
            float flocalLength = 4.3;
            //Focal length(Pixel) * Baseline(mm) / x2-x1(Pixel) = Z(mm)
            //Z_actual = (b * focal_length) / (x_camL - x_camR)
            //focal_pixel = (focal_mm / sensor_width_mm) * image_width_in_pixels
            //focal_pixel = (image_width_in_pixels * 0.5) / tan(FOV * 0.5 * PI / 180)

                // !!! i want get real distance
            double z = (baseLength * flocalLength) / disparity;

            char szBuffer[50] = { 0, };
            sprintf(szBuffer, "%f", z);


            putText(disparityMap, szBuffer, cvPoint(x, y),
                FONT_HERSHEY_COMPLEX_SMALL, 1.2, cvScalar(0, 0, 255), 1.5, CV_AA);

            printf("%s\n", szBuffer);
        }

        imshow("disparity", disparityMap);
        waitKey(10);
    }

    // find chessboard corners
    int find(Mat view1, Mat view2, bool reg)
    {
        if (view1.empty()) {
            return 0;
        }

        if (view2.empty()) {
            return 0;
        }

        assert(view1.size() == view2.size());
        imageSize = view1.size();

        Mat viewGray1, viewGray2;
        cvtColor(view1, viewGray1, CV_BGR2GRAY);
        cvtColor(view2, viewGray2, CV_BGR2GRAY);

        vector<Point2f> pointbuf1, pointbuf2;

        bool found1 = findChessboardCorners(view1, boardSize, pointbuf1,
            CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FAST_CHECK | CV_CALIB_CB_NORMALIZE_IMAGE);

        bool found2 = findChessboardCorners(view2, boardSize, pointbuf2,
            CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FAST_CHECK | CV_CALIB_CB_NORMALIZE_IMAGE);

        if (found1 && found2) {
            // improve the found corners' coordinate accuracy
            cornerSubPix(viewGray1, pointbuf1, Size(11, 11), Size(-1, -1), TermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 30, 0.1));
            cornerSubPix(viewGray2, pointbuf2, Size(11, 11), Size(-1, -1), TermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 30, 0.1));

            if (reg) {
                imagePoints1.push_back(pointbuf1);
                imagePoints2.push_back(pointbuf2);
            }
            drawChessboardCorners(view1, boardSize, Mat(pointbuf1), found1);
            drawChessboardCorners(view2, boardSize, Mat(pointbuf2), found2);
        }

        return imagePoints1.size();
    }

   // start calibration (find() -> runcalibration())
    bool runCalibration()
    {
        Mat map1, map2, map3, map4;

        vector<vector<Point3f> > objectPoints(1);

        for (int i = 0; i < boardSize.height; i++) {
            for (int j = 0; j < boardSize.width; j++) {
                objectPoints[0].push_back(Point3f(j*squareSize.width, i*squareSize.height, 0.f));
            }
        }

        objectPoints.resize(imagePoints1.size(), objectPoints[0]);

        Mat cameraMatrix1 = Mat::eye(3, 3, CV_64F);
        Mat cameraMatrix2 = Mat::eye(3, 3, CV_64F);
        Mat distCoeffs1 = Mat::zeros(8, 1, CV_64F);
        Mat distCoeffs2 = Mat::zeros(8, 1, CV_64F);
        Mat R, T, E, F;

        cameraMatrix1 = initCameraMatrix2D(objectPoints, imagePoints1, imageSize, 0);
        cameraMatrix2 = initCameraMatrix2D(objectPoints, imagePoints2, imageSize, 0);

        double rms = stereoCalibrate(objectPoints, imagePoints1, imagePoints2,
            cameraMatrix1, distCoeffs1,
            cameraMatrix2, distCoeffs2,
            imageSize, R, T, E, F,
            CALIB_FIX_ASPECT_RATIO +
            CALIB_ZERO_TANGENT_DIST +
            CALIB_USE_INTRINSIC_GUESS +
            CALIB_SAME_FOCAL_LENGTH +
            CALIB_RATIONAL_MODEL +
            CALIB_FIX_K3 + CALIB_FIX_K4 + CALIB_FIX_K5,
            TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 100, 1e-5));

        bool success = checkRange(cameraMatrix1) && checkRange(distCoeffs1) && checkRange(cameraMatrix2) && checkRange(distCoeffs2);
        if (success) {
            FileStorage fs("D:\\Sources\\trunk\\Sources\\Stereo_Scopic\\intrinsics.yml", CV_STORAGE_WRITE);
            if (!fs.isOpened()) return false;

            fs << "M1" << cameraMatrix1;
            fs << "D1" << distCoeffs1;
            fs << "M2" << cameraMatrix2;
            fs << "D2" << distCoeffs2;
            fs.release();


            Mat R1, R2, P1, P2, Q;
            Rect validRoi1, validRoi2;

            stereoRectify(cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2,
                imageSize, R, T, R1, R2, P1, P2, Q, CALIB_ZERO_DISPARITY, 1, imageSize, &validRoi1, &validRoi2);

            fs.open("D:\\Sources\\trunk\\Sources\\Stereo_Scopic\\extrinsics.yml", CV_STORAGE_WRITE);
            if (!fs.isOpened()) return false;

            fs << "R" << R ...
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Comments

To improve the quality of your question, please include sample images, unexpected output image (if any), and simplify your sample code to the shortest code which recreates/displays your issue. Thanks.

opalmirror gravatar imageopalmirror ( 2018-01-31 13:35:18 -0500 )edit