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Visualizing Calibration Error. #9

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Visualizing Calibration Error. #9

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386bef4
Visualizing Error
pushkalkatara Dec 11, 2017
b774b44
YAML read
pushkalkatara Dec 14, 2017
eb3610a
added popt_arg_none
pushkalkatara Jan 6, 2018
443270d
Removed old script
pushkalkatara Jan 6, 2018
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18 changes: 12 additions & 6 deletions calib_intrinsic.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,7 @@ vector< vector< Point2f > > left_img_points;
Mat img, gray;
Size im_size;

void setup_calibration(int board_width, int board_height, int num_imgs,
void setup_calibration(int board_width, int board_height, int num_imgs,
float square_size, char* imgs_directory, char* imgs_filename,
char* extension) {
Size board_size = Size(board_width, board_height);
Expand All @@ -38,7 +38,7 @@ void setup_calibration(int board_width, int board_height, int num_imgs,
TermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 30, 0.1));
drawChessboardCorners(gray, board_size, corners, found);
}

vector< Point3f > obj;
for (int i = 0; i < board_height; i++)
for (int j = 0; j < board_width; j++)
Expand Down Expand Up @@ -76,7 +76,7 @@ double computeReprojectionErrors(const vector< vector< Point3f > >& objectPoints

int main(int argc, char const **argv)
{
int board_width, board_height, num_imgs;
int board_width, board_height, num_imgs, stat_on;
float square_size;
char* imgs_directory;
char* imgs_filename;
Expand All @@ -92,8 +92,9 @@ int main(int argc, char const **argv)
{ "imgs_filename",'i',POPT_ARG_STRING,&imgs_filename,0,"Image filename","STR" },
{ "extension",'e',POPT_ARG_STRING,&extension,0,"Image extension","STR" },
{ "out_file",'o',POPT_ARG_STRING,&out_file,0,"Output calibration filename (YML)","STR" },
{ "stat_on",'v',POPT_ARG_NONE,&stat_on,0,"Statistical Analysis","NUM" },
POPT_AUTOHELP
{ NULL, 0, 0, NULL, 0, NULL, NULL }
{ NULL, 0, 0, NULL, 0, NULL, NULL, }
};

POpt popt(NULL, argc, argv, options, 0);
Expand All @@ -111,15 +112,20 @@ int main(int argc, char const **argv)
flag |= CV_CALIB_FIX_K4;
flag |= CV_CALIB_FIX_K5;
calibrateCamera(object_points, image_points, img.size(), K, D, rvecs, tvecs, flag);

cout << "Calibration error: " << computeReprojectionErrors(object_points, image_points, rvecs, tvecs, K, D) << endl;
float cerror = computeReprojectionErrors(object_points, image_points, rvecs, tvecs, K, D);
cout << "Calibration error: " << cerror << endl;

FileStorage fs(out_file, FileStorage::WRITE);
fs << "K" << K;
fs << "D" << D;
fs << "board_width" << board_width;
fs << "board_height" << board_height;
fs << "square_size" << square_size;
if(stat_on){
fs << "num_imgs" << num_imgs;
fs << "cerror" << cerror;
printf("Saved");
}
printf("Done Calibration\n");

return 0;
Expand Down
20 changes: 20 additions & 0 deletions scripts/plot.py
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@@ -0,0 +1,20 @@
import yaml
import numpy as np
import matplotlib.pyplot as plt

def opencv_matrix(loader, node):
mapping = loader.construct_mapping(node, deep=True)
mat = np.array(mapping["data"])
mat.resize(mapping["rows"], mapping["cols"])
return mat

yaml.add_constructor(u"tag:yaml.org,2002:opencv-matrix", opencv_matrix)
yml_dir = '../build/cam_left.yml'

with open(yml_dir,'r') as infile:
_ = infile.readline()
data = yaml.load(infile)

plt.plot([data['cerror']], [data['num_imgs']], marker='o', markersize=10, color="red")
plt.axis([0, 1, 0, 50])
plt.show()