--- /dev/null
+<?xml version="1.0" encoding="UTF-8"?>\r
+<classpath>\r
+ <classpathentry exported="true" kind="con" path="com.android.ide.eclipse.adt.LIBRARIES"/>\r
+ <classpathentry kind="con" path="com.android.ide.eclipse.adt.ANDROID_FRAMEWORK"/>\r
+ <classpathentry exported="true" kind="con" path="com.android.ide.eclipse.adt.DEPENDENCIES"/>\r
+ <classpathentry kind="src" path="src"/>\r
+ <classpathentry kind="src" path="gen"/>\r
+ <classpathentry kind="output" path="bin/classes"/>\r
+</classpath>\r
--- /dev/null
+<?xml version="1.0" encoding="UTF-8"?>\r
+<projectDescription>\r
+ <name>OpenCV Sample - camera-calibration</name>\r
+ <comment></comment>\r
+ <projects>\r
+ </projects>\r
+ <buildSpec>\r
+ <buildCommand>\r
+ <name>com.android.ide.eclipse.adt.ResourceManagerBuilder</name>\r
+ <arguments>\r
+ </arguments>\r
+ </buildCommand>\r
+ <buildCommand>\r
+ <name>com.android.ide.eclipse.adt.PreCompilerBuilder</name>\r
+ <arguments>\r
+ </arguments>\r
+ </buildCommand>\r
+ <buildCommand>\r
+ <name>org.eclipse.jdt.core.javabuilder</name>\r
+ <arguments>\r
+ </arguments>\r
+ </buildCommand>\r
+ <buildCommand>\r
+ <name>com.android.ide.eclipse.adt.ApkBuilder</name>\r
+ <arguments>\r
+ </arguments>\r
+ </buildCommand>\r
+ </buildSpec>\r
+ <natures>\r
+ <nature>com.android.ide.eclipse.adt.AndroidNature</nature>\r
+ <nature>org.eclipse.jdt.core.javanature</nature>\r
+ </natures>\r
+</projectDescription>\r
--- /dev/null
+eclipse.preferences.version=1\r
+org.eclipse.jdt.core.compiler.codegen.targetPlatform=1.6\r
+org.eclipse.jdt.core.compiler.compliance=1.6\r
+org.eclipse.jdt.core.compiler.source=1.6\r
--- /dev/null
+<?xml version="1.0" encoding="utf-8"?>
+<manifest xmlns:android="http://schemas.android.com/apk/res/android"\r
+ package="org.opencv.samples.cameracalibration"\r
+ android:versionCode="1"\r
+ android:versionName="1.0" >\r
+\r
+ <application
+ android:label="@string/app_name"\r
+ android:icon="@drawable/icon"\r
+ android:theme="@android:style/Theme.NoTitleBar.Fullscreen" >
+ \r
+ <activity android:name="CameraCalibrationActivity"\r
+ android:label="@string/app_name"
+ android:screenOrientation="landscape"
+ android:configChanges="keyboardHidden|orientation" >\r
+ <intent-filter>\r
+ <action android:name="android.intent.action.MAIN" />\r
+ <category android:name="android.intent.category.LAUNCHER" />\r
+ </intent-filter>\r
+ </activity>\r
+ </application>
+
+ <supports-screens android:resizeable="true"
+ android:smallScreens="true"
+ android:normalScreens="true"
+ android:largeScreens="true"
+ android:anyDensity="true" />
+
+ <uses-sdk android:minSdkVersion="8" android:targetSdkVersion="11" />
+
+ <uses-permission android:name="android.permission.CAMERA"/>
+
+ <uses-feature android:name="android.hardware.camera" android:required="false"/>
+ <uses-feature android:name="android.hardware.camera.autofocus" android:required="false"/>
+ <uses-feature android:name="android.hardware.camera.front" android:required="false"/>
+ <uses-feature android:name="android.hardware.camera.front.autofocus" android:required="false"/>\r
+\r
+</manifest>\r
--- /dev/null
+set(sample example-camera-calibration)
+
+add_android_project(${sample} "${CMAKE_CURRENT_SOURCE_DIR}" LIBRARY_DEPS ${OpenCV_BINARY_DIR} SDK_TARGET 11 ${ANDROID_SDK_TARGET})
+if(TARGET ${sample})
+ add_dependencies(opencv_android_examples ${sample})
+endif()
--- /dev/null
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"\r
+ xmlns:tools="http://schemas.android.com/tools"\r
+ xmlns:opencv="http://schemas.android.com/apk/res-auto"\r
+ android:layout_width="match_parent"\r
+ android:layout_height="match_parent" >\r
+\r
+ <org.opencv.android.JavaCameraView\r
+ android:layout_width="fill_parent"\r
+ android:layout_height="fill_parent"\r
+ android:id="@+id/camera_calibration_java_surface_view" />\r
+\r
+</LinearLayout>\r
--- /dev/null
+<?xml version="1.0" encoding="utf-8"?>\r
+<menu xmlns:android="http://schemas.android.com/apk/res/android" >\r
+ <group android:checkableBehavior="single">\r
+ <item android:id="@+id/calibrate"\r
+ android:title="@string/action_calibrate"\r
+ android:showAsAction="ifRoom|withText" />\r
+ <item android:id="@+id/preview_mode"\r
+ android:title="@string/preview_mode">\r
+ <menu>\r
+ <group android:checkableBehavior="single">\r
+ <item android:id="@+id/calibration"\r
+ android:title="@string/calibration"\r
+ android:checked="true" />\r
+ <item android:id="@+id/undistortion"\r
+ android:title="@string/undistortion" />\r
+ <item android:id="@+id/comparison"\r
+ android:title="@string/comparison" />\r
+ </group>\r
+ </menu>\r
+ </item>\r
+ </group>\r
+</menu>\r
--- /dev/null
+<?xml version="1.0" encoding="utf-8"?>
+<resources>\r
+\r
+ <string name="app_name">OCV Camera Calibration</string>\r
+ <string name="action_calibrate">Calibrate</string>
+ <string name="calibration">Calibration</string>
+ <string name="undistortion">Undistortion</string>
+ <string name="comparison">Comparison</string>
+ <string name="preview_mode">Preview mode</string>
+ <string name="calibration_successful">Successfully calibrated!\nAvg. re-projection error:</string>
+ <string name="calibration_unsuccessful">Unsuccessful calibration.\nTry again</string>
+ <string name="more_samples">Please, capture more samples</string>
+ <string name="calibrating">Calibrating...</string>
+ <string name="please_wait">Please, wait</string>
+ <string name="original">Original</string>
+ <string name="undistorted">Undistorted</string>\r
+\r
+</resources>\r
--- /dev/null
+package org.opencv.samples.cameracalibration;
+
+import org.opencv.core.Mat;
+
+import android.app.Activity;
+import android.content.Context;
+import android.content.SharedPreferences;
+import android.util.Log;
+
+public abstract class CalibrationResult {
+ private static final String TAG = "OCVSample::CalibrationResult";
+
+ private static final int CAMERA_MATRIX_ROWS = 3;
+ private static final int CAMERA_MATRIX_COLS = 3;
+ private static final int DISTORTION_COEFFICIENTS_SIZE = 5;
+
+ public static void save(Activity activity, Mat cameraMatrix, Mat distortionCoefficients) {
+ SharedPreferences sharedPref = activity.getPreferences(Context.MODE_PRIVATE);
+ SharedPreferences.Editor editor = sharedPref.edit();
+
+ double[] cameraMatrixArray = new double[CAMERA_MATRIX_ROWS * CAMERA_MATRIX_COLS];
+ cameraMatrix.get(0, 0, cameraMatrixArray);
+ for (int i = 0; i < CAMERA_MATRIX_ROWS; i++) {
+ for (int j = 0; j < CAMERA_MATRIX_COLS; j++) {
+ Integer id = i * CAMERA_MATRIX_ROWS + j;
+ editor.putFloat(id.toString(), (float)cameraMatrixArray[id]);
+ }
+ }
+
+ double[] distortionCoefficientsArray = new double[DISTORTION_COEFFICIENTS_SIZE];
+ distortionCoefficients.get(0, 0, distortionCoefficientsArray);
+ int shift = CAMERA_MATRIX_ROWS * CAMERA_MATRIX_COLS;
+ for (Integer i = shift; i < DISTORTION_COEFFICIENTS_SIZE + shift; i++) {
+ editor.putFloat(i.toString(), (float)distortionCoefficientsArray[i-shift]);
+ }
+
+ editor.commit();
+ Log.i(TAG, "Saved camera matrix: " + cameraMatrix.dump());
+ Log.i(TAG, "Saved distortion coefficients: " + distortionCoefficients.dump());
+ }
+
+ public static boolean tryLoad(Activity activity, Mat cameraMatrix, Mat distortionCoefficients) {
+ SharedPreferences sharedPref = activity.getPreferences(Context.MODE_PRIVATE);
+ if (sharedPref.getFloat("0", -1) == -1) {
+ Log.i(TAG, "No previous calibration results found");
+ return false;
+ }
+
+ double[] cameraMatrixArray = new double[CAMERA_MATRIX_ROWS * CAMERA_MATRIX_COLS];
+ for (int i = 0; i < CAMERA_MATRIX_ROWS; i++) {
+ for (int j = 0; j < CAMERA_MATRIX_COLS; j++) {
+ Integer id = i * CAMERA_MATRIX_ROWS + j;
+ cameraMatrixArray[id] = sharedPref.getFloat(id.toString(), -1);
+ }
+ }
+ cameraMatrix.put(0, 0, cameraMatrixArray);
+ Log.i(TAG, "Loaded camera matrix: " + cameraMatrix.dump());
+
+ double[] distortionCoefficientsArray = new double[DISTORTION_COEFFICIENTS_SIZE];
+ int shift = CAMERA_MATRIX_ROWS * CAMERA_MATRIX_COLS;
+ for (Integer i = shift; i < DISTORTION_COEFFICIENTS_SIZE + shift; i++) {
+ distortionCoefficientsArray[i - shift] = sharedPref.getFloat(i.toString(), -1);
+ }
+ distortionCoefficients.put(0, 0, distortionCoefficientsArray);
+ Log.i(TAG, "Loaded distortion coefficients: " + distortionCoefficients.dump());
+
+ return true;
+ }
+}
--- /dev/null
+// This sample is based on "Camera calibration With OpenCV" tutorial:
+// http://docs.opencv.org/doc/tutorials/calib3d/camera_calibration/camera_calibration.html
+//
+// It uses standard OpenCV asymmetric circles grid pattern 11x4:
+// https://github.com/Itseez/opencv/blob/2.4/doc/acircles_pattern.png.
+// The results are the camera matrix and 5 distortion coefficients.
+//
+// Tap on highlighted pattern to capture pattern corners for calibration.
+// Move pattern along the whole screen and capture data.
+//
+// When you've captured necessary amount of pattern corners (usually ~20 are enough),
+// press "Calibrate" button for performing camera calibration.
+
+package org.opencv.samples.cameracalibration;
+
+import org.opencv.android.BaseLoaderCallback;
+import org.opencv.android.CameraBridgeViewBase;
+import org.opencv.android.CameraBridgeViewBase.CvCameraViewFrame;
+import org.opencv.android.CameraBridgeViewBase.CvCameraViewListener2;
+import org.opencv.android.LoaderCallbackInterface;
+import org.opencv.android.OpenCVLoader;
+import org.opencv.core.Mat;
+
+import android.app.Activity;
+import android.app.ProgressDialog;
+import android.content.res.Resources;
+import android.os.AsyncTask;
+import android.os.Bundle;
+import android.util.Log;
+import android.view.Menu;
+import android.view.MenuItem;
+import android.view.MotionEvent;
+import android.view.SurfaceView;
+import android.view.View;
+import android.view.View.OnTouchListener;
+import android.view.WindowManager;
+import android.widget.Toast;
+
+public class CameraCalibrationActivity extends Activity implements CvCameraViewListener2, OnTouchListener {
+ private static final String TAG = "OCVSample::Activity";
+
+ private CameraBridgeViewBase mOpenCvCameraView;
+ private CameraCalibrator mCalibrator;
+ private OnCameraFrameRender mOnCameraFrameRender;
+ private int mWidth;
+ private int mHeight;
+
+ private BaseLoaderCallback mLoaderCallback = new BaseLoaderCallback(this) {
+ @Override
+ public void onManagerConnected(int status) {
+ switch (status) {
+ case LoaderCallbackInterface.SUCCESS:
+ {
+ Log.i(TAG, "OpenCV loaded successfully");
+ mOpenCvCameraView.enableView();
+ mOpenCvCameraView.setOnTouchListener(CameraCalibrationActivity.this);
+ } break;
+ default:
+ {
+ super.onManagerConnected(status);
+ } break;
+ }
+ }
+ };
+
+ public CameraCalibrationActivity() {
+ Log.i(TAG, "Instantiated new " + this.getClass());
+ }
+
+ @Override
+ public void onCreate(Bundle savedInstanceState) {
+ Log.i(TAG, "called onCreate");
+ super.onCreate(savedInstanceState);
+ getWindow().addFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);
+
+ setContentView(R.layout.camera_calibration_surface_view);
+
+ mOpenCvCameraView = (CameraBridgeViewBase) findViewById(R.id.camera_calibration_java_surface_view);
+ mOpenCvCameraView.setVisibility(SurfaceView.VISIBLE);
+ mOpenCvCameraView.setCvCameraViewListener(this);
+ }
+
+ @Override
+ public void onPause()
+ {
+ super.onPause();
+ if (mOpenCvCameraView != null)
+ mOpenCvCameraView.disableView();
+ }
+
+ @Override
+ public void onResume()
+ {
+ super.onResume();
+ OpenCVLoader.initAsync(OpenCVLoader.OPENCV_VERSION_2_4_2, this, mLoaderCallback);
+ }
+
+ public void onDestroy() {
+ super.onDestroy();
+ if (mOpenCvCameraView != null)
+ mOpenCvCameraView.disableView();
+ }
+
+ @Override
+ public boolean onCreateOptionsMenu(Menu menu) {
+ super.onCreateOptionsMenu(menu);
+ getMenuInflater().inflate(R.menu.calibration, menu);
+
+ return true;
+ }
+
+ @Override
+ public boolean onPrepareOptionsMenu (Menu menu) {
+ super.onPrepareOptionsMenu(menu);
+ menu.findItem(R.id.preview_mode).setEnabled(true);
+ if (!mCalibrator.isCalibrated())
+ menu.findItem(R.id.preview_mode).setEnabled(false);
+
+ return true;
+ }
+
+ @Override
+ public boolean onOptionsItemSelected(MenuItem item) {
+ switch (item.getItemId()) {
+ case R.id.calibration:
+ mOnCameraFrameRender =
+ new OnCameraFrameRender(new CalibrationFrameRender(mCalibrator));
+ item.setChecked(true);
+ return true;
+ case R.id.undistortion:
+ mOnCameraFrameRender =
+ new OnCameraFrameRender(new UndistortionFrameRender(mCalibrator));
+ item.setChecked(true);
+ return true;
+ case R.id.comparison:
+ mOnCameraFrameRender =
+ new OnCameraFrameRender(new ComparisonFrameRender(mCalibrator, mWidth, mHeight, getResources()));
+ item.setChecked(true);
+ return true;
+ case R.id.calibrate:
+ final Resources res = getResources();
+ if (mCalibrator.getCornersBufferSize() < 2) {
+ (Toast.makeText(this, res.getString(R.string.more_samples), Toast.LENGTH_SHORT)).show();
+ return true;
+ }
+
+ mOnCameraFrameRender = new OnCameraFrameRender(new PreviewFrameRender());
+ new AsyncTask<Void, Void, Void>() {
+ private ProgressDialog calibrationProgress;
+
+ @Override
+ protected void onPreExecute() {
+ calibrationProgress = new ProgressDialog(CameraCalibrationActivity.this);
+ calibrationProgress.setTitle(res.getString(R.string.calibrating));
+ calibrationProgress.setMessage(res.getString(R.string.please_wait));
+ calibrationProgress.setCancelable(false);
+ calibrationProgress.setIndeterminate(true);
+ calibrationProgress.show();
+ }
+
+ @Override
+ protected Void doInBackground(Void... arg0) {
+ mCalibrator.calibrate();
+ return null;
+ }
+
+ @Override
+ protected void onPostExecute(Void result) {
+ calibrationProgress.dismiss();
+ mCalibrator.clearCorners();
+ mOnCameraFrameRender = new OnCameraFrameRender(new CalibrationFrameRender(mCalibrator));
+ String resultMessage = (mCalibrator.isCalibrated()) ?
+ res.getString(R.string.calibration_successful) + " " + mCalibrator.getAvgReprojectionError() :
+ res.getString(R.string.calibration_unsuccessful);
+ (Toast.makeText(CameraCalibrationActivity.this, resultMessage, Toast.LENGTH_SHORT)).show();
+
+ if (mCalibrator.isCalibrated()) {
+ CalibrationResult.save(CameraCalibrationActivity.this,
+ mCalibrator.getCameraMatrix(), mCalibrator.getDistortionCoefficients());
+ }
+ }
+ }.execute();
+ return true;
+ default:
+ return super.onOptionsItemSelected(item);
+ }
+ }
+
+ public void onCameraViewStarted(int width, int height) {
+ if (mWidth != width || mHeight != height) {
+ mWidth = width;
+ mHeight = height;
+ mCalibrator = new CameraCalibrator(mWidth, mHeight);
+ if (CalibrationResult.tryLoad(this, mCalibrator.getCameraMatrix(), mCalibrator.getDistortionCoefficients())) {
+ mCalibrator.setCalibrated();
+ }
+
+ mOnCameraFrameRender = new OnCameraFrameRender(new CalibrationFrameRender(mCalibrator));
+ }
+ }
+
+ public void onCameraViewStopped() {
+ }
+
+ public Mat onCameraFrame(CvCameraViewFrame inputFrame) {
+ return mOnCameraFrameRender.render(inputFrame);
+ }
+
+ @Override
+ public boolean onTouch(View v, MotionEvent event) {
+ Log.d(TAG, "onTouch invoked");
+
+ mCalibrator.addCorners();
+ return false;
+ }
+}
--- /dev/null
+package org.opencv.samples.cameracalibration;
+
+import java.util.ArrayList;
+import java.util.List;
+
+import org.opencv.calib3d.Calib3d;
+import org.opencv.core.Core;
+import org.opencv.core.CvType;
+import org.opencv.core.Mat;
+import org.opencv.core.MatOfDouble;
+import org.opencv.core.MatOfPoint2f;
+import org.opencv.core.MatOfPoint3f;
+import org.opencv.core.Point;
+import org.opencv.core.Scalar;
+import org.opencv.core.Size;
+
+import android.util.Log;
+
+public class CameraCalibrator {
+ private static final String TAG = "OCVSample::CameraCalibrator";
+
+ private final Size mPatternSize = new Size(4, 11);
+ private final int mCornersSize = (int)(mPatternSize.width * mPatternSize.height);
+ private boolean mPatternWasFound = false;
+ private MatOfPoint2f mCorners = new MatOfPoint2f();
+ private List<Mat> mCornersBuffer = new ArrayList<Mat>();
+ private boolean mIsCalibrated = false;
+
+ private Mat mCameraMatrix = new Mat();
+ private Mat mDistortionCoefficients = new Mat();
+ private int mFlags;
+ private double mRms;
+ private double mSquareSize = 0.0181;
+ private Size mImageSize;
+
+ public CameraCalibrator(int width, int height) {
+ mImageSize = new Size(width, height);
+ mFlags = Calib3d.CALIB_FIX_PRINCIPAL_POINT +
+ Calib3d.CALIB_ZERO_TANGENT_DIST +
+ Calib3d.CALIB_FIX_ASPECT_RATIO +
+ Calib3d.CALIB_FIX_K4 +
+ Calib3d.CALIB_FIX_K5;
+ Mat.eye(3, 3, CvType.CV_64FC1).copyTo(mCameraMatrix);
+ mCameraMatrix.put(0, 0, 1.0);
+ Mat.zeros(5, 1, CvType.CV_64FC1).copyTo(mDistortionCoefficients);
+ Log.i(TAG, "Instantiated new " + this.getClass());
+ }
+
+ public void processFrame(Mat grayFrame, Mat rgbaFrame) {
+ findPattern(grayFrame);
+ renderFrame(rgbaFrame);
+ }
+
+ public void calibrate() {
+ ArrayList<Mat> rvecs = new ArrayList<Mat>();
+ ArrayList<Mat> tvecs = new ArrayList<Mat>();
+ Mat reprojectionErrors = new Mat();
+ ArrayList<Mat> objectPoints = new ArrayList<Mat>();
+ objectPoints.add(Mat.zeros(mCornersSize, 1, CvType.CV_32FC3));
+ calcBoardCornerPositions(objectPoints.get(0));
+ for (int i = 1; i < mCornersBuffer.size(); i++) {
+ objectPoints.add(objectPoints.get(0));
+ }
+
+ Calib3d.calibrateCamera(objectPoints, mCornersBuffer, mImageSize,
+ mCameraMatrix, mDistortionCoefficients, rvecs, tvecs, mFlags);
+
+ mIsCalibrated = Core.checkRange(mCameraMatrix)
+ && Core.checkRange(mDistortionCoefficients);
+
+ mRms = computeReprojectionErrors(objectPoints, rvecs, tvecs, reprojectionErrors);
+ Log.i(TAG, String.format("Average re-projection error: %f", mRms));
+ Log.i(TAG, "Camera matrix: " + mCameraMatrix.dump());
+ Log.i(TAG, "Distortion coefficients: " + mDistortionCoefficients.dump());
+ }
+
+ public void clearCorners() {
+ mCornersBuffer.clear();
+ }
+
+ private void calcBoardCornerPositions(Mat corners) {
+ final int cn = 3;
+ float positions[] = new float[mCornersSize * cn];
+
+ for (int i = 0; i < mPatternSize.height; i++) {
+ for (int j = 0; j < mPatternSize.width * cn; j += cn) {
+ positions[(int) (i * mPatternSize.width * cn + j + 0)] =
+ (2 * (j / cn) + i % 2) * (float) mSquareSize;
+ positions[(int) (i * mPatternSize.width * cn + j + 1)] =
+ i * (float) mSquareSize;
+ positions[(int) (i * mPatternSize.width * cn + j + 2)] = 0;
+ }
+ }
+ corners.create(mCornersSize, 1, CvType.CV_32FC3);
+ corners.put(0, 0, positions);
+ }
+
+ private double computeReprojectionErrors(List<Mat> objectPoints,
+ List<Mat> rvecs, List<Mat> tvecs, Mat perViewErrors) {
+ MatOfPoint2f cornersProjected = new MatOfPoint2f();
+ double totalError = 0;
+ double error;
+ float viewErrors[] = new float[objectPoints.size()];
+
+ MatOfDouble distortionCoefficients = new MatOfDouble(mDistortionCoefficients);
+ int totalPoints = 0;
+ for (int i = 0; i < objectPoints.size(); i++) {
+ MatOfPoint3f points = new MatOfPoint3f(objectPoints.get(i));
+ Calib3d.projectPoints(points, rvecs.get(i), tvecs.get(i),
+ mCameraMatrix, distortionCoefficients, cornersProjected);
+ error = Core.norm(mCornersBuffer.get(i), cornersProjected, Core.NORM_L2);
+
+ int n = objectPoints.get(i).rows();
+ viewErrors[i] = (float) Math.sqrt(error * error / n);
+ totalError += error * error;
+ totalPoints += n;
+ }
+ perViewErrors.create(objectPoints.size(), 1, CvType.CV_32FC1);
+ perViewErrors.put(0, 0, viewErrors);
+
+ return Math.sqrt(totalError / totalPoints);
+ }
+
+ private void findPattern(Mat grayFrame) {
+ mPatternWasFound = Calib3d.findCirclesGridDefault(grayFrame, mPatternSize,
+ mCorners, Calib3d.CALIB_CB_ASYMMETRIC_GRID);
+ }
+
+ public void addCorners() {
+ if (mPatternWasFound) {
+ mCornersBuffer.add(mCorners.clone());
+ }
+ }
+
+ private void drawPoints(Mat rgbaFrame) {
+ Calib3d.drawChessboardCorners(rgbaFrame, mPatternSize, mCorners, mPatternWasFound);
+ }
+
+ private void renderFrame(Mat rgbaFrame) {
+ drawPoints(rgbaFrame);
+
+ Core.putText(rgbaFrame, "Captured: " + mCornersBuffer.size(), new Point(rgbaFrame.cols() / 3 * 2, rgbaFrame.rows() * 0.1),
+ Core.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar(255, 255, 0));
+ }
+
+ public Mat getCameraMatrix() {
+ return mCameraMatrix;
+ }
+
+ public Mat getDistortionCoefficients() {
+ return mDistortionCoefficients;
+ }
+
+ public int getCornersBufferSize() {
+ return mCornersBuffer.size();
+ }
+
+ public double getAvgReprojectionError() {
+ return mRms;
+ }
+
+ public boolean isCalibrated() {
+ return mIsCalibrated;
+ }
+
+ public void setCalibrated() {
+ mIsCalibrated = true;
+ }
+}
--- /dev/null
+package org.opencv.samples.cameracalibration;
+
+import java.util.ArrayList;
+import java.util.List;
+
+import org.opencv.android.CameraBridgeViewBase.CvCameraViewFrame;
+import org.opencv.core.Core;
+import org.opencv.core.Mat;
+import org.opencv.core.MatOfPoint;
+import org.opencv.core.Point;
+import org.opencv.core.Range;
+import org.opencv.core.Scalar;
+import org.opencv.imgproc.Imgproc;
+
+import android.content.res.Resources;
+
+abstract class FrameRender {
+ protected CameraCalibrator mCalibrator;
+
+ public abstract Mat render(CvCameraViewFrame inputFrame);
+}
+
+class PreviewFrameRender extends FrameRender {
+ @Override
+ public Mat render(CvCameraViewFrame inputFrame) {
+ return inputFrame.rgba();
+ }
+}
+
+class CalibrationFrameRender extends FrameRender {
+ public CalibrationFrameRender(CameraCalibrator calibrator) {
+ mCalibrator = calibrator;
+ }
+
+ @Override
+ public Mat render(CvCameraViewFrame inputFrame) {
+ Mat rgbaFrame = inputFrame.rgba();
+ Mat grayFrame = inputFrame.gray();
+ mCalibrator.processFrame(grayFrame, rgbaFrame);
+
+ return rgbaFrame;
+ }
+}
+
+class UndistortionFrameRender extends FrameRender {
+ public UndistortionFrameRender(CameraCalibrator calibrator) {
+ mCalibrator = calibrator;
+ }
+
+ @Override
+ public Mat render(CvCameraViewFrame inputFrame) {
+ Mat renderedFrame = new Mat(inputFrame.rgba().size(), inputFrame.rgba().type());
+ Imgproc.undistort(inputFrame.rgba(), renderedFrame,
+ mCalibrator.getCameraMatrix(), mCalibrator.getDistortionCoefficients());
+
+ return renderedFrame;
+ }
+}
+
+class ComparisonFrameRender extends FrameRender {
+ private int mWidth;
+ private int mHeight;
+ private Resources mResources;
+ public ComparisonFrameRender(CameraCalibrator calibrator, int width, int height, Resources resources) {
+ mCalibrator = calibrator;
+ mWidth = width;
+ mHeight = height;
+ mResources = resources;
+ }
+
+ @Override
+ public Mat render(CvCameraViewFrame inputFrame) {
+ Mat undistortedFrame = new Mat(inputFrame.rgba().size(), inputFrame.rgba().type());
+ Imgproc.undistort(inputFrame.rgba(), undistortedFrame,
+ mCalibrator.getCameraMatrix(), mCalibrator.getDistortionCoefficients());
+
+ Mat comparisonFrame = inputFrame.rgba();
+ undistortedFrame.colRange(new Range(0, mWidth / 2)).copyTo(comparisonFrame.colRange(new Range(mWidth / 2, mWidth)));
+ List<MatOfPoint> border = new ArrayList<MatOfPoint>();
+ final int shift = (int)(mWidth * 0.005);
+ border.add(new MatOfPoint(new Point(mWidth / 2 - shift, 0), new Point(mWidth / 2 + shift, 0),
+ new Point(mWidth / 2 + shift, mHeight), new Point(mWidth / 2 - shift, mHeight)));
+ Core.fillPoly(comparisonFrame, border, new Scalar(255, 255, 255));
+
+ Core.putText(comparisonFrame, mResources.getString(R.string.original), new Point(mWidth * 0.1, mHeight * 0.1),
+ Core.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar(255, 255, 0));
+ Core.putText(comparisonFrame, mResources.getString(R.string.undistorted), new Point(mWidth * 0.6, mHeight * 0.1),
+ Core.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar(255, 255, 0));
+
+ return comparisonFrame;
+ }
+}
+
+class OnCameraFrameRender {
+ private FrameRender mFrameRender;
+ public OnCameraFrameRender(FrameRender frameRender) {
+ mFrameRender = frameRender;
+ }
+ public Mat render(CvCameraViewFrame inputFrame) {
+ return mFrameRender.render(inputFrame);
+ }
+}
projects / profile / ivi / opencv.git / commitdiff
