gusucode.com > vision工具箱matlab源码程序 > vision/+vision/+internal/+calibration/+tool/Session.m
% Session holds the state of the Camera Calibration App
%
% This class holds the entire state of the camera calibration UI.
% It is used to save and load the camera calibration session. It is also
% used to pass data amongst other classes.
% Copyright 2012-2013 The MathWorks, Inc.
classdef Session < handle
properties
CameraModel; % holds all of the calibration options
OptimizationOptions = []; % initial values for intrinsics and radial distortion
CameraParameters = []; % actual calibration results
EstimationErrors = [];
ShouldExportErrors = false;
BoardSet = []; % holds all checkerboard information
HasEnoughBoards = false; % true if enough images were loaded and processed
CanExport = false; % true when cameraParameters can be exported
IsChanged = false; % true when session may need saving
ExtrinsicsView = 'CameraCentric';
% ErrorsView is no longer used, since we only use the BarGraph view
% in the app. However, we have to keep this property around for
% compatibility with older versions.
ErrorsView = 'BarGraph';
Filename = []; % filename for the session
ExportVariableName = 'cameraParams'; % default export variable name
ExportErrorsVariableName = 'estimationErrors';
end
properties(Access=private, Hidden)
Version = ver('vision');
end
properties(Dependent)
FileName; % Had to add this for backward compatibility
% The following properties are NOT mutually exclusive.
% An empty session (with empty BoardSet and CameraParameters) can
% be either stereo or single camera.
IsValidStereoCameraSession;
IsValidSingleCameraSession;
end
methods
%------------------------------------------------------------------
function fileName = get.FileName(this)
fileName = this.Filename;
end
%------------------------------------------------------------------
function set.FileName(this, fileName)
this.Filename = fileName;
end
%------------------------------------------------------------------
function tf = get.IsValidStereoCameraSession(this)
tf = (isempty(this.CameraParameters) || ...
isa(this.CameraParameters, 'stereoParameters')) && ...
(isempty(this.BoardSet) || ...
size(this.BoardSet.FullPathNames, 1) == 2);
end
%------------------------------------------------------------------
function tf = get.IsValidSingleCameraSession(this)
tf = (isempty(this.CameraParameters) || ...
isa(this.CameraParameters, 'cameraParameters')) && ...
(isempty(this.BoardSet) || ...
size(this.BoardSet.FullPathNames, 1) == 1);
end
%------------------------------------------------------------------
% return true if the tool went though the calibration
%------------------------------------------------------------------
function ret = isCalibrated(this)
ret = ~isempty(this.CameraParameters);
end
function ret = hasAnyBoards(this)
ret = ~isempty(this.BoardSet) && ...
this.BoardSet.NumBoards ~= 0;
end
%------------------------------------------------------------------
function reset(this)
this.ExtrinsicsView = 'CameraCentric';
this.FileName = [];
this.CanExport = false;
this.HasEnoughBoards = false;
this.CameraParameters = [];
this.IsChanged = false;
this.CameraModel = [];
this.OptimizationOptions = [];
if ~isempty(this.BoardSet)
this.BoardSet.reset();
end
end
%------------------------------------------------------------------
% Wipes only the calibration portion of the session
%------------------------------------------------------------------
function resetCalibration(this)
this.CanExport = false;
this.CameraParameters = [];
end
%------------------------------------------------------------------
function checkImagePaths(this, pathname, filename)
if ~isempty(this.BoardSet)
this.BoardSet.checkImagePaths(pathname, filename);
end
end
%------------------------------------------------------------------
function imagesUsed = calibrate(this)
if isempty(this.OptimizationOptions) || ...
isempty(this.OptimizationOptions.InitialDistortion)
numRadial = this.CameraModel.NumDistortionCoefficients;
else
numRadial = numel(this.OptimizationOptions.InitialDistortion);
end
if ~isempty(this.OptimizationOptions)
initIntrinsics = this.OptimizationOptions.InitialIntrinsics;
initDistortion = this.OptimizationOptions.InitialDistortion;
else
initIntrinsics = [];
initDistortion = [];
end
[cameraParams, imagesUsed, estimationErrors] = ...
estimateCameraParameters(this.BoardSet.BoardPoints, ...
this.BoardSet.WorldPoints,...
'EstimateSkew', this.CameraModel.ComputeSkew, ...
'EstimateTangentialDistortion', ...
this.CameraModel.ComputeTangentialDistortion, ...
'NumRadialDistortionCoefficients', numRadial, ...
'WorldUnits', this.BoardSet.Units, ...
'ShowProgressBar', true, ...
'InitialIntrinsicMatrix', initIntrinsics, ...
'InitialRadialDistortion', initDistortion);
this.CanExport = true;
this.IsChanged = true;
this.CameraParameters = cameraParams;
this.EstimationErrors = estimationErrors;
end
%------------------------------------------------------------------
function codeString = generateCode(this)
if isa(this.CameraParameters, 'stereoParameters')
codeString = generateCodeStereo(this);
else
codeString = generateCodeSingle(this);
end
end
end
methods(Access=private)
%------------------------------------------------------------------
function codeString = generateCodeSingle(this)
cameraModel = this.CameraModel;
codeGenerator = vision.internal.calibration.tool.MCodeGenerator;
% Write a header
codeGenerator.addHeader('cameraCalibrator');
% Detect checkerboards
codeGenerator.addComment('Define images to process');
codeGenerator.addLine(sprintf('imageFileNames = %s;',...
cell2str(this.BoardSet.FullPathNames)));
codeGenerator.addComment('Detect checkerboards in images');
codeGenerator.addLine('[imagePoints, boardSize, imagesUsed] = detectCheckerboardPoints(imageFileNames);');
codeGenerator.addLine('imageFileNames = imageFileNames(imagesUsed);');
% Set up data for the calibration
codeGenerator.addComment('Generate world coordinates of the corners of the squares');
codeGenerator.addLine(sprintf('squareSize = %d; %% in units of ''%s''',...
this.BoardSet.SquareSize,...
this.BoardSet.Units));
codeGenerator.addLine('worldPoints = generateCheckerboardPoints(boardSize, squareSize);');
% Calibrate
if isempty(this.OptimizationOptions)
initIntrinsics = [];
initDistortion = [];
else
initIntrinsics = this.OptimizationOptions.InitialIntrinsics;
initDistortion = this.OptimizationOptions.InitialDistortion;
end
codeGenerator.addComment('Calibrate the camera');
codeGenerator.addLine(sprintf(['[cameraParams, imagesUsed, estimationErrors] = estimateCameraParameters(imagePoints, worldPoints, ...\n',...
'''EstimateSkew'', %s, ''EstimateTangentialDistortion'', %s, ...\n', ...
'''NumRadialDistortionCoefficients'', %d, ''WorldUnits'', ''%s'', ...\n', ...
'''InitialIntrinsicMatrix'', %s, ''InitialRadialDistortion'', %s);'], ...
mat2str(cameraModel.ComputeSkew), ...
mat2str(cameraModel.ComputeTangentialDistortion),...
cameraModel.NumDistortionCoefficients, this.BoardSet.Units, ...
mat2str(initIntrinsics), mat2str(initDistortion)));
% Add visualizations
% Reprojection errors
codeGenerator.addComment('View reprojection errors');
codeGenerator.addLine('h1=figure; showReprojectionErrors(cameraParams);');
% Extrinsics
codeGenerator.addComment('Visualize pattern locations');
codeGenerator.addLine(sprintf('h2=figure; showExtrinsics(cameraParams, ''%s'');', ...
this.ExtrinsicsView));
% Estimation errors
codeGenerator.addComment('Display parameter estimation errors');
codeGenerator.addLine('displayErrors(estimationErrors, cameraParams);');
% Suggest possible next steps
codeGenerator.addComment('For example, you can use the calibration data to remove effects of lens distortion.');
codeGenerator.addLine('originalImage = imread(imageFileNames{1});');
codeGenerator.addLine('undistortedImage = undistortImage(originalImage, cameraParams);');
codeGenerator.addComment('See additional examples of how to use the calibration data. At the prompt type:');
codeGenerator.addLine('% showdemo(''MeasuringPlanarObjectsExample'')');
codeGenerator.addLine('% showdemo(''StructureFromMotionExample'')');
% Terminate the file with carriage return
codeGenerator.addReturn();
codeString = codeGenerator.CodeString;
end
%------------------------------------------------------------------
function codeString = generateCodeStereo(this)
cameraModel = this.CameraModel;
codeGenerator = vision.internal.calibration.tool.MCodeGenerator;
% Write a header
codeGenerator.addHeader('stereoCalibrator');
% Detect checkerboards
codeGenerator.addComment('Define images to process');
codeGenerator.addLine(sprintf('imageFileNames1 = %s;',...
cell2str(this.BoardSet.FullPathNames(1, :))));
codeGenerator.addLine(sprintf('imageFileNames2 = %s;',...
cell2str(this.BoardSet.FullPathNames(2, :))));
codeGenerator.addComment('Detect checkerboards in images');
codeGenerator.addLine('[imagePoints, boardSize, imagesUsed] = detectCheckerboardPoints(imageFileNames1, imageFileNames2);');
% Set up data for the calibration
codeGenerator.addComment('Generate world coordinates of the checkerboard keypoints');
codeGenerator.addLine(sprintf('squareSize = %d; %% in units of ''%s''',...
this.BoardSet.SquareSize,...
this.BoardSet.Units));
codeGenerator.addLine('worldPoints = generateCheckerboardPoints(boardSize, squareSize);');
% Calibrate
if isempty(this.OptimizationOptions)
initIntrinsics = [];
initDistortion = [];
else
initIntrinsics = this.OptimizationOptions.InitialIntrinsics;
initDistortion = this.OptimizationOptions.InitialDistortion;
end
codeGenerator.addComment('Calibrate the camera');
codeGenerator.addLine(sprintf(['[stereoParams, pairsUsed, estimationErrors] = estimateCameraParameters(imagePoints, worldPoints, ...\n',...
'''EstimateSkew'', %s, ''EstimateTangentialDistortion'', %s, ...\n', ...
'''NumRadialDistortionCoefficients'', %d, ''WorldUnits'', ''%s'', ...\n', ...
'''InitialIntrinsicMatrix'', %s, ''InitialRadialDistortion'', %s);'], ...
mat2str(cameraModel.ComputeSkew), ...
mat2str(cameraModel.ComputeTangentialDistortion),...
cameraModel.NumDistortionCoefficients, this.BoardSet.Units, ...
mat2str(initIntrinsics), mat2str(initDistortion)));
% Add visualizations
% Reprojection errors
codeGenerator.addComment('View reprojection errors');
codeGenerator.addLine('h1=figure; showReprojectionErrors(stereoParams);');
% Extrinsics
codeGenerator.addComment('Visualize pattern locations');
codeGenerator.addLine(sprintf('h2=figure; showExtrinsics(stereoParams, ''%s'');', ...
this.ExtrinsicsView));
% Estimation errors
codeGenerator.addComment('Display parameter estimation errors');
codeGenerator.addLine('displayErrors(estimationErrors, stereoParams);');
% Suggest possible next steps
codeGenerator.addComment('You can use the calibration data to rectify stereo images.');
codeGenerator.addLine('I1 = imread(imageFileNames1{1});');
codeGenerator.addLine('I2 = imread(imageFileNames2{1});');
codeGenerator.addLine('[J1, J2] = rectifyStereoImages(I1, I2, stereoParams);');
codeGenerator.addComment('See additional examples of how to use the calibration data. At the prompt type:');
codeGenerator.addLine('% showdemo(''StereoCalibrationAndSceneReconstructionExample'')');
codeGenerator.addLine('% showdemo(''DepthEstimationFromStereoVideoExample'')');
% Terminate the file with carriage return
codeGenerator.addReturn();
codeString = codeGenerator.CodeString;
end
end
%----------------------------------------------------------------------
% saveobj and loadobj are implemented to ensure compatibility across
% releases even if architecture of Session class changes
methods (Hidden)
function that = saveobj(this)
that.version = this.Version;
that.cameraModel = this.CameraModel;
that.optimizationOptions = this.OptimizationOptions;
that.cameraParams = this.CameraParameters;
that.estimationErrors = this.EstimationErrors;
that.shouldExportErrors = this.ShouldExportErrors;
that.boardSet = this.BoardSet;
that.hasEnoughBoards = this.HasEnoughBoards;
that.canExport = this.CanExport;
that.isChanged = this.IsChanged;
that.extrinsicsView = this.ExtrinsicsView;
that.errorsView = this.ErrorsView;
that.filename = this.FileName;
that.exportVarName = this.ExportVariableName;
end
end
%----------------------------------------------------------------------
methods (Static, Hidden)
function this = loadobj(that)
if isa(that, 'vision.internal.calibration.tool.Session')
this = that;
this.OptimizationOptions.InitialIntrinsics = [];
this.OptimizationOptions.InitialDistortion = [];
else
this = vision.internal.calibration.tool.Session;
this.CameraModel = that.cameraModel;
this.CameraParameters = that.cameraParams;
this.EstimationErrors = that.estimationErrors;
this.ShouldExportErrors = that.shouldExportErrors;
this.BoardSet = that.boardSet;
this.HasEnoughBoards = that.hasEnoughBoards;
this.CanExport = that.canExport;
this.IsChanged = that.isChanged;
this.ExtrinsicsView = that.extrinsicsView;
this.FileName = that.filename;
this.ExportVariableName = that.exportVarName;
if isfield(that, 'optimizationOptions')
this.OptimizationOptions = that.optimizationOptions;
else
this.OptimizationOptions.InitialIntrinsics = [];
this.OptimizationOptions.InitialDistortion = [];
end
end
end
end
end
%--------------------------------------------------------------
% This function handles conversion of cell array of strings
% to a string representing the entire cell array
%--------------------------------------------------------------
function str = cell2str(cellArray)
str = '{'; % opening bracket
% constants that are easier to read once assigned into
% variables
quote = '''';
nextLine = sprintf(',...\n');
for i=1:numel(cellArray)
str = [str, quote, cellArray{i}, quote, nextLine]; %#ok<AGROW>
end
str = [str, '}']; % closing bracket
end