www.pudn.com > TSAI30B3.rar > NCSYN.C
/*******************************************************************************\
* *
* This program generates a synthetic set of calibration data for use *
* with Tsai's camera calibration algorithm. *
* *
* History *
* ------- *
* *
* 06-Jun-94 Reg Willson (rgw@cs.cmu.edu) at Carnegie-Mellon University *
* Fixed bug in call to print_cp_cc_data (). The second and third *
* arguments should be pointers to the data structures. *
* Bug reported by Chien-Ping Lu *
* *
* 30-Nov-93 Reg Willson (rgw@cs.cmu.edu) at Carnegie-Mellon University *
* Updated to use new calibration statistics routines. *
* *
* 01-May-93 Reg Willson (rgw@cs.cmu.edu) at Carnegie-Mellon University *
* Modified to use utility routines. *
* *
* 07-Feb-93 Reg Willson (rgw@cs.cmu.edu) at Carnegie-Mellon University *
* Original implementation. *
* *
\*******************************************************************************/
#include
#include
#include "cal_main.h"
#define PI 3.14159265358979323846264338327950288419716939937511
#define TARGET_STDEV 0.04 /* 0.04 standard deviation of target dimensions in [mm] */
#define SENSOR_STDEV 0.02 /* 0.02 standard deviation of sensor measurements in [pixels] */
double gasdev (); /* random number generator */
int idum = -1362; /* initial seed for gasdev */
/* reasonable calibration constants for coplanar calibration */
void cc_generate_calibration_constants ()
{
cc.f = 90.0; /* [mm] (focal length) */
cc.kappa1 = -0.0006; /* [1/mm^2] (distortion coefficient) */
cc.Tx = -100.0; /* [mm] (x translation) */
cc.Ty = -85.0; /* [mm] (y translation) */
cc.Tz = 2000.0; /* [mm] (z translation) */
cc.Rx = 30.0 * PI / 180; /* [rad] (x rotation) */
cc.Ry = 1.0 * PI / 180; /* [rad] (y rotation) */
cc.Rz = 2.0 * PI / 180; /* [rad] (z rotation) */
apply_RPY_transform ();
cc.Tx = -150.0; /* [mm] (x translation) */
cc.Ty = -75.0; /* [mm] (y translation) */
cc.Tz = 2200.0; /* [mm] (z translation) */
cc.Rx = 20.0 * PI / 180; /* [rad] (x rotation) */
cc.Ry = 5.0 * PI / 180; /* [rad] (y rotation) */
cc.Rz = -1.0 * PI / 180; /* [rad] (z rotation) */
apply_RPY_transform ();
}
/* reasonable calibration constants for noncoplanar calibration */
void nc_generate_calibration_constants ()
{
cc.f = 70.0; /* [mm] (focal length) */
cc.kappa1 = -0.0006; /* [1/mm^2] (distortion coefficient) */
cc.Tx = -100.0; /* [mm] (x translation) */
cc.Ty = -85.0; /* [mm] (y translation) */
cc.Tz = 2000.0; /* [mm] (z translation) */
cc.Rx = 30.0 * PI / 180; /* [rad] (x rotation) */
cc.Ry = 1.0 * PI / 180; /* [rad] (y rotation) */
cc.Rz = 2.0 * PI / 180; /* [rad] (z rotation) */
apply_RPY_transform ();
}
void generate_calibration_data ()
{
#define X_COUNT 10 /* number of columns */
#define Y_COUNT 10 /* number of rows */
#define Z_COUNT 3 /* number of planes */
#define X_ORIGIN 10 /* [mm] */
#define Y_ORIGIN 10 /* [mm] */
#define Z_ORIGIN 0 /* [mm] */
#define X_SPACING 20 /* inter plane spacing [mm] */
#define Y_SPACING 20 /* inter plane spacing [mm] */
#define Z_SPACING 20 /* intra plane spacing [mm] */
int i,
j,
k;
cd.point_count = 0;
for (k = 0; k < Z_COUNT; k++)
for (i = 0; i < X_COUNT; i++)
for (j = 0; j < Y_COUNT; j++) {
/* generate a point in 3D world coordinates */
cd.xw[cd.point_count] = i * X_SPACING + X_ORIGIN;
cd.yw[cd.point_count] = j * Y_SPACING + Y_ORIGIN;
cd.zw[cd.point_count] = k * Z_SPACING + Z_ORIGIN;
/* generate the corresponding 2D image coordinates, including dimensional */
/* noise - gaussian, zero mean, TARGET_STDEV standard deviation */
world_coord_to_image_coord (cd.xw[cd.point_count] + gasdev (&idum) * TARGET_STDEV,
cd.yw[cd.point_count] + gasdev (&idum) * TARGET_STDEV,
cd.zw[cd.point_count] + gasdev (&idum) * TARGET_STDEV,
&(cd.Xf[cd.point_count]),
&(cd.Yf[cd.point_count]));
/* add in measurement noise - gaussian, zero mean, SENSOR_STDEV standard deviation */
cd.Xf[cd.point_count] += gasdev (&idum) * SENSOR_STDEV;
cd.Yf[cd.point_count] += gasdev (&idum) * SENSOR_STDEV;
cd.point_count += 1;
}
}
main ()
{
#define CX_OFFSET 4 /* x offset for center of radial lens distortion */
#define CY_OFFSET 8 /* y offset for center of radial lens distortion */
#define SX_FACTOR 1 /* perturbation factor for x scale factor */
/* initialize the camera parameters (cp) with the photometrics constants */
initialize_photometrics_parms ();
/* perturb the image center a bit */
cp.Cx += CX_OFFSET;
cp.Cy += CY_OFFSET;
/* perturb the scaling factor a bit */
cp.sx *= SX_FACTOR;
/* generate a synthetic set of calibration constants (cc) */
nc_generate_calibration_constants ();
/* generate a synthetic set of calibration data (cd) */
generate_calibration_data ();
fprintf (stderr, "\nNon-coplanar synthetic calibration data generation:\n");
fprintf (stderr, "\ncamera type: %s\n\n", camera_type);
print_cp_cc_data (stderr, &cp, &cc);
print_error_stats (stderr);
dump_cd_data (stdout, &cd);
return 0;
}