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Signed-off-by: Jacki <jacki@thejackimonster.de>
This commit is contained in:
Jacki 2025-06-04 22:03:10 +02:00
parent d2ba6cbdf6
commit 4fe426913c
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1 changed files with 231 additions and 233 deletions
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464
examples/debug_cam/src/camera.cpp
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@ -1,18 +1,18 @@
#include <stdio.h>
#include <opencv2/opencv.hpp> #include <opencv2/opencv.hpp>
#include <opencv2/videoio.hpp> #include <opencv2/videoio.hpp>
#include <stdio.h>
const uint8_t chunk_map [128] = { const uint8_t chunk_map[128] = {
119, 54, 21, 0, 108, 22, 51, 63, 93, 99, 67, 7, 32, 112, 52, 43, 119, 54, 21, 0, 108, 22, 51, 63, 93, 99, 67, 7, 32, 112, 52,
14, 35, 75, 116, 64, 71, 44, 89, 18, 88, 26, 61, 70, 56, 90, 79, 43, 14, 35, 75, 116, 64, 71, 44, 89, 18, 88, 26, 61, 70, 56,
87, 120, 81, 101, 121, 17, 72, 31, 53, 124, 127, 113, 111, 36, 48, 90, 79, 87, 120, 81, 101, 121, 17, 72, 31, 53, 124, 127, 113, 111,
19, 37, 83, 126, 74, 109, 5, 84, 41, 76, 30, 110, 29, 12, 115, 28, 36, 48, 19, 37, 83, 126, 74, 109, 5, 84, 41, 76, 30, 110, 29,
102, 105, 62, 103, 20, 3, 68, 49, 77, 117, 125, 106, 60, 69, 98, 9, 12, 115, 28, 102, 105, 62, 103, 20, 3, 68, 49, 77, 117, 125, 106,
16, 78, 47, 40, 2, 118, 34, 13, 50, 46, 80, 85, 66, 42, 123, 122, 60, 69, 98, 9, 16, 78, 47, 40, 2, 118, 34, 13, 50, 46, 80,
96, 11, 25, 97, 39, 6, 86, 1, 8, 82, 92, 59, 104, 24, 15, 73, 65, 85, 66, 42, 123, 122, 96, 11, 25, 97, 39, 6, 86, 1, 8, 82,
38, 58, 10, 23, 33, 55, 57, 107, 100, 94, 27, 95, 45, 91, 4, 114 92, 59, 104, 24, 15, 73, 65, 38, 58, 10, 23, 33, 55, 57, 107,
}; 100, 94, 27, 95, 45, 91, 4, 114};
#define CHUNK_SIZE 2400 #define CHUNK_SIZE 2400
#define CHUNK_AMOUNT 128 #define CHUNK_AMOUNT 128
@ -43,172 +43,173 @@ const float s2 = -0.0003866048077984273F;
const float s3 = +0.007856725692160133F; const float s3 = +0.007856725692160133F;
const float s4 = +0.0003370697673688772F; const float s4 = +0.0003370697673688772F;
typedef cv::Point2f (*apply_variant_func) (float xn, float yn); typedef cv::Point2f (*apply_variant_func)(float xn, float yn);
cv::Point2f apply_intrinsic_only(float xn, float yn) { cv::Point2f apply_intrinsic_only(float xn, float yn) {
cv::Point2f p; cv::Point2f p;
p.x = fx * xn + cx; p.x = fx * xn + cx;
p.y = fy * yn + cy; p.y = fy * yn + cy;
return p; return p;
} }
cv::Point2f apply_radial_only(float xn, float yn) { cv::Point2f apply_radial_only(float xn, float yn) {
cv::Point2f p; cv::Point2f p;
float r, sp, cp; float r, sp, cp;
float th, th_dist; float th, th_dist;
r = sqrtf(xn * xn + yn * yn); r = sqrtf(xn * xn + yn * yn);
if (r == 0) { if (r == 0) {
cp = 1.0F; cp = 1.0F;
sp = 0.0F; sp = 0.0F;
} else { } else {
cp = xn / r; cp = xn / r;
sp = yn / r; sp = yn / r;
} }
th = atanf(r); th = atanf(r);
th_dist = th; th_dist = th;
const float th2 = th*th; const float th2 = th * th;
const float th3 = th*th*th; const float th3 = th * th * th;
th_dist += k1 * th3; th_dist += k1 * th3;
th_dist += k2 * th2 * th3; th_dist += k2 * th2 * th3;
th_dist += k3 * th2*th2 * th3; th_dist += k3 * th2 * th2 * th3;
th_dist += k4 * th3*th3 * th3; th_dist += k4 * th3 * th3 * th3;
th_dist += k5 * th3*th3*th2 * th3; th_dist += k5 * th3 * th3 * th2 * th3;
th_dist += k6 * th3*th3*th2*th2 * th3; th_dist += k6 * th3 * th3 * th2 * th2 * th3;
xn = th_dist * cp; xn = th_dist * cp;
yn = th_dist * sp; yn = th_dist * sp;
p.x = fx * xn + cx;
p.y = fy * yn + cy;
return p; p.x = fx * xn + cx;
p.y = fy * yn + cy;
return p;
} }
cv::Point2f apply_radial_tangential(float xn, float yn) { cv::Point2f apply_radial_tangential(float xn, float yn) {
cv::Point2f p; cv::Point2f p;
float r, sp, cp; float r, sp, cp;
float th, th_dist; float th, th_dist;
float dx, dy; float dx, dy;
r = sqrtf(xn * xn + yn * yn); r = sqrtf(xn * xn + yn * yn);
if (r == 0) { if (r == 0) {
cp = 1.0F; cp = 1.0F;
sp = 0.0F; sp = 0.0F;
} else { } else {
cp = xn / r; cp = xn / r;
sp = yn / r; sp = yn / r;
} }
th = atanf(r); th = atanf(r);
th_dist = th; th_dist = th;
const float th2 = th*th; const float th2 = th * th;
const float th3 = th*th*th; const float th3 = th * th * th;
th_dist += k1 * th3; th_dist += k1 * th3;
th_dist += k2 * th2 * th3; th_dist += k2 * th2 * th3;
th_dist += k3 * th2*th2 * th3; th_dist += k3 * th2 * th2 * th3;
th_dist += k4 * th3*th3 * th3; th_dist += k4 * th3 * th3 * th3;
th_dist += k5 * th3*th3*th2 * th3; th_dist += k5 * th3 * th3 * th2 * th3;
th_dist += k6 * th3*th3*th2*th2 * th3; th_dist += k6 * th3 * th3 * th2 * th2 * th3;
xn = th_dist * cp; xn = th_dist * cp;
yn = th_dist * sp; yn = th_dist * sp;
r = xn * xn + yn * yn; r = xn * xn + yn * yn;
dx = (2.0F * xn * xn + r) * p1 + 2.0F * xn * yn * p2; dx = (2.0F * xn * xn + r) * p1 + 2.0F * xn * yn * p2;
dy = (2.0F * yn * yn + r) * p2 + 2.0F * xn * yn * p1; dy = (2.0F * yn * yn + r) * p2 + 2.0F * xn * yn * p1;
xn += dx; xn += dx;
yn += dy; yn += dy;
p.x = fx * xn + cx;
p.y = fy * yn + cy;
return p; p.x = fx * xn + cx;
p.y = fy * yn + cy;
return p;
} }
cv::Point2f apply_fisheye624(float xn, float yn) { cv::Point2f apply_fisheye624(float xn, float yn) {
cv::Point2f p; cv::Point2f p;
float r, sp, cp; float r, sp, cp;
float th, th_dist; float th, th_dist;
float dx, dy; float dx, dy;
r = sqrtf(xn * xn + yn * yn); r = sqrtf(xn * xn + yn * yn);
if (r == 0) { if (r == 0) {
cp = 1.0F; cp = 1.0F;
sp = 0.0F; sp = 0.0F;
} else { } else {
cp = xn / r; cp = xn / r;
sp = yn / r; sp = yn / r;
} }
th = atanf(r); th = atanf(r);
th_dist = th; th_dist = th;
const float th2 = th*th; const float th2 = th * th;
const float th3 = th*th*th; const float th3 = th * th * th;
const float th5 = th3*th2; const float th5 = th3 * th2;
const float th6 = th3*th3; const float th6 = th3 * th3;
th_dist += k1 * th3; th_dist += k1 * th3;
th_dist += k2 * th5; th_dist += k2 * th5;
th_dist += k3 * th5*th2; th_dist += k3 * th5 * th2;
th_dist += k4 * th6*th3; th_dist += k4 * th6 * th3;
th_dist += k5 * th6*th5; th_dist += k5 * th6 * th5;
th_dist += k6 * th6*th5*th2; th_dist += k6 * th6 * th5 * th2;
xn = th_dist * cp; xn = th_dist * cp;
yn = th_dist * sp; yn = th_dist * sp;
r = xn * xn + yn * yn; r = xn * xn + yn * yn;
dx = (2.0F * xn * xn + r) * p1 + 2.0F * xn * yn * p2; dx = (2.0F * xn * xn + r) * p1 + 2.0F * xn * yn * p2;
dy = (2.0F * yn * yn + r) * p2 + 2.0F * xn * yn * p1; dy = (2.0F * yn * yn + r) * p2 + 2.0F * xn * yn * p1;
dx += (s1 + s2 * r) * r; dx += (s1 + s2 * r) * r;
dy += (s3 + s4 * r) * r; dy += (s3 + s4 * r) * r;
xn += dx; xn += dx;
yn += dy; yn += dy;
p.x = fx * xn + cx;
p.y = fy * yn + cy;
return p; p.x = fx * xn + cx;
p.y = fy * yn + cy;
return p;
} }
cv::Mat build_maps_variant(apply_variant_func func, uint32_t width, uint32_t height) { cv::Mat build_maps_variant(apply_variant_func func, uint32_t width,
cv::Mat map = cv::Mat(cv::Size(height, width), CV_16SC2); uint32_t height) {
cv::Point2f p; cv::Mat map = cv::Mat(cv::Size(height, width), CV_16SC2);
cv::Vec2s v; cv::Point2f p;
size_t x, y; cv::Vec2s v;
size_t x, y;
for (y = 0; y < map.rows; y++) { for (y = 0; y < map.rows; y++) {
for (x = 0; x < map.cols; x++) { for (x = 0; x < map.cols; x++) {
const float xn = (x - cx) / fx; const float xn = (x - cx) / fx;
const float yn = (y - cy) / fy; const float yn = (y - cy) / fy;
p = func(xn, yn);
v[0] = static_cast<short>(p.x); p = func(xn, yn);
v[1] = static_cast<short>(p.y);
map.at<cv::Vec2s>(y, x) = v; v[0] = static_cast<short>(p.x);
} v[1] = static_cast<short>(p.y);
map.at<cv::Vec2s>(y, x) = v;
} }
}
return map; return map;
} }
void remap(const cv::Mat& input, cv::Mat& output, const cv::Mat& map) { void remap(const cv::Mat &input, cv::Mat &output, const cv::Mat &map) {
cv::Vec2s v; cv::Vec2s v;
size_t x, y; size_t x, y;
@ -221,123 +222,120 @@ void remap(const cv::Mat& input, cv::Mat& output, const cv::Mat& map) {
} }
} }
int main(int argc, const char** argv) { int main(int argc, const char **argv) {
cv::VideoCapture cap; cv::VideoCapture cap;
cv::Mat frame; cv::Mat frame;
cv::Ptr<cv::StereoBM> stereo = cv::StereoBM::create(16, 15); cv::Ptr<cv::StereoBM> stereo = nullptr; // cv::StereoBM::create(16, 15);
if (!stereo) { cap.open(0, cv::CAP_V4L2);
return 1; if (!cap.isOpened()) {
return 2;
}
cap.set(cv::CAP_PROP_FORMAT, -1);
cap.set(cv::CAP_PROP_CONVERT_RGB, false);
cv::Mat img = cv::Mat(cv::Size(CAM_WIDTH, CAM_HEIGHT), CV_8UC1);
cv::Mat left = cv::Mat(cv::Size(CAM_HEIGHT, CAM_WIDTH), CV_8UC1);
cv::Mat right = cv::Mat(cv::Size(CAM_HEIGHT, CAM_WIDTH), CV_8UC1);
cv::Mat map_fisheye624 =
build_maps_variant(apply_fisheye624, CAM_WIDTH, CAM_HEIGHT);
cv::Mat undist_left = cv::Mat(left.size(), left.type());
cv::Mat undist_right = cv::Mat(right.size(), right.type());
while (true) {
cap.read(frame);
if (frame.empty()) {
break;
} }
cap.open(4, cv::CAP_V4L2); if (frame.cols < CAM_BUFFER_SIZE) {
if (!cap.isOpened()) { continue;
return 2;
} }
cap.set(cv::CAP_PROP_FORMAT, -1); uint8_t *blocks = frame.ptr();
cap.set(cv::CAP_PROP_CONVERT_RGB, false); uint8_t *data = img.ptr();
cv::Mat img = cv::Mat(cv::Size(CAM_WIDTH, CAM_HEIGHT), CV_8UC1); const uint8_t *header = blocks + CAM_IMAGE_DATA_SIZE;
cv::Mat left = cv::Mat(cv::Size(CAM_HEIGHT, CAM_WIDTH), CV_8UC1);
cv::Mat right = cv::Mat(cv::Size(CAM_HEIGHT, CAM_WIDTH), CV_8UC1);
cv::Mat map_fisheye624 = build_maps_variant(apply_fisheye624, CAM_WIDTH, CAM_HEIGHT); uint64_t t_ns = *((const uint64_t *)(header + 0x00));
uint64_t t_ms = *((const uint64_t *)(header + 0x3E));
cv::Mat undist_left = cv::Mat(left.size(), left.type()); uint16_t seq = *((const uint16_t *)(header + 0x12));
cv::Mat undist_right = cv::Mat(right.size(), right.type()); uint8_t is_right = *(header + 0x3B);
while (true) { size_t offset = 0;
cap.read(frame); size_t sum = CHUNK_SUM_LEN * 0xFF + 1;
if (frame.empty()) {
break;
}
if (frame.cols < CAM_BUFFER_SIZE) { for (size_t i = 0; i < CHUNK_AMOUNT; i++) {
continue; size_t val = 0;
}
uint8_t* blocks = frame.ptr(); for (size_t j = 0; j < CHUNK_SUM_LEN; j++) {
uint8_t* data = img.ptr(); val += blocks[CHUNK_SIZE * i + j];
}
const uint8_t* header = blocks + CAM_IMAGE_DATA_SIZE; if (val < sum) {
offset = i;
uint64_t t_ns = *((const uint64_t*) (header + 0x00)); sum = val;
uint64_t t_ms = *((const uint64_t*) (header + 0x3E)); }
uint16_t seq = *((const uint16_t*) (header + 0x12));
uint8_t is_right = *(header + 0x3B);
size_t offset = 0;
size_t sum = CHUNK_SUM_LEN * 0xFF + 1;
for (size_t i = 0; i < CHUNK_AMOUNT; i++) {
size_t val = 0;
for (size_t j = 0; j < CHUNK_SUM_LEN; j++) {
val += blocks[CHUNK_SIZE * i + j];
}
if (val < sum) {
offset = i;
sum = val;
}
}
for (size_t i = 0; i < CHUNK_AMOUNT; i++) {
if (chunk_map[i] == offset) {
offset = i;
break;
}
}
for (size_t i = 0; i < CHUNK_AMOUNT; i++) {
size_t src_idx = CHUNK_SIZE * chunk_map[(offset + i) % CHUNK_AMOUNT];
size_t dst_idx = CHUNK_SIZE * i;
std::memcpy(data + dst_idx, blocks + src_idx, CHUNK_SIZE);
}
if (is_right) {
cv::rotate(img, right, cv::ROTATE_90_CLOCKWISE);
} else {
cv::rotate(img, left, cv::ROTATE_90_COUNTERCLOCKWISE);
}
if ((left.empty()) || (right.empty())) {
continue;
}
//cv::remap(left, undist, map_intrinsic, cv::noArray(), cv::INTER_LINEAR);
remap(left, undist_left, map_fisheye624);
remap(right, undist_right, map_fisheye624);
if (stereo) {
cv::Mat disparity;
cv::Mat disp8;
stereo->compute(undist_left, undist_right, disparity);
disparity.convertTo(disp8, CV_8U, 255.0f / (16.0f * 16.0f));
cv::imshow("Live", disp8);
} else {
cv::Mat row;
cv::hconcat(left, right, row);
cv::hconcat(undist_left, undist_right, row);
cv::imshow("Live", row);
}
if (cv::waitKey(5) >= 0) {
break;
}
} }
cap.release(); for (size_t i = 0; i < CHUNK_AMOUNT; i++) {
cv::destroyAllWindows(); if (chunk_map[i] == offset) {
offset = i;
break;
}
}
return 0; for (size_t i = 0; i < CHUNK_AMOUNT; i++) {
size_t src_idx = CHUNK_SIZE * chunk_map[(offset + i) % CHUNK_AMOUNT];
size_t dst_idx = CHUNK_SIZE * i;
std::memcpy(data + dst_idx, blocks + src_idx, CHUNK_SIZE);
}
if (is_right) {
cv::rotate(img, right, cv::ROTATE_90_CLOCKWISE);
} else {
cv::rotate(img, left, cv::ROTATE_90_COUNTERCLOCKWISE);
}
if ((left.empty()) || (right.empty())) {
continue;
}
// cv::remap(left, undist, map_intrinsic, cv::noArray(), cv::INTER_LINEAR);
remap(left, undist_left, map_fisheye624);
remap(right, undist_right, map_fisheye624);
if (stereo) {
cv::Mat disparity;
cv::Mat disp8;
stereo->compute(undist_left, undist_right, disparity);
disparity.convertTo(disp8, CV_8U, 255.0f / (16.0f * 16.0f));
cv::imshow("Live", disp8);
} else {
cv::Mat row;
cv::hconcat(left, right, row);
cv::hconcat(undist_left, undist_right, row);
cv::imshow("Live", row);
}
if (cv::waitKey(5) >= 0) {
break;
}
}
cap.release();
cv::destroyAllWindows();
return 0;
} }