343 lines
8.1 KiB
C++
343 lines
8.1 KiB
C++
|
|
#include <stdio.h>
|
|
#include <opencv2/opencv.hpp>
|
|
#include <opencv2/videoio.hpp>
|
|
|
|
const uint8_t chunk_map [128] = {
|
|
119, 54, 21, 0, 108, 22, 51, 63, 93, 99, 67, 7, 32, 112, 52, 43,
|
|
14, 35, 75, 116, 64, 71, 44, 89, 18, 88, 26, 61, 70, 56, 90, 79,
|
|
87, 120, 81, 101, 121, 17, 72, 31, 53, 124, 127, 113, 111, 36, 48,
|
|
19, 37, 83, 126, 74, 109, 5, 84, 41, 76, 30, 110, 29, 12, 115, 28,
|
|
102, 105, 62, 103, 20, 3, 68, 49, 77, 117, 125, 106, 60, 69, 98, 9,
|
|
16, 78, 47, 40, 2, 118, 34, 13, 50, 46, 80, 85, 66, 42, 123, 122,
|
|
96, 11, 25, 97, 39, 6, 86, 1, 8, 82, 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_AMOUNT 128
|
|
#define CHUNK_SUM_LEN 128
|
|
|
|
#define CAM_WIDTH 640
|
|
#define CAM_HEIGHT 480
|
|
#define CAM_HEADER_LEN 2
|
|
|
|
#define CAM_BUFFER_SIZE ((CAM_HEIGHT + CAM_HEADER_LEN) * CAM_WIDTH)
|
|
#define CAM_IMAGE_DATA_SIZE (CAM_HEIGHT * CAM_WIDTH)
|
|
|
|
const float fx = 239.9401992353717F;
|
|
const float fy = 240.1440084390103F;
|
|
const float cx = 244.88379123391678F;
|
|
const float cy = 315.48779284276173F;
|
|
|
|
const float k1 = -0.00023167964822506118F;
|
|
const float k2 = +0.0936140967533583F;
|
|
const float k3 = -0.12407217981118918F;
|
|
const float k4 = +0.07253328684439207F;
|
|
const float k5 = -0.02173257609236286F;
|
|
const float k6 = +0.0026589892415407887F;
|
|
const float p1 = +0.002702726113704367F;
|
|
const float p2 = -0.003645482535483966F;
|
|
const float s1 = -0.00747665631898417F;
|
|
const float s2 = -0.0003866048077984273F;
|
|
const float s3 = +0.007856725692160133F;
|
|
const float s4 = +0.0003370697673688772F;
|
|
|
|
typedef cv::Point2f (*apply_variant_func) (float xn, float yn);
|
|
|
|
cv::Point2f apply_intrinsic_only(float xn, float yn) {
|
|
cv::Point2f p;
|
|
|
|
p.x = fx * xn + cx;
|
|
p.y = fy * yn + cy;
|
|
|
|
return p;
|
|
}
|
|
|
|
cv::Point2f apply_radial_only(float xn, float yn) {
|
|
cv::Point2f p;
|
|
float r, sp, cp;
|
|
float th, th_dist;
|
|
|
|
r = sqrtf(xn * xn + yn * yn);
|
|
if (r == 0) {
|
|
cp = 1.0F;
|
|
sp = 0.0F;
|
|
} else {
|
|
cp = xn / r;
|
|
sp = yn / r;
|
|
}
|
|
|
|
th = atanf(r);
|
|
th_dist = th;
|
|
|
|
const float th2 = th*th;
|
|
const float th3 = th*th*th;
|
|
|
|
th_dist += k1 * th3;
|
|
th_dist += k2 * th2 * th3;
|
|
th_dist += k3 * th2*th2 * th3;
|
|
th_dist += k4 * th3*th3 * th3;
|
|
th_dist += k5 * th3*th3*th2 * th3;
|
|
th_dist += k6 * th3*th3*th2*th2 * th3;
|
|
|
|
xn = th_dist * cp;
|
|
yn = th_dist * sp;
|
|
|
|
p.x = fx * xn + cx;
|
|
p.y = fy * yn + cy;
|
|
|
|
return p;
|
|
}
|
|
|
|
cv::Point2f apply_radial_tangential(float xn, float yn) {
|
|
cv::Point2f p;
|
|
float r, sp, cp;
|
|
float th, th_dist;
|
|
float dx, dy;
|
|
|
|
r = sqrtf(xn * xn + yn * yn);
|
|
if (r == 0) {
|
|
cp = 1.0F;
|
|
sp = 0.0F;
|
|
} else {
|
|
cp = xn / r;
|
|
sp = yn / r;
|
|
}
|
|
|
|
th = atanf(r);
|
|
th_dist = th;
|
|
|
|
const float th2 = th*th;
|
|
const float th3 = th*th*th;
|
|
|
|
th_dist += k1 * th3;
|
|
th_dist += k2 * th2 * th3;
|
|
th_dist += k3 * th2*th2 * th3;
|
|
th_dist += k4 * th3*th3 * th3;
|
|
th_dist += k5 * th3*th3*th2 * th3;
|
|
th_dist += k6 * th3*th3*th2*th2 * th3;
|
|
|
|
xn = th_dist * cp;
|
|
yn = th_dist * sp;
|
|
|
|
r = xn * xn + yn * yn;
|
|
|
|
dx = (2.0F * xn * xn + r) * p1 + 2.0F * xn * yn * p2;
|
|
dy = (2.0F * yn * yn + r) * p2 + 2.0F * xn * yn * p1;
|
|
|
|
xn += dx;
|
|
yn += dy;
|
|
|
|
p.x = fx * xn + cx;
|
|
p.y = fy * yn + cy;
|
|
|
|
return p;
|
|
}
|
|
|
|
cv::Point2f apply_fisheye624(float xn, float yn) {
|
|
cv::Point2f p;
|
|
float r, sp, cp;
|
|
float th, th_dist;
|
|
float dx, dy;
|
|
|
|
r = sqrtf(xn * xn + yn * yn);
|
|
if (r == 0) {
|
|
cp = 1.0F;
|
|
sp = 0.0F;
|
|
} else {
|
|
cp = xn / r;
|
|
sp = yn / r;
|
|
}
|
|
|
|
th = atanf(r);
|
|
th_dist = th;
|
|
|
|
const float th2 = th*th;
|
|
const float th3 = th*th*th;
|
|
const float th5 = th3*th2;
|
|
const float th6 = th3*th3;
|
|
|
|
th_dist += k1 * th3;
|
|
th_dist += k2 * th5;
|
|
th_dist += k3 * th5*th2;
|
|
th_dist += k4 * th6*th3;
|
|
th_dist += k5 * th6*th5;
|
|
th_dist += k6 * th6*th5*th2;
|
|
|
|
xn = th_dist * cp;
|
|
yn = th_dist * sp;
|
|
|
|
r = xn * xn + yn * yn;
|
|
|
|
dx = (2.0F * xn * xn + r) * p1 + 2.0F * xn * yn * p2;
|
|
dy = (2.0F * yn * yn + r) * p2 + 2.0F * xn * yn * p1;
|
|
|
|
dx += (s1 + s2 * r) * r;
|
|
dy += (s3 + s4 * r) * r;
|
|
|
|
xn += dx;
|
|
yn += dy;
|
|
|
|
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 map = cv::Mat(cv::Size(height, width), CV_16SC2);
|
|
cv::Point2f p;
|
|
cv::Vec2s v;
|
|
size_t x, y;
|
|
|
|
for (y = 0; y < map.rows; y++) {
|
|
for (x = 0; x < map.cols; x++) {
|
|
const float xn = (x - cx) / fx;
|
|
const float yn = (y - cy) / fy;
|
|
|
|
p = func(xn, yn);
|
|
|
|
v[0] = static_cast<short>(p.x);
|
|
v[1] = static_cast<short>(p.y);
|
|
|
|
map.at<cv::Vec2s>(y, x) = v;
|
|
}
|
|
}
|
|
|
|
return map;
|
|
}
|
|
|
|
void remap(const cv::Mat& input, cv::Mat& output, const cv::Mat& map) {
|
|
cv::Vec2s v;
|
|
size_t x, y;
|
|
|
|
for (y = 0; y < input.rows; y++) {
|
|
for (x = 0; x < input.cols; x++) {
|
|
v = map.at<cv::Vec2s>(y, x);
|
|
|
|
output.at<uint8_t>(y, x) = input.at<uint8_t>(v[1], v[0]);
|
|
}
|
|
}
|
|
}
|
|
|
|
int main(int argc, const char** argv) {
|
|
cv::VideoCapture cap;
|
|
cv::Mat frame;
|
|
|
|
cv::Ptr<cv::StereoBM> stereo = cv::StereoBM::create(16, 15);
|
|
|
|
if (!stereo) {
|
|
return 1;
|
|
}
|
|
|
|
cap.open(4, cv::CAP_V4L2);
|
|
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;
|
|
}
|
|
|
|
if (frame.cols < CAM_BUFFER_SIZE) {
|
|
continue;
|
|
}
|
|
|
|
uint8_t* blocks = frame.ptr();
|
|
uint8_t* data = img.ptr();
|
|
|
|
const uint8_t* header = blocks + CAM_IMAGE_DATA_SIZE;
|
|
|
|
uint64_t t_ns = *((const uint64_t*) (header + 0x00));
|
|
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();
|
|
cv::destroyAllWindows();
|
|
|
|
return 0;
|
|
}
|