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[Personalrobots-commit] SF.net SVN: personalrobots:[6112] pkg/trunk/vision/color_calib
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From: <jl...@us...> - 2008-10-31 21:00:13
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Revision: 6112
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=6112&view=rev
Author: jleibs
Date: 2008-10-31 21:00:09 +0000 (Fri, 31 Oct 2008)
Log Message:
-----------
Checking in improved libcolorcalib and calib_node.
Modified Paths:
--------------
pkg/trunk/vision/color_calib/calib_node.cpp
pkg/trunk/vision/color_calib/colorcalib.h
pkg/trunk/vision/color_calib/libcolorcalib.cpp
Modified: pkg/trunk/vision/color_calib/calib_node.cpp
===================================================================
--- pkg/trunk/vision/color_calib/calib_node.cpp 2008-10-31 20:37:52 UTC (rev 6111)
+++ pkg/trunk/vision/color_calib/calib_node.cpp 2008-10-31 21:00:09 UTC (rev 6112)
@@ -78,15 +78,18 @@
{
string l = image_msg.images[i].label;
- CvBridge<std_msgs::Image>* cv_bridge = new CvBridge<std_msgs::Image>(&image_msg.images[i], CvBridge<std_msgs::Image>::CORRECT_BGR | CvBridge<std_msgs::Image>::MAXDEPTH_8U);
-
if (image_msg.images[i].colorspace == std::string("rgb24"))
{
+ CvBridge<std_msgs::Image>* cv_bridge = new CvBridge<std_msgs::Image>(&image_msg.images[i], CvBridge<std_msgs::Image>::CORRECT_BGR | CvBridge<std_msgs::Image>::MAXDEPTH_8U);
IplImage* img;
if (cv_bridge->to_cv(&img))
{
- find_calib(img, color_cal);
+ IplImage* img2 = cvCreateImage(cvGetSize(img), IPL_DEPTH_32F, 3);
+
+ decompand(img, img2);
+
+ find_calib(img2, color_cal, COLOR_CAL_BGR);
printf("Color calibration:\n");
for (int i = 0; i < 3; i ++)
@@ -98,16 +101,16 @@
printf("\n");
}
- IplImage* corrected_img = cvCreateImage(cvGetSize(img), IPL_DEPTH_8U, 3);
+ IplImage* corrected_img = cvCreateImage(cvGetSize(img), IPL_DEPTH_32F, 3);
+ cvTransform(img2, corrected_img, color_cal);
- cvTransform(img, corrected_img, color_cal);
-
cvNamedWindow("color_rect", CV_WINDOW_AUTOSIZE);
cvShowImage("color_rect", corrected_img);
}
+
+ delete cv_bridge;
}
}
-
cv_mutex.unlock();
}
@@ -134,4 +137,3 @@
ros::fini();
return 0;
}
-
Modified: pkg/trunk/vision/color_calib/colorcalib.h
===================================================================
--- pkg/trunk/vision/color_calib/colorcalib.h 2008-10-31 20:37:52 UTC (rev 6111)
+++ pkg/trunk/vision/color_calib/colorcalib.h 2008-10-31 21:00:09 UTC (rev 6112)
@@ -37,6 +37,12 @@
#include "opencv/cxcore.h"
-bool find_calib(IplImage* img, CvMat* m);
+static const uint32_t COLOR_CAL_BGR = 1;
+static const uint32_t COLOR_CAL_FLOAT = 1;
+float srgb2lrgb(float x);
+float lrgb2srgb(float x);
+void decompand(IplImage* src, IplImage* dst);
+bool find_calib(IplImage* img, CvMat* m, int flags=0);
+
#endif
Modified: pkg/trunk/vision/color_calib/libcolorcalib.cpp
===================================================================
--- pkg/trunk/vision/color_calib/libcolorcalib.cpp 2008-10-31 20:37:52 UTC (rev 6111)
+++ pkg/trunk/vision/color_calib/libcolorcalib.cpp 2008-10-31 21:00:09 UTC (rev 6112)
@@ -41,6 +41,7 @@
#include "opencv/highgui.h"
IplImage* g_img;
+IplImage* g_disp_img;
CvMat* g_real_corners;
CvMat* g_meas_corners;
@@ -49,69 +50,119 @@
CvMat* g_real_colors;
CvMat* g_meas_colors;
+CvMat* g_reproj_colors;
CvMat* g_hom;
CvMat* g_color_cal;
int g_ind;
-float g_srgb_colors_dat[] = { 115, 82, 68,
- 194, 150, 130,
- 98, 122, 157,
- 87, 108, 67,
- 133, 128, 177,
- 103, 189, 170,
- 214, 126, 44,
- 80, 91, 166,
- 193, 90, 99,
- 94, 60, 108,
- 157, 188, 64,
- 224, 163, 64,
- 56, 61, 150,
- 70, 148, 73,
- 175, 54, 60,
- 231, 199, 31,
- 187, 86, 149,
- 8, 133, 161,
- 243, 243, 242,
- 200, 200, 200,
- 160, 160, 160,
- 122, 122, 121,
- 85, 85, 85,
- 52, 52, 52};
+float g_srgb_colors_dat[] = { 115.0/255.0, 82.0/255.0, 68.0/255.0,
+ 194.0/255.0, 150.0/255.0, 130.0/255.0,
+ 98.0/255.0, 122.0/255.0, 157.0/255.0,
+ 87.0/255.0, 108.0/255.0, 67.0/255.0,
+ 133.0/255.0, 128.0/255.0, 177.0/255.0,
+ 103.0/255.0, 189.0/255.0, 170.0/255.0,
+ 214.0/255.0, 126.0/255.0, 44.0/255.0,
+ 80.0/255.0, 91.0/255.0, 166.0/255.0,
+ 193.0/255.0, 90.0/255.0, 99.0/255.0,
+ 94.0/255.0, 60.0/255.0, 108.0/255.0,
+ 157.0/255.0, 188.0/255.0, 64.0/255.0,
+ 224.0/255.0, 163.0/255.0, 64.0/255.0,
+ 56.0/255.0, 61.0/255.0, 150.0/255.0,
+ 70.0/255.0, 148.0/255.0, 73.0/255.0,
+ 175.0/255.0, 54.0/255.0, 60.0/255.0,
+ 231.0/255.0, 199.0/255.0, 31.0/255.0,
+ 187.0/255.0, 86.0/255.0, 149.0/255.0,
+ 8.0/255.0, 133.0/255.0, 161.0/255.0,
+ 243.0/255.0, 243.0/255.0, 242.0/255.0,
+ 200.0/255.0, 200.0/255.0, 200.0/255.0,
+ 160.0/255.0, 160.0/255.0, 160.0/255.0,
+ 122.0/255.0, 122.0/255.0, 121.0/255.0,
+ 85.0/255.0, 85.0/255.0, 85.0/255.0,
+ 52.0/255.0, 52.0/255.0, 52.0/255.0};
float srgb2lrgb(float x)
{
- float k = x / 255.0;
- if (k < 0.04045)
+ if (x < 0.04045)
{
- k = k/12.92;
+ x = x/12.92;
} else {
- k = pow( (k + 0.055)/(1.055), 2.4 );
+ x = pow( (x + 0.055)/(1.055), 2.4 );
}
- return k*255.0;
+ return x;
}
float lrgb2srgb(float x)
{
- float k = x / 255.0;
- if (k < 0.0031308)
+ if (x < 0.0031308)
{
- k = k*12.92;
+ x = x*12.92;
} else {
- k = (1.055)*pow(k, 1.0/2.4) - 0.055;
+ x = (1.055)*pow(x, 1.0/2.4) - 0.055;
}
- return k*255.0;
+ return x;
}
+void decompand(IplImage* src, IplImage* dst)
+{
+
+ // TODO: type checking that src is type 8U or else "companding" makes less sense
+
+ int channels = dst->nChannels;
+ int depth = dst->depth;
+
+ static float compandmap[1024];
+ static bool has_map = false;
+
+ if (!has_map)
+ {
+ int compandinc = 1;
+ int j = 0;
+ int i = 0;
+ while (i < 4096)
+ {
+ compandmap[j] = float(i)/4096.0;
+
+ if (i > 2047)
+ compandinc = 8;
+ else if (i > 511)
+ compandinc = 4;
+ else if (i > 255)
+ compandinc = 2;
+ else
+ compandinc = 1;
+
+ i += compandinc;
+ j += 1;
+ }
+ has_map = true;
+ }
+
+ if (depth == IPL_DEPTH_32F)
+ {
+ for (int i = 0; i < src->height; i++)
+ for (int j = 0; j < src->width; j++)
+ for (int k = 0; k < channels; k++)
+ ((float *)(dst->imageData + i*dst->widthStep))[j*dst->nChannels + k] =
+ compandmap[((uchar *)(src->imageData + i*src->widthStep))[j*src->nChannels + k] << 2];
+ } else {
+ for (int i = 0; i < src->height; i++)
+ for (int j = 0; j < src->width; j++)
+ for (int k = 0; k < channels; k++)
+ ((uchar *)(dst->imageData + i*dst->widthStep))[j*dst->nChannels + k] =
+ compandmap[((uchar *)(src->imageData + i*src->widthStep))[j*src->nChannels + k] << 2]*255;
+ }
+}
+
//Mouse event handler
void on_mouse(int event, int x, int y, int flags, void *params)
{
switch(event) {
case CV_EVENT_LBUTTONDOWN:
- cvCircle(g_img, cvPoint(x,y), 5, cvScalar(0,0,255));
+ cvCircle(g_disp_img, cvPoint(x,y), 5, cvScalar(0,0,255));
// For first 4 clicks, set measured corners:
if (g_ind < 4) {
@@ -131,12 +182,9 @@
for (int i = 0; i < g_colors_pos->rows; i++)
{
- CvPoint* p[1];
CvPoint poly[4];
- p[0] = &(poly[0]);
- int n[] = {4};
- int minx=10000;
- int miny=10000;
+ int minx=1000000;
+ int miny=1000000;
int maxx=0;
int maxy=0;
@@ -158,8 +206,9 @@
IplImage* mask = cvCreateImage(cvGetSize(g_img), IPL_DEPTH_8U, 1);
cvFillConvexPoly(mask, poly, 4, cvScalar(1));
+ int cnt = 0;
CvScalar color = cvScalar(0,0,0);
- int cnt = 0;
+ // CvScalar color = cvAvg(g_img, mask);
for( int u = minx; u < maxx; u++)
for (int v = miny; v < maxy; v++)
@@ -176,7 +225,7 @@
color.val[1] /= cnt;
color.val[2] /= cnt;
- cvDrawPolyLine(g_img, p, n, 1, 1, cvScalar(255,0,0));
+ cvReleaseImage(&mask);
cvmSet(g_meas_colors, i, 0, color.val[0]);
cvmSet(g_meas_colors, i, 1, color.val[1]);
@@ -184,27 +233,57 @@
}
- cvShowImage("macbeth image", g_img);
-
cvReleaseMat(&reproj);
cvSolve(g_meas_colors, g_real_colors, g_color_cal, CV_SVD);
+ cvMatMul(g_meas_colors, g_color_cal, g_reproj_colors);
+
+ for (int k = 0; k < 24; k++)
+ {
+ printf("%d) Meas: %f %f %f\n Reproj: %f %f %f\n Real: %f %f %f\n",
+ k,
+ cvmGet(g_meas_colors,k,0),
+ cvmGet(g_meas_colors,k,1),
+ cvmGet(g_meas_colors,k,2),
+ cvmGet(g_reproj_colors,k,0),
+ cvmGet(g_reproj_colors,k,1),
+ cvmGet(g_reproj_colors,k,2),
+ cvmGet(g_real_colors,k,0),
+ cvmGet(g_real_colors,k,1),
+ cvmGet(g_real_colors,k,2));
+ }
+
cvTranspose(g_color_cal, g_color_cal);
g_ind++;
}
- cvShowImage("macbeth image", g_img);
+ cvShowImage("macbeth image", g_disp_img);
break;
}
+}
+bool find_calib(IplImage* img, CvMat* mat, int flags)
+{
-}
+ bool use_bgr = flags & COLOR_CAL_BGR;
+ bool use_float = (img->depth == IPL_DEPTH_32F);
-bool find_calib(IplImage* img, CvMat* mat)
-{
+ float mult;
+ if (use_float)
+ mult = 1;
+ else
+ mult = 255;
+
g_img = cvCloneImage(img);
+ g_disp_img = cvCloneImage(g_img);
+ if (!use_bgr)
+ cvCvtColor(g_disp_img, g_disp_img, CV_RGB2BGR);
+
+ CvScalar a = cvAvg(g_img);
+ printf("Avg value of g: %f %f %f\n", a.val[0], a.val[1], a.val[2]);
+
if (g_img && mat)
{
//Allocate matrices
@@ -225,30 +304,36 @@
cvSet2D(g_colors_pos, i, 3, cvScalar(float(i%6 + .25), float(i/6 + .75)));
}
- g_real_colors = cvCreateMatHeader( 24, 3, CV_32FC1);
- cvSetData( g_real_colors, g_srgb_colors_dat, 3*sizeof(float));
+ g_real_colors = cvCreateMat( 24, 3, CV_32FC1);
- // Swap our srgb colors to lbgr colors for opencv
+ // Set to lbgr colors for opencv
for (int i = 0; i < 24; i++)
{
- float r = srgb2lrgb(cvmGet(g_real_colors, i, 0));
- float g = srgb2lrgb(cvmGet(g_real_colors, i, 1));
- float b = srgb2lrgb(cvmGet(g_real_colors, i, 2));
- cvmSet(g_real_colors, i, 0, b);
- cvmSet(g_real_colors, i, 1, g);
- cvmSet(g_real_colors, i, 2, r);
+ float r = srgb2lrgb(g_srgb_colors_dat[3*i + 0])*mult;
+ float g = srgb2lrgb(g_srgb_colors_dat[3*i + 1])*mult;
+ float b = srgb2lrgb(g_srgb_colors_dat[3*i + 2])*mult;
+ if (use_bgr)
+ {
+ cvmSet(g_real_colors, i, 0, b);
+ cvmSet(g_real_colors, i, 1, g);
+ cvmSet(g_real_colors, i, 2, r);
+ } else {
+ cvmSet(g_real_colors, i, 0, r);
+ cvmSet(g_real_colors, i, 1, g);
+ cvmSet(g_real_colors, i, 2, b);
+ }
}
g_meas_colors = cvCreateMat( 24, 3, CV_32FC1);
+ g_reproj_colors = cvCreateMat( 24, 3, CV_32FC1);
g_color_cal = mat;
// Create display
cvNamedWindow("macbeth image", CV_WINDOW_AUTOSIZE);
cvSetMouseCallback("macbeth image", on_mouse, 0);
- cvShowImage("macbeth image", g_img);
+ cvShowImage("macbeth image", g_disp_img);
-
while (g_ind < 5)
{
cvWaitKey(3);
@@ -258,10 +343,12 @@
cvDestroyWindow("macbeth image");
cvReleaseImage(&g_img);
+ cvReleaseImage(&g_disp_img);
cvReleaseMat(&g_real_corners);
cvReleaseMat(&g_meas_corners);
cvReleaseMat(&g_real_colors);
cvReleaseMat(&g_meas_colors);
+ cvReleaseMat(&g_reproj_colors);
cvReleaseMat(&g_colors_pos);
cvReleaseMat(&g_hom);
@@ -269,5 +356,4 @@
} else {
return false;
}
-
}
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