Overview

This sample application performs a fisheye lens calibration using input images taken with the same camera/lens. Then it uses Image Remap and the calibration data to correct fisheye lens distortion of these images and save the result to disk. The mapping used for distortion correction is VPI_FISHEYE_EQUIDISTANT, which maps straight lines in the scene to straight lines in the corrected image.

This sample shows the following:

Creating and destroying a VPI stream.
Use OpenCV to estimate the intrinsic and distortion parameters of a fisheye lens given a set of calibration images.
Create a VPIWarpMap and use vpiWarpMapGenerateFromFisheyeLensDistortionModel to initialize it to correct the distortion caused by a fisheye lens.
Create pipeline that does Image Format Converter to convert from/to NV12 format and run Image Remap to perform the lens distortion correction.

Lens Calibration

Lens calibration uses a set of images taken by the same camera/lens, each one showing a checkerboard pattern in a different position, so that taken collectively, the checkerboard appears in almost entire field of view. The more images, the more accurate the calibration will be, but typically 10 to 15 images suffice.

VPI samples include a set of input images that can be used. They are found in /opt/nvidia/vpi-0.3/samples/assets/fisheye directory.

Example of calibration images

To create a set of calibration images for a given lens, do the following:

Print a checkerboard pattern on a piece of paper. VPI provides in samples' assets directory one 10x7 checkerboard file that can be used, named checkerboard_10x7.pdf.
Mount the fisheye lens on a camera.
With the camera in a fixed position, take several pictures showing the checkerboard in different positions, covering a good part of the field of view.

Instructions

The usage is:

./vpi_sample_11_fisheye -c W,H [-s win] <image1> [image2] [image3] ...

where

-c W,H: specifies the number of squares the checkerboard pattern has horizontally (W) and vertically (H).
-s win: (optional) the width of a window around each internal vertex of the checkerboard (point where 4 squares meet) to be used in a vertex position refinement stage. The actual vertex position will be searched within this window. If this parameter is omitted, the refinement stage will be skipped.
imageN: set of calibration images

Note: Since currently only the PVA backend implements Image Remap, and only on Jetson Xavier series, this sample can be run solely in these devices.

Here's one invocation example:

./vpi_sample_11_fisheye -c 10,7 -s 22 ../assets/fisheye/*.jpg

This will correct the included set of calibration images, all captured using the checkerboard pattern also included. It's using a 22x22 window around each checkerboard internal vertex to refine the vertex position.

Results

Here are some input and output images produced by the sample application:

Input	Corrected

Source code

For convenience, here's the code that is also installed in the samples directory.

/*
* Copyright (c) 2020, NVIDIA CORPORATION. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*  * Redistributions of source code must retain the above copyright
*    notice, this list of conditions and the following disclaimer.
*  * Redistributions in binary form must reproduce the above copyright
*    notice, this list of conditions and the following disclaimer in the
*    documentation and/or other materials provided with the distribution.
*  * Neither the name of NVIDIA CORPORATION nor the names of its
*    contributors may be used to endorse or promote products derived
*    from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
* PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
* PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
* OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
 
#include <opencv2/core/version.hpp>
 
#if CV_MAJOR_VERSION >= 3
#    include <opencv2/imgcodecs.hpp>
#else
#    include <opencv2/highgui/highgui.hpp>
#endif
 
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/imgproc/imgproc.hpp>
 
#include <string.h> // for basename(3) that doesn't modify its argument
#include <unistd.h> // for getopt
#include <vpi/Context.h>
#include <vpi/Event.h>
#include <vpi/Image.h>
#include <vpi/LensDistortionModels.h>
#include <vpi/Stream.h>
#include <vpi/algo/ImageFormatConverter.h>
#include <vpi/algo/ImageRemap.h>
 
#include <iostream>
 
#define CHECK_STATUS(STMT)                                      \
    do                                                          \
    {                                                           \
        VPIStatus status = (STMT);                              \
        if (status != VPI_SUCCESS)                              \
        {                                                       \
            throw std::runtime_error(vpiStatusGetName(status)); \
        }                                                       \
    } while (0);
 
static void PrintUsage(const char *progname, std::ostream &out)
{
    out << "Usage: " << progname << " <-c W,H> [-s win] <image1> [image2] [image3] ...\n"
        << " where,\n"
        << " W,H\tcheckerboard with WxH squares\n"
        << " win\tsearch window width around checkerboard vertex used\n"
        << "\tin refinement, default is 0 (disable refinement)\n"
        << " imageN\tinput images taken with a fisheye lens camera" << std::endl;
}
 
struct Params
{
    cv::Size vtxCount;                // Number of internal vertices the checkerboard has
    int searchWinSize;                // search window size around the checkerboard vertex for refinement.
    std::vector<const char *> images; // input image names.
};
 
static Params ParseParameters(int argc, char *argv[])
{
    Params params = {};
 
    cv::Size cbSize;
 
    opterr = 0;
    int opt;
    while ((opt = getopt(argc, argv, "hc:s:")) != -1)
    {
        switch (opt)
        {
        case 'h':
            PrintUsage(basename(argv[0]), std::cout);
            return {};
 
        case 'c':
            if (sscanf(optarg, "%u,%u", &cbSize.width, &cbSize.height) != 2)
            {
                throw std::invalid_argument("Error parsing checkerboard information");
            }
 
            // OpenCV expects number of interior vertices in the checkerboard,
            // not number of squares. Let's adjust for that.
            params.vtxCount.width  = cbSize.width - 1;
            params.vtxCount.height = cbSize.height - 1;
            break;
 
        case 's':
            if (sscanf(optarg, "%d", &params.searchWinSize) != 1)
            {
                throw std::invalid_argument("Error parseing search window size");
            }
            if (params.searchWinSize < 0)
            {
                throw std::invalid_argument("Search window size must be >= 0");
            }
            break;
        case '?':
            throw std::invalid_argument(std::string("Option -") + (char)optopt + " not recognized");
        }
    }
 
    for (int i = optind; i < argc; ++i)
    {
        params.images.push_back(argv[i]);
    }
 
    if (params.images.empty())
    {
        throw std::invalid_argument("At least one image must be defined");
    }
 
    if (cbSize.width <= 3 || cbSize.height <= 3)
    {
        throw std::invalid_argument("Checkerboard size must have at least 3x3 squares");
    }
 
    if (params.searchWinSize == 1)
    {
        throw std::invalid_argument("Search window size must be 0 (default) or >= 2");
    }
 
    return params;
}
 
int main(int argc, char *argv[])
{
    // We'll create all vpi objects under this context, so that
    // we don't have to track what objects to destroy. Just destroying
    // the context will destroy all objects.
    VPIContext ctx = 0;
 
    try
    {
        // First parse command line paramers
        Params params = ParseParameters(argc, argv);
        if (params.images.empty()) // user just wanted the help message?
        {
            return 0;
        }
 
        // Where to store checkerboard 2D corners of each input image.
        std::vector<std::vector<cv::Point2f>> corners2D;
 
        // Store image size. All input images must have same size.
        cv::Size imgSize = {};
 
        for (unsigned i = 0; i < params.images.size(); ++i)
        {
            // Load input image and do some sanity check
            cv::Mat img = cv::imread(params.images[i]);
            if (img.empty())
            {
                throw std::runtime_error("Can't read " + std::string(params.images[i]));
            }
 
            if (imgSize == cv::Size{})
            {
                imgSize = img.size();
            }
            else if (imgSize != img.size())
            {
                throw std::runtime_error("All images must have same size");
            }
 
            // Find the checkerboard pattern on the image, saving the 2D
            // coordinates of checkerboard vertices in cbVertices.
            // Vertex is the point where 4 squares (2 white and 2 black) meet.
            std::vector<cv::Point2f> cbVertices;
 
            if (findChessboardCorners(img, params.vtxCount, cbVertices,
                                      cv::CALIB_CB_ADAPTIVE_THRESH + cv::CALIB_CB_NORMALIZE_IMAGE))
            {
                // Needs to perform further corner refinement?
                if (params.searchWinSize >= 2)
                {
                    cv::Mat gray;
                    cvtColor(img, gray, cv::COLOR_BGR2GRAY);
 
                    cornerSubPix(gray, cbVertices, cv::Size(params.searchWinSize / 2, params.searchWinSize / 2),
                                 cv::Size(-1, -1),
                                 cv::TermCriteria(cv::TermCriteria::EPS + cv::TermCriteria::COUNT, 30, 0.0001));
                }
 
                // save this image's 2D vertices in vector
                corners2D.push_back(std::move(cbVertices));
            }
            else
            {
                std::cerr << "Warning: checkerboard pattern not found in image " << params.images[i] << std::endl;
            }
        }
 
        // Create the vector that stores 3D coordinates for each checkerboard pattern on a space
        // where X and Y are orthogonal and run along the checkerboard sides, and Z==0 in all points on
        // checkerboard.
        std::vector<cv::Point3f> initialCheckerboard3DVertices;
        for (int i = 0; i < params.vtxCount.height; ++i)
        {
            for (int j = 0; j < params.vtxCount.width; ++j)
            {
                // since we're not interested in extrinsic camera parameters,
                // we can assume that checkerboard square size is 1x1.
                initialCheckerboard3DVertices.emplace_back(j, i, 0);
            }
        }
 
        // Initialize a vector with initial checkerboard positions for all images
        std::vector<std::vector<cv::Point3f>> corners3D(corners2D.size(), initialCheckerboard3DVertices);
 
        // Camera intrinsic parameters, initially identity (will be estimated by calibration process).
        using Mat3     = cv::Matx<double, 3, 3>;
        Mat3 camMatrix = Mat3::eye();
 
        // stores the fisheye model coefficients.
        std::vector<double> coeffs(4);
 
        // VPI currently doesn't support skew parameter on camera matrix, make sure
        // calibration process fixes it to 0.
        int flags = cv::fisheye::CALIB_FIX_SKEW;
 
        // Run calibration
        {
            cv::Mat rvecs, tvecs; // stores rotation and translation for each camera, not needed now.
            double rms = cv::fisheye::calibrate(corners3D, corners2D, imgSize, camMatrix, coeffs, rvecs, tvecs, flags);
            printf("rms error: %lf\n", rms);
        }
 
        // Output calibration result.
        printf("Fisheye coefficients: %lf %lf %lf %lf\n", coeffs[0], coeffs[1], coeffs[2], coeffs[3]);
 
        printf("Camera matrix:\n");
        printf("[%lf %lf %lf; %lf %lf %lf; %lf %lf %lf]\n", camMatrix(0, 0), camMatrix(0, 1), camMatrix(0, 2),
               camMatrix(1, 0), camMatrix(1, 1), camMatrix(1, 2), camMatrix(2, 0), camMatrix(2, 1), camMatrix(2, 2));
 
        // Now use VPI to undistort the input images:
 
        // Allocate a dense map.
        VPIWarpMap map            = {};
        map.grid.numHorizRegions  = 1;
        map.grid.numVertRegions   = 1;
        map.grid.regionWidth[0]   = imgSize.width;
        map.grid.regionHeight[0]  = imgSize.height;
        map.grid.horizInterval[0] = 1;
        map.grid.vertInterval[0]  = 1;
        CHECK_STATUS(vpiWarpMapAllocData(&map));
 
        // Initialize the fisheye lens model with the coefficients given by calibration procedure.
        VPIFisheyeLensDistortionModel distModel = {};
        distModel.mapping                       = VPI_FISHEYE_EQUIDISTANT;
        distModel.k1                            = coeffs[0];
        distModel.k2                            = coeffs[1];
        distModel.k3                            = coeffs[2];
        distModel.k4                            = coeffs[3];
 
        // Fill up the camera intrinsic parameters given by camera calibration procedure.
        VPICameraIntrinsic K;
        for (int i = 0; i < 2; ++i)
        {
            for (int j = 0; j < 3; ++j)
            {
                K[i][j] = camMatrix(i, j);
            }
        }
 
        // Camera extrinsics is be identity.
        VPICameraExtrinsic X = {};
        X[0][0] = X[1][1] = X[2][2] = 1;
 
        // Generate a warp map to undistort an image taken from fisheye lens with
        // given parameters calculated above.
        vpiWarpMapGenerateFromFisheyeLensDistortionModel(K, X, K, &distModel, &map);
 
        // Create out a vpi context to store all vpi objects we'll create.
        CHECK_STATUS(vpiContextCreate(0, &ctx));
        // Activate it. From now on all created objects will be owned by it.
        CHECK_STATUS(vpiContextSetCurrent(ctx));
 
        // Create a stream for remap operation. Currently it's implemented only on PVA.
        VPIStream stream;
        CHECK_STATUS(vpiStreamCreate(VPI_DEVICE_TYPE_PVA, &stream));
 
        // remap expects NV12 input/output images. OpenCV gives us images in BGR.
        // We'll use VPI to perform color space conversion on CUDA. Let's create a
        // stream for it.
        VPIStream streamCUDA;
        CHECK_STATUS(vpiStreamCreate(VPI_DEVICE_TYPE_CUDA, &streamCUDA));
 
        // Create the ImageRemap payload for undistortion given the map generated above.
        VPIPayload remap;
        CHECK_STATUS(vpiCreateImageRemap(stream, &map, &remap));
 
        // Temporary input and output images in NV12 format.
        VPIImage tmpIn;
        CHECK_STATUS(vpiImageCreate(imgSize.width, imgSize.height, VPI_IMAGE_TYPE_NV12, 0, &tmpIn));
 
        VPIImage tmpOut;
        CHECK_STATUS(vpiImageCreate(imgSize.width, imgSize.height, VPI_IMAGE_TYPE_NV12, 0, &tmpOut));
 
        // We'll need 3 events for synchronization between the two streams above.
        VPIEvent ev1, ev2;
        CHECK_STATUS(vpiEventCreate(VPI_EVENT_DISABLE_TIMESTAMP, &ev1));
        CHECK_STATUS(vpiEventCreate(VPI_EVENT_DISABLE_TIMESTAMP, &ev2));
 
        // For each input image,
        for (unsigned i = 0; i < params.images.size(); ++i)
        {
            // Read it from disk.
            cv::Mat img = cv::imread(params.images[i]);
            assert(!img.empty());
 
            // Wrap it into a VPIImage
            VPIImage vimg;
            {
                VPIImageData imgData;
                memset(&imgData, 0, sizeof(imgData));
 
                assert(img.type() == CV_8UC3);
                imgData.type = VPI_IMAGE_TYPE_BGR8;
 
                // First fill VPIImageData with the, well, image data...
                imgData.numPlanes           = 1;
                imgData.planes[0].width     = img.cols;
                imgData.planes[0].height    = img.rows;
                imgData.planes[0].rowStride = img.step[0];
                imgData.planes[0].data      = img.data;
 
                // Now create a VPIImage that wraps it.
                CHECK_STATUS(vpiImageWrapHostMem(&imgData, 0, &vimg));
            }
 
            // Convert BGR -> NV12
            CHECK_STATUS(vpiSubmitImageFormatConverter(streamCUDA, vimg, tmpIn, VPI_CONVERSION_CLAMP, 1, 0));
 
            // Make sure remap starts only after conversion finishes.
            CHECK_STATUS(vpiEventRecord(ev1, streamCUDA));
            CHECK_STATUS(vpiStreamWaitFor(stream, ev1));
 
            // Finaly undistorts the input image.
            CHECK_STATUS(vpiSubmitImageRemap(remap, tmpIn, tmpOut, VPI_INTERP_CATMULL_ROM, VPI_BOUNDARY_COND_ZERO));
 
            // Make sure final color space conversion starts only after remap operation finishes.
            CHECK_STATUS(vpiEventRecord(ev2, stream));
            CHECK_STATUS(vpiStreamWaitFor(streamCUDA, ev2));
 
            // Convert the result NV12 back to BGR, writing back to the input image.
            CHECK_STATUS(vpiSubmitImageFormatConverter(streamCUDA, tmpOut, vimg, VPI_CONVERSION_CLAMP, 1, 0));
 
            // Wait until conversion finishes.
            CHECK_STATUS(vpiStreamSync(streamCUDA));
 
            // Since vimg is wrapping the OpenCV image, the result is already there.
            // We just have to save it to disk.
            char buf[64];
            snprintf(buf, sizeof(buf), "undistort_%03d.jpg", i);
            imwrite(buf, img);
        }
    }
    catch (std::exception &e)
    {
        std::cerr << "Error: " << e.what() << std::endl;
        PrintUsage(basename(argv[0]), std::cerr);
 
        if (ctx != nullptr)
        {
            vpiContextDestroy(ctx);
        }
        return 1;
    }
 
    if (ctx != nullptr)
    {
        vpiContextDestroy(ctx);
    }
    return 0;
}

VPI - Vision Programming Interface

0.3.7 Release

Overview

Lens Calibration

Instructions

Results

Source code