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Feature #3957

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This commit is contained in:
ValeryTyumen
2015-08-01 20:24:23 +05:00
committed by Maksim Shabunin
parent 5cdf0e3e89
commit 297808e6b9
57 changed files with 950 additions and 1052 deletions
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96
samples/cpp/3calibration.cpp
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@@ -6,6 +6,7 @@
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/imgcodecs/imgcodecs.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/core/utility.hpp"
#include <stdio.h>
#include <string.h>
@@ -20,12 +21,12 @@ static void help()
{
printf( "\nThis is a camera calibration sample that calibrates 3 horizontally placed cameras together.\n"
"Usage: 3calibration\n"
" -w <board_width> # the number of inner corners per one of board dimension\n"
" -h <board_height> # the number of inner corners per another board dimension\n"
" [-s <squareSize>] # square size in some user-defined units (1 by default)\n"
" [-o <out_camera_params>] # the output filename for intrinsic [and extrinsic] parameters\n"
" -w=<board_width> # the number of inner corners per one of board dimension\n"
" -h=<board_height> # the number of inner corners per another board dimension\n"
" [-s=<squareSize>] # square size in some user-defined units (1 by default)\n"
" [-o=<out_camera_params>] # the output filename for intrinsic [and extrinsic] parameters\n"
" [-zt] # assume zero tangential distortion\n"
" [-a <aspectRatio>] # fix aspect ratio (fx/fy)\n"
" [-a=<aspectRatio>] # fix aspect ratio (fx/fy)\n"
" [-p] # fix the principal point at the center\n"
" [input_data] # input data - text file with a list of the images of the board\n"
"\n" );
@@ -42,7 +43,7 @@ static void calcChessboardCorners(Size boardSize, float squareSize, vector<Point
float(i*squareSize), 0));
}
static bool run3Calibration( vector<vector<Point2f> > imagePoints1,
static bool run3Calibration(vector<vector<Point2f> > imagePoints1,
vector<vector<Point2f> > imagePoints2,
vector<vector<Point2f> > imagePoints3,
Size imageSize, Size boardSize,
@@ -177,65 +178,48 @@ int main( int argc, char** argv )
int i, k;
int flags = 0;
Size boardSize, imageSize;
float squareSize = 1.f, aspectRatio = 1.f;
const char* outputFilename = "out_camera_data.yml";
const char* inputFilename = 0;
float squareSize, aspectRatio;
string outputFilename;
string inputFilename = "";
vector<vector<Point2f> > imgpt[3];
vector<string> imageList;
if(argc < 2)
cv::CommandLineParser parser(argc, argv,
"{help ||}{w||}{h||}{s|1|}{o|out_camera_data.yml|}"
"{zt||}{a|1|}{p||}{@input||}");
if (parser.has("help"))
{
help();
return 1;
return 0;
}
for( i = 1; i < argc; i++ )
boardSize.width = parser.get<int>("w");
boardSize.height = parser.get<int>("h");
squareSize = parser.get<float>("s");
aspectRatio = parser.get<float>("a");
if (parser.has("a"))
flags |= CALIB_FIX_ASPECT_RATIO;
if (parser.has("zt"))
flags |= CALIB_ZERO_TANGENT_DIST;
if (parser.has("p"))
flags |= CALIB_FIX_PRINCIPAL_POINT;
outputFilename = parser.get<string>("o");
inputFilename = parser.get<string>("@input");
if (!parser.check())
{
const char* s = argv[i];
if( strcmp( s, "-w" ) == 0 )
{
if( sscanf( argv[++i], "%u", &boardSize.width ) != 1 || boardSize.width <= 0 )
return fprintf( stderr, "Invalid board width\n" ), -1;
}
else if( strcmp( s, "-h" ) == 0 )
{
if( sscanf( argv[++i], "%u", &boardSize.height ) != 1 || boardSize.height <= 0 )
return fprintf( stderr, "Invalid board height\n" ), -1;
}
else if( strcmp( s, "-s" ) == 0 )
{
if( sscanf( argv[++i], "%f", &squareSize ) != 1 || squareSize <= 0 )
return fprintf( stderr, "Invalid board square width\n" ), -1;
}
else if( strcmp( s, "-a" ) == 0 )
{
if( sscanf( argv[++i], "%f", &aspectRatio ) != 1 || aspectRatio <= 0 )
return printf("Invalid aspect ratio\n" ), -1;
flags |= CALIB_FIX_ASPECT_RATIO;
}
else if( strcmp( s, "-zt" ) == 0 )
{
flags |= CALIB_ZERO_TANGENT_DIST;
}
else if( strcmp( s, "-p" ) == 0 )
{
flags |= CALIB_FIX_PRINCIPAL_POINT;
}
else if( strcmp( s, "-o" ) == 0 )
{
outputFilename = argv[++i];
}
else if( s[0] != '-' )
{
inputFilename = s;
}
else
return fprintf( stderr, "Unknown option %s", s ), -1;
help();
parser.printErrors();
return -1;
}
if( !inputFilename ||
if (boardSize.width <= 0)
return fprintf( stderr, "Invalid board width\n" ), -1;
if (boardSize.height <= 0)
return fprintf( stderr, "Invalid board height\n" ), -1;
if (squareSize <= 0)
return fprintf( stderr, "Invalid board square width\n" ), -1;
if (aspectRatio <= 0)
return printf("Invalid aspect ratio\n" ), -1;
if( inputFilename.empty() ||
!readStringList(inputFilename, imageList) ||
imageList.size() == 0 || imageList.size() % 3 != 0 )
{