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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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182
samples/cpp/calibration.cpp
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@@ -16,11 +16,11 @@ using namespace std;
const char * usage =
" \nexample command line for calibration from a live feed.\n"
" calibration -w 4 -h 5 -s 0.025 -o camera.yml -op -oe\n"
" calibration -w=4 -h=5 -s=0.025 -o=camera.yml -op -oe\n"
" \n"
" example command line for calibration from a list of stored images:\n"
" imagelist_creator image_list.xml *.png\n"
" calibration -w 4 -h 5 -s 0.025 -o camera.yml -op -oe image_list.xml\n"
" calibration -w=4 -h=5 -s=0.025 -o=camera.yml -op -oe image_list.xml\n"
" where image_list.xml is the standard OpenCV XML/YAML\n"
" use imagelist_creator to create the xml or yaml list\n"
" file consisting of the list of strings, e.g.:\n"
@@ -50,20 +50,20 @@ static void help()
{
printf( "This is a camera calibration sample.\n"
"Usage: calibration\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"
" [-pt <pattern>] # the type of pattern: chessboard or circles' grid\n"
" [-n <number_of_frames>] # the number of frames to use for calibration\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"
" [-pt=<pattern>] # the type of pattern: chessboard or circles' grid\n"
" [-n=<number_of_frames>] # the number of frames to use for calibration\n"
" # (if not specified, it will be set to the number\n"
" # of board views actually available)\n"
" [-d <delay>] # a minimum delay in ms between subsequent attempts to capture a next view\n"
" [-d=<delay>] # a minimum delay in ms between subsequent attempts to capture a next view\n"
" # (used only for video capturing)\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"
" [-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"
" [-op] # write detected feature points\n"
" [-oe] # write 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"
" [-v] # flip the captured images around the horizontal axis\n"
" [-V] # use a video file, and not an image list, uses\n"
@@ -297,20 +297,20 @@ static bool runAndSave(const string& outputFilename,
int main( int argc, char** argv )
{
Size boardSize, imageSize;
float squareSize = 1.f, aspectRatio = 1.f;
float squareSize, aspectRatio;
Mat cameraMatrix, distCoeffs;
const char* outputFilename = "out_camera_data.yml";
const char* inputFilename = 0;
string outputFilename;
string inputFilename = "";
int i, nframes = 10;
bool writeExtrinsics = false, writePoints = false;
int i, nframes;
bool writeExtrinsics, writePoints;
bool undistortImage = false;
int flags = 0;
VideoCapture capture;
bool flipVertical = false;
bool showUndistorted = false;
bool videofile = false;
int delay = 1000;
bool flipVertical;
bool showUndistorted;
bool videofile;
int delay;
clock_t prevTimestamp = 0;
int mode = DETECTION;
int cameraId = 0;
@@ -318,102 +318,70 @@ int main( int argc, char** argv )
vector<string> imageList;
Pattern pattern = CHESSBOARD;
if( argc < 2 )
cv::CommandLineParser parser(argc, argv,
"{help ||}{w||}{h||}{pt|chessboard|}{n|10|}{d|1000|}{s|1|}{o|out_camera_data.yml|}"
"{op||}{oe||}{zt||}{a|1|}{p||}{v||}{V||}{su||}"
"{@input_data|0|}");
if (parser.has("help"))
{
help();
return 0;
}
for( i = 1; i < argc; i++ )
boardSize.width = parser.get<int>( "w" );
boardSize.height = parser.get<int>( "h" );
if ( parser.has("pt") )
{
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, "-pt" ) == 0 )
{
i++;
if( !strcmp( argv[i], "circles" ) )
pattern = CIRCLES_GRID;
else if( !strcmp( argv[i], "acircles" ) )
pattern = ASYMMETRIC_CIRCLES_GRID;
else if( !strcmp( argv[i], "chessboard" ) )
pattern = CHESSBOARD;
else
return fprintf( stderr, "Invalid pattern type: must be chessboard or circles\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, "-n" ) == 0 )
{
if( sscanf( argv[++i], "%u", &nframes ) != 1 || nframes <= 3 )
return printf("Invalid number of images\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, "-d" ) == 0 )
{
if( sscanf( argv[++i], "%u", &delay ) != 1 || delay <= 0 )
return printf("Invalid delay\n" ), -1;
}
else if( strcmp( s, "-op" ) == 0 )
{
writePoints = true;
}
else if( strcmp( s, "-oe" ) == 0 )
{
writeExtrinsics = true;
}
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, "-v" ) == 0 )
{
flipVertical = true;
}
else if( strcmp( s, "-V" ) == 0 )
{
videofile = true;
}
else if( strcmp( s, "-o" ) == 0 )
{
outputFilename = argv[++i];
}
else if( strcmp( s, "-su" ) == 0 )
{
showUndistorted = true;
}
else if( s[0] != '-' )
{
if( isdigit(s[0]) )
sscanf(s, "%d", &cameraId);
else
inputFilename = s;
}
string val = parser.get<string>("pt");
if( val == "circles" )
pattern = CIRCLES_GRID;
else if( val == "acircles" )
pattern = ASYMMETRIC_CIRCLES_GRID;
else if( val == "chessboard" )
pattern = CHESSBOARD;
else
return fprintf( stderr, "Unknown option %s", s ), -1;
return fprintf( stderr, "Invalid pattern type: must be chessboard or circles\n" ), -1;
}
squareSize = parser.get<float>("s");
nframes = parser.get<int>("n");
aspectRatio = parser.get<float>("a");
delay = parser.get<int>("d");
writePoints = parser.has("op");
writeExtrinsics = parser.has("oe");
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;
flipVertical = parser.has("v");
videofile = parser.has("V");
if ( parser.has("o") )
outputFilename = parser.get<string>("o");
showUndistorted = parser.has("su");
if ( isdigit(parser.get<string>("@input_data")[0]) )
cameraId = parser.get<int>("@input_data");
else
inputFilename = parser.get<string>("@input_data");
if (!parser.check())
{
help();
parser.printErrors();
return -1;
}
if ( squareSize <= 0 )
return fprintf( stderr, "Invalid board square width\n" ), -1;
if ( nframes <= 3 )
return printf("Invalid number of images\n" ), -1;
if ( aspectRatio <= 0 )
return printf( "Invalid aspect ratio\n" ), -1;
if ( delay <= 0 )
return printf( "Invalid delay\n" ), -1;
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( inputFilename )
if( !inputFilename.empty() )
{
if( !videofile && readStringList(inputFilename, imageList) )
mode = CAPTURING;