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added flag to treat input file as a videofile (patch by Ethan Rublee; ticket #392)

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This commit is contained in:
Vadim Pisarevsky 2010-11-29 23:16:41 +00:00
parent bad4ca2a51
commit 2b660bf554
1 changed files with 40 additions and 35 deletions
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75
samples/cpp/calibration.cpp
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@ -60,6 +60,8 @@ void help()
" [-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" " [-p] # fix the principal point at the center\n"
" [-v] # flip the captured images around the horizontal axis\n" " [-v] # flip the captured images around the horizontal axis\n"
" [-V] # use a video file, and not an image list, uses\n"
" # [input_data] string for the video file name\n"
" [-su] # show undistorted images after calibration\n" " [-su] # show undistorted images after calibration\n"
" [input_data] # input data, one of the following:\n" " [input_data] # input data, one of the following:\n"
" # - text file with a list of the images of the board\n" " # - text file with a list of the images of the board\n"
@ -126,10 +128,11 @@ static bool runCalibration( vector<vector<Point2f> > imagePoints,
vector<vector<Point3f> > objectPoints(1); vector<vector<Point3f> > objectPoints(1);
calcChessboardCorners(boardSize, squareSize, objectPoints[0]); calcChessboardCorners(boardSize, squareSize, objectPoints[0]);
objectPoints.resize(imagePoints.size(),objectPoints[0]); objectPoints.resize(imagePoints.size(),objectPoints[0]);
calibrateCamera(objectPoints, imagePoints, imageSize, cameraMatrix, calibrateCamera(objectPoints, imagePoints, imageSize, cameraMatrix,
distCoeffs, rvecs, tvecs, flags|CV_CALIB_FIX_K4|CV_CALIB_FIX_K5);///*|CV_CALIB_FIX_K3*/|CV_CALIB_FIX_K4|CV_CALIB_FIX_K5); distCoeffs, rvecs, tvecs, flags|CV_CALIB_FIX_K4|CV_CALIB_FIX_K5);
///*|CV_CALIB_FIX_K3*/|CV_CALIB_FIX_K4|CV_CALIB_FIX_K5);
bool ok = checkRange(cameraMatrix) && checkRange(distCoeffs); bool ok = checkRange(cameraMatrix) && checkRange(distCoeffs);
@ -277,6 +280,7 @@ int main( int argc, char** argv )
VideoCapture capture; VideoCapture capture;
bool flipVertical = false; bool flipVertical = false;
bool showUndistorted = false; bool showUndistorted = false;
bool videofile = false;
int delay = 1000; int delay = 1000;
clock_t prevTimestamp = 0; clock_t prevTimestamp = 0;
int mode = DETECTION; int mode = DETECTION;
@ -284,11 +288,10 @@ int main( int argc, char** argv )
vector<vector<Point2f> > imagePoints; vector<vector<Point2f> > imagePoints;
vector<string> imageList; vector<string> imageList;
if( argc < 2 ) if( argc < 2 )
{ {
help(); help();
return 0; return 0;
} }
for( i = 1; i < argc; i++ ) for( i = 1; i < argc; i++ )
@ -327,11 +330,11 @@ int main( int argc, char** argv )
} }
else if( strcmp( s, "-op" ) == 0 ) else if( strcmp( s, "-op" ) == 0 )
{ {
writePoints = 1; writePoints = true;
} }
else if( strcmp( s, "-oe" ) == 0 ) else if( strcmp( s, "-oe" ) == 0 )
{ {
writeExtrinsics = 1; writeExtrinsics = true;
} }
else if( strcmp( s, "-zt" ) == 0 ) else if( strcmp( s, "-zt" ) == 0 )
{ {
@ -343,7 +346,11 @@ int main( int argc, char** argv )
} }
else if( strcmp( s, "-v" ) == 0 ) else if( strcmp( s, "-v" ) == 0 )
{ {
flipVertical = 1; flipVertical = true;
}
else if( strcmp( s, "-V" ) == 0 )
{
videofile = true;
} }
else if( strcmp( s, "-o" ) == 0 ) else if( strcmp( s, "-o" ) == 0 )
{ {
@ -355,18 +362,18 @@ int main( int argc, char** argv )
} }
else if( s[0] != '-' ) else if( s[0] != '-' )
{ {
if( isdigit(s[0]) ) if( isdigit(s[0]) )
sscanf(s, "%d", &cameraId); sscanf(s, "%d", &cameraId);
else else
inputFilename = s; inputFilename = s;
} }
else else
return fprintf( stderr, "Unknown option %s", s ), -1; return fprintf( stderr, "Unknown option %s", s ), -1;
} }
if( inputFilename ) if( inputFilename )
{ {
if( readStringList(inputFilename, imageList) ) if( !videofile && readStringList(inputFilename, imageList) )
mode = CAPTURING; mode = CAPTURING;
else else
capture.open(inputFilename); capture.open(inputFilename);
@ -415,27 +422,25 @@ int main( int argc, char** argv )
flip( view, view, 0 ); flip( view, view, 0 );
vector<Point2f> pointbuf; vector<Point2f> pointbuf;
cvtColor(view, viewGray, CV_BGR2GRAY); cvtColor(view, viewGray, CV_BGR2GRAY);
bool found = findChessboardCorners( view, boardSize, pointbuf, CV_CALIB_CB_ADAPTIVE_THRESH & CV_CALIB_CB_FAST_CHECK & CV_CALIB_CB_NORMALIZE_IMAGE);
// improve the found corners' coordinate accuracy bool found = findChessboardCorners( view, boardSize, pointbuf,
if(found) cornerSubPix( viewGray, pointbuf, Size(11,11), CV_CALIB_CB_ADAPTIVE_THRESH & CV_CALIB_CB_FAST_CHECK & CV_CALIB_CB_NORMALIZE_IMAGE);
Size(-1,-1), TermCriteria( CV_TERMCRIT_EPS+CV_TERMCRIT_ITER, 30, 0.1 ));
if( mode == CAPTURING && found && // improve the found corners' coordinate accuracy
(!capture.isOpened() || clock() - prevTimestamp > delay*1e-3*CLOCKS_PER_SEC) ) if(found) cornerSubPix( viewGray, pointbuf, Size(11,11),
{ Size(-1,-1), TermCriteria( CV_TERMCRIT_EPS+CV_TERMCRIT_ITER, 30, 0.1 ));
imagePoints.push_back(pointbuf);
prevTimestamp = clock(); if( mode == CAPTURING && found &&
blink = capture.isOpened(); (!capture.isOpened() || clock() - prevTimestamp > delay*1e-3*CLOCKS_PER_SEC) )
} {
if(found) drawChessboardCorners( view, boardSize, Mat(pointbuf), found ); imagePoints.push_back(pointbuf);
prevTimestamp = clock();
blink = capture.isOpened();
}
if(found)
drawChessboardCorners( view, boardSize, Mat(pointbuf), found );
string msg = mode == CAPTURING ? "100/100" : string msg = mode == CAPTURING ? "100/100" :
mode == CALIBRATED ? "Calibrated" : "Press 'g' to start"; mode == CALIBRATED ? "Calibrated" : "Press 'g' to start";
@ -445,11 +450,11 @@ int main( int argc, char** argv )
if( mode == CAPTURING ) if( mode == CAPTURING )
{ {
if(undistortImage) if(undistortImage)
msg = format( "%d/%d Undist", (int)imagePoints.size(), nframes ); msg = format( "%d/%d Undist", (int)imagePoints.size(), nframes );
else else
msg = format( "%d/%d", (int)imagePoints.size(), nframes ); msg = format( "%d/%d", (int)imagePoints.size(), nframes );
} }
putText( view, msg, textOrigin, 1, 1, putText( view, msg, textOrigin, 1, 1,
mode != CALIBRATED ? Scalar(0,0,255) : Scalar(0,255,0)); mode != CALIBRATED ? Scalar(0,0,255) : Scalar(0,255,0));