Update sample: change help and added CommandLineParser using
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itsyplen
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@ -9,69 +9,59 @@
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using namespace cv;
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using namespace std;
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const char * usage =
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" \nexample command line for calibration from a live feed.\n"
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" calibration -w 4 -h 5 -s 0.025 -o camera.yml -op -oe\n"
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" \n"
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" example command line for calibration from a list of stored images:\n"
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" imagelist_creator image_list.xml *.png\n"
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" calibration -w 4 -h 5 -s 0.025 -o camera.yml -op -oe image_list.xml\n"
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" where image_list.xml is the standard OpenCV XML/YAML\n"
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" use imagelist_creator to create the xml or yaml list\n"
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" file consisting of the list of strings, e.g.:\n"
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" \n"
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"<?xml version=\"1.0\"?>\n"
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"<opencv_storage>\n"
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"<images>\n"
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"view000.png\n"
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"view001.png\n"
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"<!-- view002.png -->\n"
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"view003.png\n"
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"view010.png\n"
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"one_extra_view.jpg\n"
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"</images>\n"
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"</opencv_storage>\n";
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const char* liveCaptureHelp =
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"When the live video from camera is used as input, the following hot-keys may be used:\n"
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" <ESC>, 'q' - quit the program\n"
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" 'g' - start capturing images\n"
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" 'u' - switch undistortion on/off\n";
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void help()
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{
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printf( "This is a camera calibration sample.\n"
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"Usage: calibration\n"
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" -w <board_width> # the number of inner corners per one of board dimension\n"
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" -h <board_height> # the number of inner corners per another board dimension\n"
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" [-pt <pattern>] # the type of pattern: chessboard or circles' grid\n"
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" [-n <number_of_frames>] # the number of frames to use for calibration\n"
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" -w=<board_width> # the number of inner corners per one of board dimension\n"
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" -h=<board_height> # the number of inner corners per another board dimension\n"
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" [-pt]=<pattern> # the type of pattern: chessboard or circles' grid\n"
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" [-n]=<number_of_frames> # the number of frames to use for calibration\n"
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" # (if not specified, it will be set to the number\n"
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" # of board views actually available)\n"
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" [-d <delay>] # a minimum delay in ms between subsequent attempts to capture a next view\n"
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" [-d]=<delay> # a minimum delay in ms between subsequent attempts to capture a next view\n"
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" # (used only for video capturing)\n"
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" [-s <squareSize>] # square size in some user-defined units (1 by default)\n"
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" [-o <out_camera_params>] # the output filename for intrinsic [and extrinsic] parameters\n"
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" [-s]=<squareSize> # square size in some user-defined units (1 by default)\n"
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" [-o]=<out_camera_params> # the output filename for intrinsic [and extrinsic] parameters\n"
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" [-op] # write detected feature points\n"
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" [-oe] # write extrinsic parameters\n"
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" [-zt] # assume zero tangential distortion\n"
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" [-a <aspectRatio>] # fix aspect ratio (fx/fy)\n"
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" [-a]=<aspectRatio> # fix aspect ratio (fx/fy)\n"
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" [-p] # fix the principal point at the center\n"
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" [-v] # flip the captured images around the horizontal axis\n"
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" [-V] # use a video file, and not an image list, uses\n"
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" # [input_data] string for the video file name\n"
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" [-su] # show undistorted images after calibration\n"
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" [input_data] # input data, one of the following:\n"
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" [-input_data]=<data file> # input data, one of the following:\n"
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" # - text file with a list of the images of the board\n"
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" # the text file can be generated with imagelist_creator\n"
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" # - name of video file with a video of the board\n"
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" # if input_data not specified, a live view from the camera is used\n"
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"\n" );
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printf("\n%s",usage);
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printf( "\n%s", liveCaptureHelp );
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" [-cameraId]=<camera index># if input_data not specified, a live view from the camera is used\n"
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" \nExample command line for calibration from a live feed:\n"
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" ./calibration -w=4 -h=5 -s=0.025 -o=camera.yml -op -oe\n"
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" \n"
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" Example command line for calibration from a list of stored images:\n"
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" imagelist_creator image_list.xml *.png\n"
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" ./calibration -w=4 -h-5 -s=0.025 -o=camera.yml -op -oe -input_data=image_list.xml\n"
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" where image_list.xml is the standard OpenCV XML/YAML\n"
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" use imagelist_creator to create the xml or yaml list\n"
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" file consisting of the list of strings, e.g.:\n"
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" \n"
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"<?xml version=\"1.0\"?>\n"
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"<opencv_storage>\n"
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"<images>\n"
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"view000.png\n"
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"view001.png\n"
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"<!-- view002.png -->\n"
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"view003.png\n"
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"view010.png\n"
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"one_extra_view.jpg\n"
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"</images>\n"
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"</opencv_storage>\n"
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"\nWhen the live video from camera is used as input, the following hot-keys may be used:\n"
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" <ESC>, 'q' - quit the program\n"
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" 'g' - start capturing images\n"
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" 'u' - switch undistortion on/off\n");
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}
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enum { DETECTION = 0, CAPTURING = 1, CALIBRATED = 2 };
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@ -289,126 +279,74 @@ bool runAndSave(const string& outputFilename,
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}
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int main( int argc, char** argv )
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int main( int argc, const char** argv )
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{
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help();
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CommandLineParser parser(argc, argv);
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Size boardSize, imageSize;
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float squareSize = 1.f, aspectRatio = 1.f;
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boardSize.width = parser.get<int>("w");
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boardSize.height = parser.get<int>("h");
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float squareSize = parser.get<float>("s", 1.f);
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float aspectRatio = parser.get<float>("a", 1.f);
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Mat cameraMatrix, distCoeffs;
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const char* outputFilename = "out_camera_data.yml";
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const char* inputFilename = 0;
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int i, nframes = 10;
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bool writeExtrinsics = false, writePoints = false;
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string outputFilename = parser.get<string>("o","out_camera_data.yml");
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string inputFilename = parser.get<string>("input_data");
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int nframes = parser.get<int>("n", 10);
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bool writeExtrinsics = parser.get<bool>("oe");
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bool writePoints = parser.get<bool>("op");
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bool flipVertical = parser.get<bool>("v");
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bool showUndistorted = parser.get<bool>("su");
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bool videofile = parser.get<bool>("V");
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unsigned int delay = parser.get<unsigned int>("d", 1000);
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unsigned int cameraId = parser.get<unsigned int>("cameraId",0);
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bool undistortImage = false;
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int flags = 0;
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VideoCapture capture;
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bool flipVertical = false;
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bool showUndistorted = false;
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bool videofile = false;
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int delay = 1000;
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clock_t prevTimestamp = 0;
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int mode = DETECTION;
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int cameraId = 0;
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vector<vector<Point2f> > imagePoints;
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vector<string> imageList;
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Pattern pattern = CHESSBOARD;
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if( argc < 2 )
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if( (boardSize.width < 1) || (boardSize.height < 1))
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{
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help();
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return 0;
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return fprintf( stderr, "Invalid board width or height. It must be more than zero\n" ), -1;
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}
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for( i = 1; i < argc; i++ )
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if(parser.get<string>("pt")=="circles")
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pattern = CIRCLES_GRID;
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else if(parser.get<string>("pt")=="acircles")
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pattern = ASYMMETRIC_CIRCLES_GRID;
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if(squareSize <= 0)
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{
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const char* s = argv[i];
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if( strcmp( s, "-w" ) == 0 )
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{
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if( sscanf( argv[++i], "%u", &boardSize.width ) != 1 || boardSize.width <= 0 )
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return fprintf( stderr, "Invalid board width\n" ), -1;
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}
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else if( strcmp( s, "-h" ) == 0 )
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{
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if( sscanf( argv[++i], "%u", &boardSize.height ) != 1 || boardSize.height <= 0 )
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return fprintf( stderr, "Invalid board height\n" ), -1;
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}
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else if( strcmp( s, "-pt" ) == 0 )
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{
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i++;
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if( !strcmp( argv[i], "circles" ) )
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pattern = CIRCLES_GRID;
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else if( !strcmp( argv[i], "acircles" ) )
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pattern = ASYMMETRIC_CIRCLES_GRID;
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else if( !strcmp( argv[i], "chessboard" ) )
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pattern = CHESSBOARD;
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else
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return fprintf( stderr, "Invalid pattern type: must be chessboard or circles\n" ), -1;
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}
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else if( strcmp( s, "-s" ) == 0 )
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{
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if( sscanf( argv[++i], "%f", &squareSize ) != 1 || squareSize <= 0 )
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return fprintf( stderr, "Invalid board square width\n" ), -1;
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}
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else if( strcmp( s, "-n" ) == 0 )
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{
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if( sscanf( argv[++i], "%u", &nframes ) != 1 || nframes <= 3 )
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return printf("Invalid number of images\n" ), -1;
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}
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else if( strcmp( s, "-a" ) == 0 )
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{
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if( sscanf( argv[++i], "%f", &aspectRatio ) != 1 || aspectRatio <= 0 )
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return printf("Invalid aspect ratio\n" ), -1;
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flags |= CV_CALIB_FIX_ASPECT_RATIO;
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}
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else if( strcmp( s, "-d" ) == 0 )
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{
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if( sscanf( argv[++i], "%u", &delay ) != 1 || delay <= 0 )
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return printf("Invalid delay\n" ), -1;
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}
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else if( strcmp( s, "-op" ) == 0 )
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{
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writePoints = true;
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}
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else if( strcmp( s, "-oe" ) == 0 )
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{
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writeExtrinsics = true;
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}
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else if( strcmp( s, "-zt" ) == 0 )
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{
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flags |= CV_CALIB_ZERO_TANGENT_DIST;
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}
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else if( strcmp( s, "-p" ) == 0 )
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{
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flags |= CV_CALIB_FIX_PRINCIPAL_POINT;
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}
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else if( strcmp( s, "-v" ) == 0 )
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{
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flipVertical = true;
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}
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else if( strcmp( s, "-V" ) == 0 )
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{
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videofile = true;
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}
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else if( strcmp( s, "-o" ) == 0 )
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{
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outputFilename = argv[++i];
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}
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else if( strcmp( s, "-su" ) == 0 )
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{
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showUndistorted = true;
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}
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else if( s[0] != '-' )
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{
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if( isdigit(s[0]) )
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sscanf(s, "%d", &cameraId);
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else
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inputFilename = s;
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}
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else
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return fprintf( stderr, "Unknown option %s", s ), -1;
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help();
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return fprintf( stderr, "Invalid board square width. It must be more than zero.\n" ), -1;
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}
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if(nframes < 4)
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{
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help();
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return printf("Invalid number of images. It must be more than 3\n" ), -1;
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}
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if(aspectRatio <= 0)
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{
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help();
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return printf("Invalid aspect ratio. It must be more than zero\n" ), -1;
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}
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else
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flags |= CV_CALIB_FIX_ASPECT_RATIO;
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if(!delay)
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{
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help();
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return printf("Invalid delay. It must be more than zero.\n" ), -1;
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}
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if(parser.get<bool>("zt"))
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flags |= CV_CALIB_ZERO_TANGENT_DIST;
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if(parser.get<bool>("p"))
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flags |= CV_CALIB_FIX_PRINCIPAL_POINT;
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if( inputFilename )
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if( !inputFilename.empty() )
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{
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if( !videofile && readStringList(inputFilename, imageList) )
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mode = CAPTURING;
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@ -424,11 +362,9 @@ int main( int argc, char** argv )
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if( !imageList.empty() )
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nframes = (int)imageList.size();
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if( capture.isOpened() )
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printf( "%s", liveCaptureHelp );
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namedWindow( "Image View", 1 );
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int i;
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for(i = 0;;i++)
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{
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Mat view, viewGray;
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