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Update sample: change help and added CommandLineParser using

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itsyplen 2011-06-09 08:04:33 +00:00
parent 11feada567
commit 2e7e6ae84b
1 changed files with 85 additions and 149 deletions
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samples/cpp/calibration.cpp
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@ -9,69 +9,59 @@
using namespace cv; using namespace cv;
using namespace std; 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"
" \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"
" 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"
" \n"
"<?xml version=\"1.0\"?>\n"
"<opencv_storage>\n"
"<images>\n"
"view000.png\n"
"view001.png\n"
"<!-- view002.png -->\n"
"view003.png\n"
"view010.png\n"
"one_extra_view.jpg\n"
"</images>\n"
"</opencv_storage>\n";
const char* liveCaptureHelp =
"When the live video from camera is used as input, the following hot-keys may be used:\n"
" <ESC>, 'q' - quit the program\n"
" 'g' - start capturing images\n"
" 'u' - switch undistortion on/off\n";
void help() void help()
{ {
printf( "This is a camera calibration sample.\n" printf( "This is a camera calibration sample.\n"
"Usage: calibration\n" "Usage: calibration\n"
" -w <board_width> # the number of inner corners per one of board dimension\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" " -h=<board_height> # the number of inner corners per another board dimension\n"
" [-pt <pattern>] # the type of pattern: chessboard or circles' grid\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" " [-n]=<number_of_frames> # the number of frames to use for calibration\n"
" # (if not specified, it will be set to the number\n" " # (if not specified, it will be set to the number\n"
" # of board views actually available)\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" " # (used only for video capturing)\n"
" [-s <squareSize>] # square size in some user-defined units (1 by default)\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" " [-o]=<out_camera_params> # the output filename for intrinsic [and extrinsic] parameters\n"
" [-op] # write detected feature points\n" " [-op] # write detected feature points\n"
" [-oe] # write extrinsic parameters\n" " [-oe] # write extrinsic parameters\n"
" [-zt] # assume zero tangential distortion\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" " [-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" " [-V] # use a video file, and not an image list, uses\n"
" # [input_data] string for the video file name\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]=<data file> # 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"
" # the text file can be generated with imagelist_creator\n" " # the text file can be generated with imagelist_creator\n"
" # - name of video file with a video of the board\n" " # - name of video file with a video of the board\n"
" # if input_data not specified, a live view from the camera is used\n" " [-cameraId]=<camera index># if input_data not specified, a live view from the camera is used\n"
"\n" ); " \nExample command line for calibration from a live feed:\n"
printf("\n%s",usage); " ./calibration -w=4 -h=5 -s=0.025 -o=camera.yml -op -oe\n"
printf( "\n%s", liveCaptureHelp ); " \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 -input_data=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"
" \n"
"<?xml version=\"1.0\"?>\n"
"<opencv_storage>\n"
"<images>\n"
"view000.png\n"
"view001.png\n"
"<!-- view002.png -->\n"
"view003.png\n"
"view010.png\n"
"one_extra_view.jpg\n"
"</images>\n"
"</opencv_storage>\n"
"\nWhen the live video from camera is used as input, the following hot-keys may be used:\n"
" <ESC>, 'q' - quit the program\n"
" 'g' - start capturing images\n"
" 'u' - switch undistortion on/off\n");
} }
enum { DETECTION = 0, CAPTURING = 1, CALIBRATED = 2 }; enum { DETECTION = 0, CAPTURING = 1, CALIBRATED = 2 };
@ -289,126 +279,74 @@ bool runAndSave(const string& outputFilename,
} }
int main( int argc, char** argv ) int main( int argc, const char** argv )
{ {
help();
CommandLineParser parser(argc, argv);
Size boardSize, imageSize; Size boardSize, imageSize;
float squareSize = 1.f, aspectRatio = 1.f; boardSize.width = parser.get<int>("w");
boardSize.height = parser.get<int>("h");
float squareSize = parser.get<float>("s", 1.f);
float aspectRatio = parser.get<float>("a", 1.f);
Mat cameraMatrix, distCoeffs; Mat cameraMatrix, distCoeffs;
const char* outputFilename = "out_camera_data.yml"; string outputFilename = parser.get<string>("o","out_camera_data.yml");
const char* inputFilename = 0; string inputFilename = parser.get<string>("input_data");
int nframes = parser.get<int>("n", 10);
int i, nframes = 10; bool writeExtrinsics = parser.get<bool>("oe");
bool writeExtrinsics = false, writePoints = false; bool writePoints = parser.get<bool>("op");
bool flipVertical = parser.get<bool>("v");
bool showUndistorted = parser.get<bool>("su");
bool videofile = parser.get<bool>("V");
unsigned int delay = parser.get<unsigned int>("d", 1000);
unsigned int cameraId = parser.get<unsigned int>("cameraId",0);
bool undistortImage = false; bool undistortImage = false;
int flags = 0; int flags = 0;
VideoCapture capture; VideoCapture capture;
bool flipVertical = false;
bool showUndistorted = false;
bool videofile = false;
int delay = 1000;
clock_t prevTimestamp = 0; clock_t prevTimestamp = 0;
int mode = DETECTION; int mode = DETECTION;
int cameraId = 0;
vector<vector<Point2f> > imagePoints; vector<vector<Point2f> > imagePoints;
vector<string> imageList; vector<string> imageList;
Pattern pattern = CHESSBOARD; Pattern pattern = CHESSBOARD;
if( argc < 2 ) if( (boardSize.width < 1) || (boardSize.height < 1))
{ {
help(); help();
return 0; return fprintf( stderr, "Invalid board width or height. It must be more than zero\n" ), -1;
} }
for( i = 1; i < argc; i++ ) if(parser.get<string>("pt")=="circles")
pattern = CIRCLES_GRID;
else if(parser.get<string>("pt")=="acircles")
pattern = ASYMMETRIC_CIRCLES_GRID;
if(squareSize <= 0)
{ {
const char* s = argv[i]; help();
if( strcmp( s, "-w" ) == 0 ) return fprintf( stderr, "Invalid board square width. It must be more than zero.\n" ), -1;
{
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 |= CV_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 |= CV_CALIB_ZERO_TANGENT_DIST;
}
else if( strcmp( s, "-p" ) == 0 )
{
flags |= CV_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;
}
else
return fprintf( stderr, "Unknown option %s", s ), -1;
} }
if(nframes < 4)
{
help();
return printf("Invalid number of images. It must be more than 3\n" ), -1;
}
if(aspectRatio <= 0)
{
help();
return printf("Invalid aspect ratio. It must be more than zero\n" ), -1;
}
else
flags |= CV_CALIB_FIX_ASPECT_RATIO;
if(!delay)
{
help();
return printf("Invalid delay. It must be more than zero.\n" ), -1;
}
if(parser.get<bool>("zt"))
flags |= CV_CALIB_ZERO_TANGENT_DIST;
if(parser.get<bool>("p"))
flags |= CV_CALIB_FIX_PRINCIPAL_POINT;
if( inputFilename ) if( !inputFilename.empty() )
{ {
if( !videofile && readStringList(inputFilename, imageList) ) if( !videofile && readStringList(inputFilename, imageList) )
mode = CAPTURING; mode = CAPTURING;
@ -424,11 +362,9 @@ int main( int argc, char** argv )
if( !imageList.empty() ) if( !imageList.empty() )
nframes = (int)imageList.size(); nframes = (int)imageList.size();
if( capture.isOpened() )
printf( "%s", liveCaptureHelp );
namedWindow( "Image View", 1 ); namedWindow( "Image View", 1 );
int i;
for(i = 0;;i++) for(i = 0;;i++)
{ {
Mat view, viewGray; Mat view, viewGray;