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Made calibration a bit faster in the absense of a checkboard and trying to fix

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a crash with the libv4l capture code
This commit is contained in:
Ethan Rublee 2010-11-01 06:20:36 +00:00
parent 40c05d8418
commit 9ee954a0c6
2 changed files with 24 additions and 17 deletions
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8
modules/highgui/src/cap_libv4l.cpp
View File

@ -1261,9 +1261,11 @@ static IplImage* icvRetrieveFrameCAM_V4L( CvCaptureCAM_V4L* capture, int) {
if (capture->is_v4l2_device == 1) if (capture->is_v4l2_device == 1)
{ {
memcpy((char *)capture->frame.imageData, if(capture->buffers[capture->bufferIndex].start){
(char *)capture->buffers[capture->bufferIndex].start, memcpy((char *)capture->frame.imageData,
capture->frame.imageSize); (char *)capture->buffers[capture->bufferIndex].start,
capture->frame.imageSize);
}
} else } else
#endif /* HAVE_CAMV4L2 */ #endif /* HAVE_CAMV4L2 */

33
samples/cpp/calibration.cpp
View File

@ -404,22 +404,27 @@ int main( int argc, char** argv )
flip( view, view, 0 ); flip( view, view, 0 );
vector<Point2f> pointbuf; vector<Point2f> pointbuf;
bool found = findChessboardCorners( view, boardSize, pointbuf, CV_CALIB_CB_ADAPTIVE_THRESH );
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 // improve the found corners' coordinate accuracy
cvtColor(view, viewGray, CV_BGR2GRAY); if(found) cornerSubPix( viewGray, pointbuf, Size(11,11),
if(found) cornerSubPix( viewGray, pointbuf, Size(11,11), Size(-1,-1), TermCriteria( CV_TERMCRIT_EPS+CV_TERMCRIT_ITER, 30, 0.1 ));
Size(-1,-1), TermCriteria( CV_TERMCRIT_EPS+CV_TERMCRIT_ITER, 30, 0.1 ));
if( mode == CAPTURING && found && if( mode == CAPTURING && found &&
(!capture.isOpened() || clock() - prevTimestamp > delay*1e-3*CLOCKS_PER_SEC) ) (!capture.isOpened() || clock() - prevTimestamp > delay*1e-3*CLOCKS_PER_SEC) )
{ {
imagePoints.push_back(pointbuf); imagePoints.push_back(pointbuf);
prevTimestamp = clock(); prevTimestamp = clock();
blink = capture.isOpened(); blink = capture.isOpened();
} }
if(found) drawChessboardCorners( view, boardSize, Mat(pointbuf), found );
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";