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This commit is contained in:
Gary Bradski 2010-11-24 01:44:36 +00:00
parent e9fbbb3396
commit d0d7ba9985
1 changed files with 62 additions and 54 deletions
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112
samples/cpp/calibration.cpp
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@ -9,30 +9,67 @@
using namespace cv; using namespace cv;
using namespace std; using namespace std;
/* const char * usage =
example command line for calibration from a live feed. " example command line for calibration from a live feed.\n"
calibration -w 4 -h 5 -s 0.025 -o camera.yml -op -oe " 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";
example command line for calibration from a list of stored images:
imagelist_creator image_list.xml *.png
calibration -w 4 -h 5 -s 0.025 -o camera.yml -op -oe image_list.xml
where image_list.xml is the standard OpenCV XML/YAML
use imagelist_creator to create the xml or yaml list
file consisting of the list of strings, e.g.:
<?xml version="1.0"?>
<opencv_storage>
<images>
"view000.png"
"view001.png"
<!-- view002.png -->
"view003.png"
"view010.png"
"one_extra_view.jpg"
</images>
</opencv_storage>
*/
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()
{
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"
" [-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"
" # (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"
" [-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"
" [-p] # fix the principal point at the center\n"
" [-v] # flip the captured images around the horizontal axis\n"
" [-su] # show undistorted images after calibration\n"
" [input_data] # input data, one of the following:\n"
" # - text file with a list of the images of the board\n"
" # the text file can be generated with imagelist_creator\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"
"\n" );
printf("\n%s",usage);
printf( "\n%s", liveCaptureHelp );
}
enum { DETECTION = 0, CAPTURING = 1, CALIBRATED = 2 }; enum { DETECTION = 0, CAPTURING = 1, CALIBRATED = 2 };
@ -247,40 +284,11 @@ int main( int argc, char** argv )
vector<vector<Point2f> > imagePoints; vector<vector<Point2f> > imagePoints;
vector<string> imageList; vector<string> imageList;
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";
if( argc < 2 ) if( argc < 2 )
{ {
printf( "This is a camera calibration sample.\n" help();
"Usage: calibration\n" return 0;
" -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"
" [-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"
" # (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"
" [-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"
" [-p] # fix the principal point at the center\n"
" [-v] # flip the captured images around the horizontal axis\n"
" [-su] # show undistorted images after calibration\n"
" [input_data] # input data, one of the following:\n"
" # - text file with a list of the images of the board\n"
" # the text file can be generated with imagelist_creator\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"
"\n" );
printf( "%s", liveCaptureHelp );
return 0;
} }
for( i = 1; i < argc; i++ ) for( i = 1; i < argc; i++ )