converted some more samples to C++
This commit is contained in:
Vadim Pisarevsky
@@ -27,14 +27,18 @@
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#include "opencv2/calib3d/calib3d.hpp"
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#include "opencv2/highgui/highgui.hpp"
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#include "opencv2/imgproc/imgproc_c.h"
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#include "opencv2/imgproc/imgproc.hpp"
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#include <vector>
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#include <string>
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#include <algorithm>
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#include <iostream>
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#include <iterator>
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#include <stdio.h>
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#include <stdlib.h>
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#include <ctype.h>
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using namespace cv;
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using namespace std;
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//
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@@ -45,344 +49,294 @@ using namespace std;
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// rectified results along with the computed disparity images.
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//
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static void
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StereoCalib(const char* path, const char* imageList, int useUncalibrated)
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StereoCalib(const vector<string>& imagelist, Size boardSize, bool useCalibrated=true, bool showRectified=true)
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{
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CvRect roi1, roi2;
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int nx = 0, ny = 0;
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int displayCorners = 1;
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int showUndistorted = 1;
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bool isVerticalStereo = false;//OpenCV can handle left-right
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//or up-down camera arrangements
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const int maxScale = 1;
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const float squareSize = 1.f; //Set this to your actual square size
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FILE* f = fopen(imageList, "rt");
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int i, j, lr, nframes = 0, n, N = 0;
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vector<string> imageNames[2];
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vector<CvPoint3D32f> objectPoints;
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vector<CvPoint2D32f> points[2];
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vector<CvPoint2D32f> temp_points[2];
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vector<int> npoints;
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// vector<uchar> active[2];
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int is_found[2] = {0, 0};
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vector<CvPoint2D32f> temp;
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CvSize imageSize = {0,0};
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if( imagelist.size() % 2 != 0 )
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{
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cout << "Error: the image list contains odd (non-even) number of elements\n";
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return;
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}
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bool displayCorners = true;
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const int maxScale = 2;
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const float squareSize = 1.f; // Set this to your actual square size
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// ARRAY AND VECTOR STORAGE:
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double M1[3][3], M2[3][3], D1[5], D2[5];
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double R[3][3], T[3], E[3][3], F[3][3];
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double Q[4][4];
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CvMat _M1 = cvMat(3, 3, CV_64F, M1 );
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CvMat _M2 = cvMat(3, 3, CV_64F, M2 );
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CvMat _D1 = cvMat(1, 5, CV_64F, D1 );
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CvMat _D2 = cvMat(1, 5, CV_64F, D2 );
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CvMat matR = cvMat(3, 3, CV_64F, R );
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CvMat matT = cvMat(3, 1, CV_64F, T );
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CvMat matE = cvMat(3, 3, CV_64F, E );
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CvMat matF = cvMat(3, 3, CV_64F, F );
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CvMat matQ = cvMat(4, 4, CV_64FC1, Q);
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char buf[1024];
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vector<vector<Point2f> > imagePoints[2];
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vector<vector<Point3f> > objectPoints;
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Size imageSize;
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if( displayCorners )
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cvNamedWindow( "corners", 1 );
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// READ IN THE LIST OF CHESSBOARDS:
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if( !f )
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int i, j, k, nimages = (int)imagelist.size()/2;
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imagePoints[0].resize(nimages);
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imagePoints[1].resize(nimages);
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vector<string> goodImageList;
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for( i = j = 0; i < nimages; i++ )
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{
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fprintf(stderr, "can not open file %s\n", imageList );
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return;
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}
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if( !fgets(buf, sizeof(buf)-3, f) || sscanf(buf, "%d%d", &nx, &ny) != 2 )
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return;
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n = nx*ny;
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temp.resize(n);
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temp_points[0].resize(n);
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temp_points[1].resize(n);
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for(i=0;;i++)
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{
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int count = 0, result=0;
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lr = i % 2;
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vector<CvPoint2D32f>& pts = temp_points[lr];//points[lr];
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if( !fgets( buf, sizeof(buf)-3, f ))
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break;
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size_t len = strlen(buf);
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while( len > 0 && isspace(buf[len-1]))
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buf[--len] = '\0';
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if( buf[0] == '#')
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continue;
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char fullpath[1024];
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sprintf(fullpath, "%s/%s", path, buf);
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IplImage* img = cvLoadImage( fullpath, 0 );
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if( !img )
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for( k = 0; k < 2; k++ )
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{
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printf("Cannot read file %s\n", fullpath);
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return;
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}
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imageSize = cvGetSize(img);
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imageNames[lr].push_back(buf);
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//FIND CHESSBOARDS AND CORNERS THEREIN:
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for( int s = 1; s <= maxScale; s++ )
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{
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IplImage* timg = img;
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if( s > 1 )
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{
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timg = cvCreateImage(cvSize(img->width*s,img->height*s),
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img->depth, img->nChannels );
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cvResize( img, timg, CV_INTER_CUBIC );
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}
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result = cvFindChessboardCorners( timg, cvSize(nx, ny),
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&temp[0], &count,
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CV_CALIB_CB_ADAPTIVE_THRESH |
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CV_CALIB_CB_NORMALIZE_IMAGE);
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if( timg != img )
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cvReleaseImage( &timg );
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if( result || s == maxScale )
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for( j = 0; j < count; j++ )
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{
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temp[j].x /= s;
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temp[j].y /= s;
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}
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if( result )
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const string& filename = imagelist[i*2+k];
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Mat img = imread(filename, 0);
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if(img.empty())
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break;
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}
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if( displayCorners )
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{
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printf("%s\n", buf);
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IplImage* cimg = cvCreateImage( imageSize, 8, 3 );
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cvCvtColor( img, cimg, CV_GRAY2BGR );
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cvDrawChessboardCorners( cimg, cvSize(nx, ny), &temp[0],
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count, result );
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IplImage* cimg1 = cvCreateImage(cvSize(640, 480), IPL_DEPTH_8U, 3);
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cvResize(cimg, cimg1);
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cvShowImage( "corners", cimg1 );
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cvReleaseImage( &cimg );
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cvReleaseImage( &cimg1 );
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int c = cvWaitKey(1000);
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if( c == 27 || c == 'q' || c == 'Q' ) //Allow ESC to quit
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exit(-1);
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}
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else
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putchar('.');
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//N = pts.size();
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//pts.resize(N + n, cvPoint2D32f(0,0));
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//active[lr].push_back((uchar)result);
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is_found[lr] = result > 0 ? 1 : 0;
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//assert( result != 0 );
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if( result )
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{
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//Calibration will suffer without subpixel interpolation
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cvFindCornerSubPix( img, &temp[0], count,
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cvSize(11, 11), cvSize(-1,-1),
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cvTermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,
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30, 0.01) );
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copy( temp.begin(), temp.end(), pts.begin() );
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}
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cvReleaseImage( &img );
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if(lr)
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{
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if(is_found[0] == 1 && is_found[1] == 1)
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if( imageSize == Size() )
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imageSize = img.size();
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else if( img.size() != imageSize )
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{
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assert(temp_points[0].size() == temp_points[1].size());
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int current_size = points[0].size();
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points[0].resize(current_size + temp_points[0].size(), cvPoint2D32f(0.0, 0.0));
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points[1].resize(current_size + temp_points[1].size(), cvPoint2D32f(0.0, 0.0));
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copy(temp_points[0].begin(), temp_points[0].end(), points[0].begin() + current_size);
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copy(temp_points[1].begin(), temp_points[1].end(), points[1].begin() + current_size);
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nframes++;
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printf("Pair successfully detected...\n");
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cout << "The image " << filename << " has the size different from the first image size. Skipping the pair\n";
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break;
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}
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is_found[0] = 0;
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is_found[1] = 0;
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bool found = false;
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vector<Point2f>& corners = imagePoints[k][j];
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for( int scale = 1; scale <= maxScale; scale++ )
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{
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Mat timg;
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if( scale == 1 )
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timg = img;
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else
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resize(img, timg, Size(), scale, scale);
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found = findChessboardCorners(timg, boardSize, corners,
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CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_NORMALIZE_IMAGE);
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if( found )
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{
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if( scale > 1 )
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{
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Mat cornersMat(corners);
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cornersMat *= 1./scale;
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}
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break;
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}
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}
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if( displayCorners )
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{
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cout << filename << endl;
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Mat cimg, cimg1;
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cvtColor(img, cimg, CV_GRAY2BGR);
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drawChessboardCorners(cimg, boardSize, corners, found);
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double sf = 640./MAX(img.rows, img.cols);
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resize(cimg, cimg1, Size(), sf, sf);
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imshow("corners", cimg1);
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char c = (char)waitKey(500);
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if( c == 27 || c == 'q' || c == 'Q' ) //Allow ESC to quit
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exit(-1);
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}
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else
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putchar('.');
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if( !found )
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break;
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cornerSubPix(img, corners, Size(11,11), Size(-1,-1),
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TermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,
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30, 0.01));
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}
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if( k == 2 )
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{
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goodImageList.push_back(imagelist[i*2]);
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goodImageList.push_back(imagelist[i*2+1]);
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j++;
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}
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}
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fclose(f);
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printf("\n");
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// HARVEST CHESSBOARD 3D OBJECT POINT LIST:
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objectPoints.resize(nframes*n);
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for( i = 0; i < ny; i++ )
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for( j = 0; j < nx; j++ )
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objectPoints[i*nx + j] =
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cvPoint3D32f(i*squareSize, j*squareSize, 0);
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for( i = 1; i < nframes; i++ )
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copy( objectPoints.begin(), objectPoints.begin() + n,
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objectPoints.begin() + i*n );
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npoints.resize(nframes,n);
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N = nframes*n;
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CvMat _objectPoints = cvMat(1, N, CV_32FC3, &objectPoints[0] );
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CvMat _imagePoints1 = cvMat(1, N, CV_32FC2, &points[0][0] );
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CvMat _imagePoints2 = cvMat(1, N, CV_32FC2, &points[1][0] );
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CvMat _npoints = cvMat(1, npoints.size(), CV_32S, &npoints[0] );
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cvSetIdentity(&_M1);
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cvSetIdentity(&_M2);
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cvZero(&_D1);
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cvZero(&_D2);
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cout << j << " pairs have been successfully detected.\n";
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nimages = j;
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if( nimages < 2 )
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{
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cout << "Error: too little pairs to run the calibration\n";
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return;
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}
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// CALIBRATE THE STEREO CAMERAS
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printf("Running stereo calibration ...");
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fflush(stdout);
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cvStereoCalibrate( &_objectPoints, &_imagePoints1,
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&_imagePoints2, &_npoints,
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&_M1, &_D1, &_M2, &_D2,
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imageSize, &matR, &matT, &matE, &matF,
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cvTermCriteria(CV_TERMCRIT_ITER+
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CV_TERMCRIT_EPS, 100, 1e-5),
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CV_CALIB_FIX_ASPECT_RATIO +
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CV_CALIB_ZERO_TANGENT_DIST +
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CV_CALIB_SAME_FOCAL_LENGTH +
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CV_CALIB_FIX_K3);
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printf(" done\n");
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imagePoints[0].resize(nimages);
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imagePoints[1].resize(nimages);
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objectPoints.resize(nimages);
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for( i = 0; i < nimages; i++ )
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{
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for( j = 0; j < boardSize.height; j++ )
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for( k = 0; k < boardSize.width; k++ )
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objectPoints[i].push_back(Point3f(j*squareSize, k*squareSize, 0));
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}
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cout << "Running stereo calibration ...\n";
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Mat cameraMatrix[2], distCoeffs[2];
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cameraMatrix[0] = Mat::eye(3, 3, CV_64F);
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cameraMatrix[1] = Mat::eye(3, 3, CV_64F);
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distCoeffs[0] = Mat::zeros(8, 1, CV_64F);
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distCoeffs[1] = Mat::zeros(8, 1, CV_64F);
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Mat R, T, E, F;
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stereoCalibrate(objectPoints, imagePoints[0], imagePoints[1],
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cameraMatrix[0], distCoeffs[0],
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cameraMatrix[1], distCoeffs[1],
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imageSize, R, T, E, F,
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TermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS, 100, 1e-5),
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CV_CALIB_FIX_ASPECT_RATIO +
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CV_CALIB_ZERO_TANGENT_DIST +
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CV_CALIB_SAME_FOCAL_LENGTH +
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CV_CALIB_FIX_K3);
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cout << "done\n";
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// CALIBRATION QUALITY CHECK
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// because the output fundamental matrix implicitly
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// includes all the output information,
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// we can check the quality of calibration using the
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// epipolar geometry constraint: m2^t*F*m1=0
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vector<CvPoint3D32f> lines[2];
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points[0].resize(N);
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points[1].resize(N);
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_imagePoints1 = cvMat(1, N, CV_32FC2, &points[0][0] );
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_imagePoints2 = cvMat(1, N, CV_32FC2, &points[1][0] );
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lines[0].resize(N);
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lines[1].resize(N);
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CvMat _L1 = cvMat(1, N, CV_32FC3, &lines[0][0]);
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CvMat _L2 = cvMat(1, N, CV_32FC3, &lines[1][0]);
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//Always work in undistorted space
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cvUndistortPoints( &_imagePoints1, &_imagePoints1,
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&_M1, &_D1, 0, &_M1 );
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cvUndistortPoints( &_imagePoints2, &_imagePoints2,
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&_M2, &_D2, 0, &_M2 );
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cvComputeCorrespondEpilines( &_imagePoints1, 1, &matF, &_L1 );
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cvComputeCorrespondEpilines( &_imagePoints2, 2, &matF, &_L2 );
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double avgErr = 0;
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for( i = 0; i < N; i++ )
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double err = 0;
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int npoints = 0;
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vector<Vec3f> lines[2];
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for( i = 0; i < nimages; i++ )
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{
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double err = fabs(points[0][i].x*lines[1][i].x +
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points[0][i].y*lines[1][i].y + lines[1][i].z)
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+ fabs(points[1][i].x*lines[0][i].x +
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points[1][i].y*lines[0][i].y + lines[0][i].z);
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avgErr += err;
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int npt = (int)imagePoints[0][i].size();
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Mat imgpt[2];
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for( k = 0; k < 2; k++ )
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{
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imgpt[k] = Mat(imagePoints[k][i]);
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undistortPoints(imgpt[k], imgpt[k], cameraMatrix[k], distCoeffs[k], Mat(), cameraMatrix[k]);
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computeCorrespondEpilines(imgpt[k], k+1, F, lines[k]);
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}
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for( j = 0; j < npt; j++ )
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{
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double errij = fabs(imagePoints[0][i][j].x*lines[1][j][0] +
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imagePoints[0][i][j].y*lines[1][j][1] + lines[1][j][2]) +
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fabs(imagePoints[1][i][j].x*lines[0][j][0] +
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imagePoints[1][i][j].y*lines[0][j][1] + lines[0][j][2]);
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err += errij;
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}
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npoints += npt;
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}
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printf( "avg err = %g\n", avgErr/(nframes*n) );
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cout << "average reprojection err = " << err/npoints << endl;
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// save intrinsic parameters
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CvFileStorage* fstorage = cvOpenFileStorage("intrinsics.yml", NULL, CV_STORAGE_WRITE);
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cvWrite(fstorage, "M1", &_M1);
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cvWrite(fstorage, "D1", &_D1);
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cvWrite(fstorage, "M2", &_M2);
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cvWrite(fstorage, "D2", &_D2);
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cvReleaseFileStorage(&fstorage);
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FileStorage fs("intrinsics.yml", CV_STORAGE_WRITE);
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if( fs.isOpened() )
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{
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fs << "M1" << cameraMatrix[0] << "D1" << distCoeffs[0] <<
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"M2" << cameraMatrix[1] << "D2" << distCoeffs[1];
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fs.release();
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}
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else
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cout << "Error: can not save the intrinsic parameters\n";
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Mat R1, R2, P1, P2, Q;
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Rect roi1, roi2;
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stereoRectify(cameraMatrix[0], distCoeffs[0],
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cameraMatrix[1], distCoeffs[1],
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imageSize, R, T, R1, R2, P1, P2, Q,
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1, imageSize, &roi1, &roi2);
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fs.open("extrinsics.yml", CV_STORAGE_WRITE);
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if( fs.isOpened() )
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{
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fs << "R" << R << "T" << T << "R1" << R1 << "R2" << R2 << "P1" << P1 << "P2" << P2 << "Q" << Q;
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fs.release();
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}
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else
|
||||
cout << "Error: can not save the intrinsic parameters\n";
|
||||
|
||||
// OpenCV can handle left-right
|
||||
// or up-down camera arrangements
|
||||
bool isVerticalStereo = fabs(P2.at<double>(1, 3)) > fabs(P2.at<double>(0, 3));
|
||||
|
||||
//COMPUTE AND DISPLAY RECTIFICATION
|
||||
if( showUndistorted )
|
||||
{
|
||||
CvMat* mx1 = cvCreateMat( imageSize.height,
|
||||
imageSize.width, CV_32F );
|
||||
CvMat* my1 = cvCreateMat( imageSize.height,
|
||||
imageSize.width, CV_32F );
|
||||
CvMat* mx2 = cvCreateMat( imageSize.height,
|
||||
imageSize.width, CV_32F );
|
||||
CvMat* my2 = cvCreateMat( imageSize.height,
|
||||
imageSize.width, CV_32F );
|
||||
CvMat* img1r = cvCreateMat( imageSize.height,
|
||||
imageSize.width, CV_8U );
|
||||
CvMat* img2r = cvCreateMat( imageSize.height,
|
||||
imageSize.width, CV_8U );
|
||||
CvMat* disp = cvCreateMat( imageSize.height,
|
||||
imageSize.width, CV_16S );
|
||||
double R1[3][3], R2[3][3], P1[3][4], P2[3][4];
|
||||
CvMat _R1 = cvMat(3, 3, CV_64F, R1);
|
||||
CvMat _R2 = cvMat(3, 3, CV_64F, R2);
|
||||
if( !showRectified )
|
||||
return;
|
||||
|
||||
Mat rmap[2][2];
|
||||
// IF BY CALIBRATED (BOUGUET'S METHOD)
|
||||
if( useUncalibrated == 0 )
|
||||
{
|
||||
CvMat _P1 = cvMat(3, 4, CV_64F, P1);
|
||||
CvMat _P2 = cvMat(3, 4, CV_64F, P2);
|
||||
|
||||
cvStereoRectify( &_M1, &_M2, &_D1, &_D2, imageSize,
|
||||
&matR, &matT,
|
||||
&_R1, &_R2, &_P1, &_P2, &matQ,
|
||||
CV_CALIB_ZERO_DISPARITY,
|
||||
1, imageSize, &roi1, &roi2);
|
||||
|
||||
CvFileStorage* file = cvOpenFileStorage("extrinsics.yml", NULL, CV_STORAGE_WRITE);
|
||||
cvWrite(file, "R", &matR);
|
||||
cvWrite(file, "T", &matT);
|
||||
cvWrite(file, "R1", &_R1);
|
||||
cvWrite(file, "R2", &_R2);
|
||||
cvWrite(file, "P1", &_P1);
|
||||
cvWrite(file, "P2", &_P2);
|
||||
cvWrite(file, "Q", &matQ);
|
||||
cvReleaseFileStorage(&file);
|
||||
|
||||
isVerticalStereo = fabs(P2[1][3]) > fabs(P2[0][3]);
|
||||
if(!isVerticalStereo)
|
||||
roi2.x += imageSize.width;
|
||||
else
|
||||
roi2.y += imageSize.height;
|
||||
//Precompute maps for cvRemap()
|
||||
cvInitUndistortRectifyMap(&_M1,&_D1,&_R1,&_P1,mx1,my1);
|
||||
cvInitUndistortRectifyMap(&_M2,&_D2,&_R2,&_P2,mx2,my2);
|
||||
}
|
||||
//OR ELSE HARTLEY'S METHOD
|
||||
else if( useUncalibrated == 1 || useUncalibrated == 2 )
|
||||
// use intrinsic parameters of each camera, but
|
||||
// compute the rectification transformation directly
|
||||
// from the fundamental matrix
|
||||
{
|
||||
double H1[3][3], H2[3][3], iM[3][3];
|
||||
CvMat _H1 = cvMat(3, 3, CV_64F, H1);
|
||||
CvMat _H2 = cvMat(3, 3, CV_64F, H2);
|
||||
CvMat _iM = cvMat(3, 3, CV_64F, iM);
|
||||
//Just to show you could have independently used F
|
||||
if( useUncalibrated == 2 )
|
||||
cvFindFundamentalMat( &_imagePoints1,
|
||||
&_imagePoints2, &matF);
|
||||
cvStereoRectifyUncalibrated( &_imagePoints1,
|
||||
&_imagePoints2, &matF,
|
||||
imageSize,
|
||||
&_H1, &_H2, 3);
|
||||
cvInvert(&_M1, &_iM);
|
||||
cvMatMul(&_H1, &_M1, &_R1);
|
||||
cvMatMul(&_iM, &_R1, &_R1);
|
||||
cvInvert(&_M2, &_iM);
|
||||
cvMatMul(&_H2, &_M2, &_R2);
|
||||
cvMatMul(&_iM, &_R2, &_R2);
|
||||
//Precompute map for cvRemap()
|
||||
cvInitUndistortRectifyMap(&_M1,&_D1,&_R1,&_M1,mx1,my1);
|
||||
|
||||
cvInitUndistortRectifyMap(&_M2,&_D1,&_R2,&_M2,mx2,my2);
|
||||
}
|
||||
else
|
||||
assert(0);
|
||||
|
||||
|
||||
cvReleaseMat( &mx1 );
|
||||
cvReleaseMat( &my1 );
|
||||
cvReleaseMat( &mx2 );
|
||||
cvReleaseMat( &my2 );
|
||||
cvReleaseMat( &img1r );
|
||||
cvReleaseMat( &img2r );
|
||||
cvReleaseMat( &disp );
|
||||
if( !useCalibrated )
|
||||
{
|
||||
// we already computed everything
|
||||
}
|
||||
//OR ELSE HARTLEY'S METHOD
|
||||
else
|
||||
// use intrinsic parameters of each camera, but
|
||||
// compute the rectification transformation directly
|
||||
// from the fundamental matrix
|
||||
{
|
||||
vector<Point2f> allimgpt[2];
|
||||
for( k = 0; k < 2; k++ )
|
||||
{
|
||||
for( i = 0; i < nimages; i++ )
|
||||
std::copy(imagePoints[k][i].begin(), imagePoints[k][i].end(), back_inserter(allimgpt[k]));
|
||||
}
|
||||
F = findFundamentalMat(Mat(allimgpt[0]), Mat(allimgpt[1]), FM_8POINT, 0, 0);
|
||||
Mat H1, H2;
|
||||
stereoRectifyUncalibrated(Mat(allimgpt[0]), Mat(allimgpt[1]), F, imageSize, H1, H2, 3);
|
||||
|
||||
R1 = cameraMatrix[0].inv()*H1*cameraMatrix[0];
|
||||
R2 = cameraMatrix[1].inv()*H2*cameraMatrix[1];
|
||||
}
|
||||
|
||||
//Precompute maps for cv::remap()
|
||||
initUndistortRectifyMap(cameraMatrix[0], distCoeffs[0], R1, P1, imageSize, CV_16SC2, rmap[0][0], rmap[0][1]);
|
||||
initUndistortRectifyMap(cameraMatrix[1], distCoeffs[1], R2, P2, imageSize, CV_16SC2, rmap[1][0], rmap[1][1]);
|
||||
|
||||
/*for( i = 0; i < nimages; i++ )
|
||||
{
|
||||
Mat img =
|
||||
|
||||
}*/
|
||||
}
|
||||
|
||||
int main(int argc, char** argv)
|
||||
|
||||
static bool readStringList( const string& filename, vector<string>& l )
|
||||
{
|
||||
if(argc > 1 && !strcmp(argv[1], "--help"))
|
||||
{
|
||||
printf("Usage:\n ./stereo_calib <path to images> <file wtih image list>\n");
|
||||
return 0;
|
||||
}
|
||||
l.resize(0);
|
||||
FileStorage fs(filename, FileStorage::READ);
|
||||
if( !fs.isOpened() )
|
||||
return false;
|
||||
FileNode n = fs.getFirstTopLevelNode();
|
||||
if( n.type() != FileNode::SEQ )
|
||||
return false;
|
||||
FileNodeIterator it = n.begin(), it_end = n.end();
|
||||
for( ; it != it_end; ++it )
|
||||
l.push_back((string)*it);
|
||||
return true;
|
||||
}
|
||||
|
||||
StereoCalib(argc > 1 ? argv[1] : ".", argc > 2 ? argv[2] : "stereo_calib.txt", 0);
|
||||
|
||||
int print_help()
|
||||
{
|
||||
cout << "Usage:\n ./stereo_calib -w board_width -h board_height <image list XML/YML file>\n";
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
int main(int argc, char** argv)
|
||||
{
|
||||
Size boardSize;
|
||||
string imagelistfn;
|
||||
|
||||
for( int i = 1; i < argc; i++ )
|
||||
{
|
||||
if( string(argv[i]) == "-w" )
|
||||
sscanf(argv[++i], "%d", &boardSize.width);
|
||||
else if( string(argv[i]) == "-h" )
|
||||
sscanf(argv[++i], "%d", &boardSize.height);
|
||||
else if( string(argv[i]) == "--help" )
|
||||
return print_help();
|
||||
else if( argv[i][0] == '-' )
|
||||
{
|
||||
cout << "invalid option " << argv[i] << endl;
|
||||
return 0;
|
||||
}
|
||||
else
|
||||
imagelistfn = argv[i];
|
||||
}
|
||||
|
||||
if( imagelistfn == "" )
|
||||
{
|
||||
imagelistfn = "stereo_calib.xml";
|
||||
boardSize = Size(9, 6);
|
||||
}
|
||||
|
||||
vector<string> imagelist;
|
||||
bool ok = readStringList(imagelistfn, imagelist);
|
||||
|
||||
if( !ok || imagelist.empty() || boardSize.width <= 0 || boardSize.height <= 0 )
|
||||
return print_help();
|
||||
|
||||
StereoCalib(imagelist, boardSize);
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
Reference in New Issue
Block a user