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@ -60,6 +60,8 @@ void help() |
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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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" # - text file with a list of the images of the board\n" |
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@ -126,10 +128,11 @@ static bool runCalibration( vector<vector<Point2f> > imagePoints, |
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vector<vector<Point3f> > objectPoints(1); |
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calcChessboardCorners(boardSize, squareSize, objectPoints[0]); |
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objectPoints.resize(imagePoints.size(),objectPoints[0]); |
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objectPoints.resize(imagePoints.size(),objectPoints[0]); |
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calibrateCamera(objectPoints, imagePoints, imageSize, cameraMatrix, |
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distCoeffs, rvecs, tvecs, flags|CV_CALIB_FIX_K4|CV_CALIB_FIX_K5);///*|CV_CALIB_FIX_K3*/|CV_CALIB_FIX_K4|CV_CALIB_FIX_K5);
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distCoeffs, rvecs, tvecs, flags|CV_CALIB_FIX_K4|CV_CALIB_FIX_K5); |
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///*|CV_CALIB_FIX_K3*/|CV_CALIB_FIX_K4|CV_CALIB_FIX_K5);
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bool ok = checkRange(cameraMatrix) && checkRange(distCoeffs); |
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@ -277,6 +280,7 @@ int main( int argc, char** argv ) |
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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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@ -284,11 +288,10 @@ int main( int argc, char** argv ) |
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vector<vector<Point2f> > imagePoints; |
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vector<string> imageList; |
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if( argc < 2 ) |
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{ |
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help(); |
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return 0; |
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help(); |
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return 0; |
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} |
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for( i = 1; i < argc; i++ ) |
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@ -327,11 +330,11 @@ int main( int argc, char** argv ) |
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} |
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else if( strcmp( s, "-op" ) == 0 ) |
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{ |
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writePoints = 1; |
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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 = 1; |
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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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@ -343,7 +346,11 @@ int main( int argc, char** argv ) |
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} |
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else if( strcmp( s, "-v" ) == 0 ) |
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{ |
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flipVertical = 1; |
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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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@ -355,18 +362,18 @@ int main( int argc, char** argv ) |
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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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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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} |
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if( inputFilename ) |
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{ |
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if( readStringList(inputFilename, imageList) ) |
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if( !videofile && readStringList(inputFilename, imageList) ) |
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mode = CAPTURING; |
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else
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capture.open(inputFilename); |
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@ -415,27 +422,25 @@ int main( int argc, char** argv ) |
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flip( view, view, 0 ); |
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vector<Point2f> pointbuf; |
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cvtColor(view, viewGray, CV_BGR2GRAY);
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bool found = findChessboardCorners( view, boardSize, pointbuf, CV_CALIB_CB_ADAPTIVE_THRESH & CV_CALIB_CB_FAST_CHECK & CV_CALIB_CB_NORMALIZE_IMAGE); |
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// improve the found corners' coordinate accuracy
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if(found) cornerSubPix( viewGray, pointbuf, Size(11,11), |
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Size(-1,-1), TermCriteria( CV_TERMCRIT_EPS+CV_TERMCRIT_ITER, 30, 0.1 )); |
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if( mode == CAPTURING && found && |
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(!capture.isOpened() || clock() - prevTimestamp > delay*1e-3*CLOCKS_PER_SEC) ) |
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{ |
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imagePoints.push_back(pointbuf); |
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prevTimestamp = clock(); |
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blink = capture.isOpened(); |
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} |
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if(found) drawChessboardCorners( view, boardSize, Mat(pointbuf), found ); |
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bool found = findChessboardCorners( view, boardSize, pointbuf, |
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CV_CALIB_CB_ADAPTIVE_THRESH & CV_CALIB_CB_FAST_CHECK & CV_CALIB_CB_NORMALIZE_IMAGE); |
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// improve the found corners' coordinate accuracy
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if(found) cornerSubPix( viewGray, pointbuf, Size(11,11), |
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Size(-1,-1), TermCriteria( CV_TERMCRIT_EPS+CV_TERMCRIT_ITER, 30, 0.1 )); |
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if( mode == CAPTURING && found && |
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(!capture.isOpened() || clock() - prevTimestamp > delay*1e-3*CLOCKS_PER_SEC) ) |
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{ |
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imagePoints.push_back(pointbuf); |
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prevTimestamp = clock(); |
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blink = capture.isOpened(); |
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} |
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if(found) |
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drawChessboardCorners( view, boardSize, Mat(pointbuf), found ); |
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string msg = mode == CAPTURING ? "100/100" : |
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mode == CALIBRATED ? "Calibrated" : "Press 'g' to start"; |
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@ -445,11 +450,11 @@ int main( int argc, char** argv ) |
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if( mode == CAPTURING ) |
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{ |
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if(undistortImage) |
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msg = format( "%d/%d Undist", (int)imagePoints.size(), nframes ); |
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if(undistortImage) |
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msg = format( "%d/%d Undist", (int)imagePoints.size(), nframes ); |
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else |
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msg = format( "%d/%d", (int)imagePoints.size(), nframes ); |
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} |
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msg = format( "%d/%d", (int)imagePoints.size(), nframes ); |
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} |
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putText( view, msg, textOrigin, 1, 1, |
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mode != CALIBRATED ? Scalar(0,0,255) : Scalar(0,255,0)); |
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