@ -9,59 +9,69 @@
using namespace cv ;
using namespace std ;
const char * usage =
" \n example 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 ( )
{
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 "
" [-pt]=<pattern> # the type of pattern: chessboard or circles' grid \n "
" [-n]=<number_of_frames> # the number of frames to use for 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 "
" [-pt <pattern>] # the type of pattern: chessboard or circles' grid \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 "
" [-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 "
" [-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 "
" [-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 "
" [-V] # use a video file, and not an image list, uses \n "
" # [input_data] string for the video file name \n "
" [-su] # show undistorted images after calibration \n "
" [-input_data]=<data file> # input data, one of the following: \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 "
" [-cameraId]=<camera index># if input_data not specified, a live view from the camera is used \n "
" \n Example 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 -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 "
" \n 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 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 } ;
@ -279,74 +289,126 @@ bool runAndSave(const string& outputFilename,
}
int main ( int argc , const char * * argv )
int main ( int argc , char * * argv )
{
help ( ) ;
CommandLineParser parser ( argc , argv ) ;
Size boardSize , imageSize ;
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 ) ;
float squareSize = 1.f , aspectRatio = 1.f ;
Mat cameraMatrix , distCoeffs ;
string outputFilename = parser . get < string > ( " o " , " out_camera_data.yml " ) ;
string inputFilename = parser . get < string > ( " input_data " ) ;
int nframes = parser . get < int > ( " n " , 10 ) ;
bool writeExtrinsics = parser . get < bool > ( " oe " ) ;
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 ) ;
const char * outputFilename = " out_camera_data.yml " ;
const char * inputFilename = 0 ;
int i , nframes = 10 ;
bool writeExtrinsics = false , writePoints = false ;
bool undistortImage = false ;
int flags = 0 ;
VideoCapture capture ;
bool flipVertical = false ;
bool showUndistorted = false ;
bool videofile = false ;
int delay = 1000 ;
clock_t prevTimestamp = 0 ;
int mode = DETECTION ;
int cameraId = 0 ;
vector < vector < Point2f > > imagePoints ;
vector < string > imageList ;
Pattern pattern = CHESSBOARD ;
if ( ( boardSize . width < 1 ) | | ( boardSize . height < 1 ) )
if ( argc < 2 )
{
help ( ) ;
return fprintf ( stderr , " Invalid board width or height. It must be more than zero \n " ) , - 1 ;
return 0 ;
}
if ( parser . get < string > ( " pt " ) = = " circles " )
pattern = CIRCLES_GRID ;
else if ( parser . get < string > ( " pt " ) = = " acircles " )
pattern = ASYMMETRIC_CIRCLES_GRID ;
if ( squareSize < = 0 )
{
help ( ) ;
return fprintf ( stderr , " Invalid board square width. It must be more than zero. \n " ) , - 1 ;
}
if ( nframes < 4 )
for ( i = 1 ; i < argc ; i + + )
{
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 ;
}
const char * s = argv [ i ] ;
if ( strcmp ( s , " -w " ) = = 0 )
{
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
flags | = CV_CALIB_FIX_ASPECT_RATIO ;
if ( ! delay )
{
help ( ) ;
return printf ( " Invalid delay. It must be more than zero. \n " ) , - 1 ;
return fprintf ( stderr , " Unknown option %s " , s ) , - 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 . empty ( ) )
if ( inputFilename )
{
if ( ! videofile & & readStringList ( inputFilename , imageList ) )
mode = CAPTURING ;
@ -362,9 +424,11 @@ int main( int argc, const char** argv )
if ( ! imageList . empty ( ) )
nframes = ( int ) imageList . size ( ) ;
if ( capture . isOpened ( ) )
printf ( " %s " , liveCaptureHelp ) ;
namedWindow ( " Image View " , 1 ) ;
int i ;
for ( i = 0 ; ; i + + )
{
Mat view , viewGray ;
itsyplen
14 years ago