ccalib omni_calibration sample updates:

- changed default parameter values fr sw, sh
- switched to CommandLineParser
- added console status messages

modules/ccalib/samples/omni_calibration.cpp

@@ -11,31 +11,7 @@
 using namespace cv;
 using namespace std;
 
-const char * usage =
+static void calcChessboardCorners(const Size &boardSize, const Size2d &squareSize, Mat& corners)
-"\n example command line for omnidirectional camera calibration.\n"
-"    omni_calibration -w 6 -h 9 -sw 80 -sh 80 imagelist.xml \n"
-" \n"
-" the file imagelist.xml is generated by imagelist_creator as\n"
-"imagelist_creator imagelist.xml *.*";
-
-static void help()
-{
-    printf("\n This is a sample for omnidirectional camera calibration.\n"
-            "Usage: omni_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"
-            "    [-sw <square_width>] # the width of square in some user-defined units (1 by default)\n"
-            "    [-sh <square_height>] # the height of square in some user-defined units (1 by default)\n"
-            "    [-o <out_camera_params>] # the output filename for intrinsic [and extrinsic] parameters\n"
-            "    [-fs <fix_skew>] # fix skew\n"
-            "    [-fp ] # fix the principal point at the center\n"
-            "    input_data # input data - text file with a list of the images of the board, which is generated by imagelist_creator"
-            );
-    printf("\n %s", usage);
-}
-
-static void calcChessboardCorners(Size boardSize, double square_width, double square_height,
-    Mat& corners)
 {
     // corners has type of CV_64FC3
     corners.release();
@@ -46,7 +22,7 @@ static void calcChessboardCorners(Size boardSize, double square_width, double sq
     {
         for (int j = 0; j < boardSize.width; ++j)
         {
-            ptr[i*boardSize.width + j] = Vec3d(double(j * square_width), double(i * square_height), 0.0);
+            ptr[i*boardSize.width + j] = Vec3d(double(j * squareSize.width), double(i * squareSize.height), 0.0);
         }
     }
 }
@@ -60,6 +36,7 @@ static bool detecChessboardCorners(const vector<string>& list, vector<string>& l
     Mat img;
     for(int i = 0; i < n_img; ++i)
     {
+        cout << list[i] << "... ";
         Mat points;
         img = imread(list[i], IMREAD_GRAYSCALE);
         bool found = findChessboardCorners( img, boardSize, points);
@@ -70,6 +47,7 @@ static bool detecChessboardCorners(const vector<string>& list, vector<string>& l
             imagePoints.push_back(points);
             list_detected.push_back(list[i]);
         }
+        cout << (found ? "FOUND" : "NO") << endl;
     }
     if (!img.empty())
         imageSize = img.size();
@@ -169,78 +147,64 @@ static void saveCameraParams( const string & filename, int flags, const Mat& cam
 
 int main(int argc, char** argv)
 {
-    Size boardSize, imageSize;
+    cv::CommandLineParser parser(argc, argv,
-    int flags = 0;
+                                 "{w||board width}"
-    double square_width = 0.0, square_height = 0.0;
+                                 "{h||board height}"
-    const char* outputFilename = "out_camera_params.xml";
+                                 "{sw|1.0|square width}"
-    const char* inputFilename = 0;
+                                 "{sh|1.0|square height}"
-    vector<Mat> objectPoints;
+                                 "{o|out_camera_params.xml|output file}"
-    vector<Mat> imagePoints;
+                                 "{fs|false|fix skew}"
-
+                                 "{fp|false|fix principal point at the center}"
-    if(argc < 2)
+                                 "{@input||input file - xml file with a list of the images, created with cpp-example-imagelist_creator tool}"
+                                 "{help||show help}"
+                                 );
+    parser.about("This is a sample for omnidirectional camera calibration. Example command line:\n"
+                 "    omni_calibration -w=6 -h=9 -sw=80 -sh=80 imagelist.xml \n");
+    if (parser.has("help") || !parser.has("w") || !parser.has("h"))
     {
-        help();
+        parser.printMessage();
-        return 1;
+        return 0;
     }
 
-    for(int i = 1; i < argc; i++)
+    Size boardSize(parser.get<int>("w"), parser.get<int>("h"));
-    {
+    Size2d squareSize(parser.get<double>("sw"), parser.get<double>("sh"));
-        const char* s = argv[i];
+    int flags = 0;
-        if( strcmp( s, "-w") == 0)
+    if (parser.get<bool>("fs"))
-        {
-            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, "-sw" ) == 0 )
-        {
-            if( sscanf( argv[++i], "%lf", &square_width ) != 1 || square_width <= 0 )
-                return fprintf(stderr, "Invalid square width\n"), -1;
-        }
-        else if( strcmp( s, "-sh" ) == 0 )
-        {
-            if( sscanf( argv[++i], "%lf", &square_height) != 1 || square_height <= 0 )
-                return fprintf(stderr, "Invalid square height\n"), -1;
-        }
-        else if( strcmp( s, "-o" ) == 0 )
-        {
-            outputFilename = argv[++i];
-        }
-        else if( strcmp( s, "-fs" ) == 0 )
-        {
         flags |= omnidir::CALIB_FIX_SKEW;
-        }
+    if (parser.get<bool>("fp"))
-        else if( strcmp( s, "-fp" ) == 0 )
-        {
         flags |= omnidir::CALIB_FIX_CENTER;
-        }
+    const string outputFilename = parser.get<string>("o");
-        else if( s[0] != '-')
+    const string inputFilename = parser.get<string>(0);
-        {
+
-            inputFilename = s;
+    if (!parser.check())
-        }
-        else
     {
-            return fprintf( stderr, "Unknown option %s\n", s ), -1;
+        parser.printErrors();
-        }
+        return -1;
     }
 
     // get image name list
     vector<string> image_list, detec_list;
     if(!readStringList(inputFilename, image_list))
-        return fprintf( stderr, "Failed to read image list\n"), -1;
+    {
+        cout << "Can not read imagelist" << endl;
+        return -1;
+    }
 
     // find corners in images
     // some images may be failed in automatic corner detection, passed cases are in detec_list
+    cout << "Detecting chessboards (" << image_list.size() << ")" << endl;
+    vector<Mat> imagePoints;
+    Size imageSize;
     if(!detecChessboardCorners(image_list, detec_list, imagePoints, boardSize, imageSize))
-        return fprintf(stderr, "Not enough corner detected images\n"), -1;
+    {
+        cout << "Not enough corner detected images" << endl;
+        return -1;
+    }
 
     // calculate object coordinates
+    vector<Mat> objectPoints;
     Mat object;
-    calcChessboardCorners(boardSize, square_width, square_height, object);
+    calcChessboardCorners(boardSize, squareSize, object);
     for(int i = 0; i < (int)detec_list.size(); ++i)
         objectPoints.push_back(object);
 
@@ -252,6 +216,7 @@ int main(int argc, char** argv)
     TermCriteria criteria(3, 200, 1e-8);
     rms = omnidir::calibrate(objectPoints, imagePoints, imageSize, K, xi, D, rvecs, tvecs, flags, criteria, idx);
     _xi = xi.at<double>(0);
+    cout << "Saving camera params to " << outputFilename << endl;
     saveCameraParams(outputFilename, flags, K, D, _xi,
         rvecs, tvecs, detec_list, idx, rms, imagePoints);
 }