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https://github.com/opencv/opencv_contrib.git
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aruco: port samples to cv::CommandLineParser
results in less code and more consistent parameter handling.
This commit is contained in:
Pavel Rojtberg
@@ -49,59 +49,31 @@ using namespace std;
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using namespace cv;
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/**
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*/
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static void help() {
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cout << "Calibration using a ArUco Planar Grid board" << endl;
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cout << "How to Use:" << endl;
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cout << "To capture a frame for calibration, press 'c'," << endl;
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cout << "If input comes from video, press any key for next frame" << endl;
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cout << "To finish capturing, press 'ESC' key and calibration starts." << endl;
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cout << "Parameters: " << endl;
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cout << "-w <nmarkers> # Number of markers in X direction" << endl;
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cout << "-h <nmarkers> # Number of markers in Y direction" << endl;
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cout << "-l <markerLength> # Marker side lenght (in meters)" << endl;
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cout << "-s <markerSeparation> # Separation between two consecutive"
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<< "markers in the grid (in meters)" << endl;
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cout << "-d <dictionary> # DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2, "
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<< "DICT_4X4_1000=3, DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, "
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<< "DICT_6X6_50=8, DICT_6X6_100=9, DICT_6X6_250=10, DICT_6X6_1000=11, DICT_7X7_50=12,"
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<< "DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16" << endl;
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cout << "-o <outputFile> # Output file with calibrated camera parameters" << endl;
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cout << "[-v <videoFile>] # Input from video file, if ommited, input comes from camera" << endl;
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cout << "[-ci <int>] # Camera id if input doesnt come from video (-v). Default is 0" << endl;
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cout << "[-dp <detectorParams>] # File of marker detector parameters" << endl;
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cout << "[-rs] # Apply refind strategy" << endl;
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cout << "[-zt] # Assume zero tangential distortion" << endl;
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cout << "[-a <aspectRatio>] # Fix aspect ratio (fx/fy)" << endl;
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cout << "[-p] # Fix the principal point at the center" << endl;
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namespace {
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const char* about =
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"Calibration using a ArUco Planar Grid board\n"
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" To capture a frame for calibration, press 'c',\n"
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" If input comes from video, press any key for next frame\n"
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" To finish capturing, press 'ESC' key and calibration starts.\n";
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const char* keys =
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"{w | | Number of squares in X direction }"
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"{h | | Number of squares in Y direction }"
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"{l | | Marker side lenght (in meters) }"
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"{s | | Separation between two consecutive markers in the grid (in meters) }"
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"{d | | dictionary: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2,"
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"DICT_4X4_1000=3, DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, "
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"DICT_6X6_50=8, DICT_6X6_100=9, DICT_6X6_250=10, DICT_6X6_1000=11, DICT_7X7_50=12,"
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"DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16}"
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"{@outfile |<none> | Output file with calibrated camera parameters }"
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"{v | | Input from video file, if ommited, input comes from camera }"
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"{ci | 0 | Camera id if input doesnt come from video (-v) }"
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"{dp | | File of marker detector parameters }"
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"{rs | false | Apply refind strategy }"
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"{zt | false | Assume zero tangential distortion }"
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"{a | | Fix aspect ratio (fx/fy) to this value }"
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"{pc | false | Fix the principal point at the center }";
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}
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/**
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*/
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static bool isParam(string param, int argc, char **argv) {
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for(int i = 0; i < argc; i++)
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if(string(argv[i]) == param) return true;
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return false;
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}
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/**
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*/
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static string getParam(string param, int argc, char **argv, string defvalue = "") {
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int idx = -1;
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for(int i = 0; i < argc && idx == -1; i++)
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if(string(argv[i]) == param) idx = i;
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if(idx == -1 || (idx + 1) >= argc)
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return defvalue;
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else
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return argv[idx + 1];
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}
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/**
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*/
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static bool readDetectorParameters(string filename, aruco::DetectorParameters ¶ms) {
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@@ -177,55 +149,65 @@ static bool saveCameraParams(const string &filename, Size imageSize, float aspec
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/**
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*/
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int main(int argc, char *argv[]) {
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CommandLineParser parser(argc, argv, keys);
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parser.about(about);
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if(!isParam("-w", argc, argv) || !isParam("-h", argc, argv) || !isParam("-l", argc, argv) ||
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!isParam("-s", argc, argv) || !isParam("-d", argc, argv) || !isParam("-o", argc, argv)) {
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help();
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if(argc < 6) {
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parser.printMessage();
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return 0;
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}
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int markersX = atoi(getParam("-w", argc, argv).c_str());
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int markersY = atoi(getParam("-h", argc, argv).c_str());
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float markerLength = (float)atof(getParam("-l", argc, argv).c_str());
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float markerSeparation = (float)atof(getParam("-s", argc, argv).c_str());
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int dictionaryId = atoi(getParam("-d", argc, argv).c_str());
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aruco::Dictionary dictionary =
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aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
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string outputFile = getParam("-o", argc, argv);
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int markersX = parser.get<int>("w");
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int markersY = parser.get<int>("w");
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float markerLength = parser.get<float>("l");
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float markerSeparation = parser.get<float>("s");
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int dictionaryId = parser.get<int>("d");
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string outputFile = parser.get<String>(0);
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int calibrationFlags = 0;
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float aspectRatio = 1;
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if(isParam("-a", argc, argv)) {
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if(parser.has("a")) {
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calibrationFlags |= CALIB_FIX_ASPECT_RATIO;
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aspectRatio = (float)atof(getParam("-a", argc, argv).c_str());
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aspectRatio = parser.get<float>("a");
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}
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if(isParam("-zt", argc, argv)) calibrationFlags |= CALIB_ZERO_TANGENT_DIST;
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if(isParam("-p", argc, argv)) calibrationFlags |= CALIB_FIX_PRINCIPAL_POINT;
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if(parser.get<bool>("zt")) calibrationFlags |= CALIB_ZERO_TANGENT_DIST;
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if(parser.get<bool>("pc")) calibrationFlags |= CALIB_FIX_PRINCIPAL_POINT;
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aruco::DetectorParameters detectorParams;
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if(isParam("-dp", argc, argv)) {
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bool readOk = readDetectorParameters(getParam("-dp", argc, argv), detectorParams);
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if(parser.has("dp")) {
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bool readOk = readDetectorParameters(parser.get<string>("dp"), detectorParams);
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if(!readOk) {
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cerr << "Invalid detector parameters file" << endl;
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return 0;
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}
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}
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bool refindStrategy = false;
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if(isParam("-rs", argc, argv)) refindStrategy = true;
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bool refindStrategy = parser.get<bool>("rs");
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int camId = parser.get<int>("ci");
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String video;
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if(parser.has("v")) {
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video = parser.get<String>("v");
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}
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if(!parser.check()) {
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parser.printErrors();
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return 0;
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}
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VideoCapture inputVideo;
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int waitTime;
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if(isParam("-v", argc, argv)) {
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inputVideo.open(getParam("-v", argc, argv));
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if(!video.empty()) {
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inputVideo.open(video);
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waitTime = 0;
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} else {
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int camId = 0;
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if(isParam("-ci", argc, argv)) camId = atoi(getParam("-ci", argc, argv).c_str());
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inputVideo.open(camId);
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waitTime = 10;
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}
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aruco::Dictionary dictionary =
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aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
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// create board object
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aruco::GridBoard board =
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aruco::GridBoard::create(markersX, markersY, markerLength, markerSeparation, dictionary);
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