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ccalib omni_calibration sample updates:

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- changed default parameter values fr sw, sh
- switched to CommandLineParser
- added console status messages
This commit is contained in:
mshabunin
2017-01-12 16:54:25 +03:00
committed by Maksim Shabunin
parent 2d8000bd81
commit d1cbfa3bbf
1 changed files with 50 additions and 85 deletions
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135
modules/ccalib/samples/omni_calibration.cpp
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@@ -11,31 +11,7 @@
using namespace cv;
using namespace std;
const char * usage =
"\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)
static void calcChessboardCorners(const Size &boardSize, const Size2d &squareSize, 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();
@@ -95,8 +73,8 @@ static bool readStringList( const string& filename, vector<string>& l )
}
static void saveCameraParams( const string & filename, int flags, const Mat& cameraMatrix,
const Mat& distCoeffs, const double xi, const vector<Vec3d>& rvecs, const vector<Vec3d>& tvecs,
vector<string> detec_list, const Mat& idx, const double rms, const vector<Mat>& imagePoints)
const Mat& distCoeffs, const double xi, const vector<Vec3d>& rvecs, const vector<Vec3d>& tvecs,
vector<string> detec_list, const Mat& idx, const double rms, const vector<Mat>& imagePoints)
{
FileStorage fs( filename, FileStorage::WRITE );
@@ -152,7 +130,7 @@ static void saveCameraParams( const string & filename, int flags, const Mat& cam
fs << "extrinsic_parameters" << rvec_tvec;
}
fs << "rms" << rms;
fs << "rms" << rms;
if ( !imagePoints.empty() )
{
@@ -169,78 +147,64 @@ static void saveCameraParams( const string & filename, int flags, const Mat& cam
int main(int argc, char** argv)
{
Size boardSize, imageSize;
int flags = 0;
double square_width = 0.0, square_height = 0.0;
const char* outputFilename = "out_camera_params.xml";
const char* inputFilename = 0;
vector<Mat> objectPoints;
vector<Mat> imagePoints;
if(argc < 2)
cv::CommandLineParser parser(argc, argv,
"{w||board width}"
"{h||board height}"
"{sw|1.0|square width}"
"{sh|1.0|square height}"
"{o|out_camera_params.xml|output file}"
"{fs|false|fix skew}"
"{fp|false|fix principal point at the center}"
"{@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();
return 1;
parser.printMessage();
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"));
int flags = 0;
if (parser.get<bool>("fs"))
flags |= omnidir::CALIB_FIX_SKEW;
if (parser.get<bool>("fp"))
flags |= omnidir::CALIB_FIX_CENTER;
const string outputFilename = parser.get<string>("o");
const string inputFilename = parser.get<string>(0);
if (!parser.check())
{
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, "-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;
}
else if( strcmp( s, "-fp" ) == 0 )
{
flags |= omnidir::CALIB_FIX_CENTER;
}
else if( s[0] != '-')
{
inputFilename = s;
}
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);
}