1 // This file is part of OpenCV project.
2 // It is subject to the license terms in the LICENSE file found in the top-level directory
3 // of this distribution and at http://opencv.org/license.html.
5 #include "parametersController.hpp"
10 static bool readFromNode(cv::FileNode node, T& value)
20 static bool checkAssertion(bool value, const std::string& msg)
23 std::cerr << "Error: " << msg << std::endl;
28 bool calib::parametersController::loadFromFile(const std::string &inputFileName)
30 cv::FileStorage reader;
31 reader.open(inputFileName, cv::FileStorage::READ);
33 if(!reader.isOpened()) {
34 std::cerr << "Warning: Unable to open " << inputFileName <<
35 " Application started with default advanced parameters" << std::endl;
39 readFromNode(reader["charuco_dict"], mCapParams.charucoDictName);
40 if (readFromNode(reader["charuco_square_lenght"], mCapParams.charucoSquareLength)) {
41 std::cout << "DEPRECATION: Parameter 'charuco_square_lenght' has been deprecated (typo). Use 'charuco_square_length' instead." << std::endl;
43 readFromNode(reader["charuco_square_length"], mCapParams.charucoSquareLength);
44 readFromNode(reader["charuco_marker_size"], mCapParams.charucoMarkerSize);
45 readFromNode(reader["camera_resolution"], mCapParams.cameraResolution);
46 readFromNode(reader["calibration_step"], mCapParams.calibrationStep);
47 readFromNode(reader["max_frames_num"], mCapParams.maxFramesNum);
48 readFromNode(reader["min_frames_num"], mCapParams.minFramesNum);
49 readFromNode(reader["solver_eps"], mInternalParameters.solverEps);
50 readFromNode(reader["solver_max_iters"], mInternalParameters.solverMaxIters);
51 readFromNode(reader["fast_solver"], mInternalParameters.fastSolving);
52 readFromNode(reader["frame_filter_conv_param"], mInternalParameters.filterAlpha);
55 checkAssertion(mCapParams.charucoDictName >= 0, "Dict name must be >= 0") &&
56 checkAssertion(mCapParams.charucoMarkerSize > 0, "Marker size must be positive") &&
57 checkAssertion(mCapParams.charucoSquareLength > 0, "Square size must be positive") &&
58 checkAssertion(mCapParams.minFramesNum > 1, "Minimal number of frames for calibration < 1") &&
59 checkAssertion(mCapParams.calibrationStep > 0, "Calibration step must be positive") &&
60 checkAssertion(mCapParams.maxFramesNum > mCapParams.minFramesNum, "maxFramesNum < minFramesNum") &&
61 checkAssertion(mInternalParameters.solverEps > 0, "Solver precision must be positive") &&
62 checkAssertion(mInternalParameters.solverMaxIters > 0, "Max solver iterations number must be positive") &&
63 checkAssertion(mInternalParameters.filterAlpha >=0 && mInternalParameters.filterAlpha <=1 ,
64 "Frame filter convolution parameter must be in [0,1] interval") &&
65 checkAssertion(mCapParams.cameraResolution.width > 0 && mCapParams.cameraResolution.height > 0,
66 "Wrong camera resolution values");
72 calib::parametersController::parametersController()
76 calib::captureParameters calib::parametersController::getCaptureParameters() const
81 calib::internalParameters calib::parametersController::getInternalParameters() const
83 return mInternalParameters;
86 bool calib::parametersController::loadFromParser(cv::CommandLineParser &parser)
88 mCapParams.flipVertical = parser.get<bool>("flip");
89 mCapParams.captureDelay = parser.get<float>("d");
90 mCapParams.squareSize = parser.get<float>("sz");
91 mCapParams.templDst = parser.get<float>("dst");
92 mCapParams.saveFrames = parser.get<bool>("save_frames");
93 mCapParams.zoom = parser.get<float>("zoom");
94 mCapParams.forceReopen = parser.get<bool>("force_reopen");
96 if(!checkAssertion(mCapParams.squareSize > 0, "Distance between corners or circles must be positive"))
98 if(!checkAssertion(mCapParams.templDst > 0, "Distance between parts of dual template must be positive"))
101 if (parser.has("v")) {
102 mCapParams.source = File;
103 mCapParams.videoFileName = parser.get<std::string>("v");
106 mCapParams.source = Camera;
107 mCapParams.camID = parser.get<int>("ci");
110 std::string templateType = parser.get<std::string>("t");
112 if(templateType.find("symcircles", 0) == 0) {
113 mCapParams.board = CirclesGrid;
114 mCapParams.boardSize = cv::Size(4, 11);
116 else if(templateType.find("circles", 0) == 0) {
117 mCapParams.board = AcirclesGrid;
118 mCapParams.boardSize = cv::Size(4, 11);
120 else if(templateType.find("chessboard", 0) == 0) {
121 mCapParams.board = Chessboard;
122 mCapParams.boardSize = cv::Size(7, 7);
124 else if(templateType.find("dualcircles", 0) == 0) {
125 mCapParams.board = DoubleAcirclesGrid;
126 mCapParams.boardSize = cv::Size(4, 11);
128 else if(templateType.find("charuco", 0) == 0) {
129 mCapParams.board = chAruco;
130 mCapParams.boardSize = cv::Size(6, 8);
131 mCapParams.charucoDictName = 0;
132 mCapParams.charucoSquareLength = 200;
133 mCapParams.charucoMarkerSize = 100;
136 std::cerr << "Wrong template name\n";
140 if(parser.has("w") && parser.has("h")) {
141 mCapParams.boardSize = cv::Size(parser.get<int>("w"), parser.get<int>("h"));
142 if(!checkAssertion(mCapParams.boardSize.width > 0 || mCapParams.boardSize.height > 0,
143 "Board size must be positive"))
147 if(!checkAssertion(parser.get<std::string>("of").find(".xml") > 0,
148 "Wrong output file name: correct format is [name].xml"))
151 loadFromFile(parser.get<std::string>("pf"));