"</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"
" # of board views actually available)\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"
+ " [-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"
" [-oo] # write refined 3D object points\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"
- " [-ws=<number_of_pixel>] # Half of search window for cornerSubPix (11 by default)\n"
+ " [-ws=<number_of_pixel>] # half of search window for cornerSubPix (11 by default)\n"
+ " [-fx=<X focal length>] # focal length in X-dir as an initial intrinsic guess (if this flag is used, fx, fy, cx, cy must be set)\n"
+ " [-fy=<Y focal length>] # focal length in Y-dir as an initial intrinsic guess (if this flag is used, fx, fy, cx, cy must be set)\n"
+ " [-cx=<X center point>] # camera center point in X-dir as an initial intrinsic guess (if this flag is used, fx, fy, cx, cy must be set)\n"
+ " [-cy=<Y center point>] # camera center point in Y-dir as an initial intrinsic guess (if this flag is used, fx, fy, cx, cy must be set)\n"
+ " [-imshow-scale # image resize scaling factor when displaying the results (must be >= 1)\n"
+ " [-enable-k3=<0/1> # to enable (1) or disable (0) K3 coefficient for the distortion model\n"
" [-dt=<distance>] # actual distance between top-left and top-right corners of\n"
" # the calibration grid. If this parameter is specified, a more\n"
" # accurate calibration method will be used which may be better\n"
vector<Point3f>& newObjPoints,
double& totalAvgErr)
{
- cameraMatrix = Mat::eye(3, 3, CV_64F);
if( flags & CALIB_FIX_ASPECT_RATIO )
cameraMatrix.at<double>(0,0) = aspectRatio;
iFixedPoint = boardSize.width - 1;
rms = calibrateCameraRO(objectPoints, imagePoints, imageSize, iFixedPoint,
cameraMatrix, distCoeffs, rvecs, tvecs, newObjPoints,
- flags | CALIB_FIX_K3 | CALIB_USE_LU);
+ flags | CALIB_USE_LU);
printf("RMS error reported by calibrateCamera: %g\n", rms);
bool ok = checkRange(cameraMatrix) && checkRange(distCoeffs);
return ok;
}
-
static void saveCameraParams( const string& filename,
Size imageSize, Size boardSize,
float squareSize, float aspectRatio, int flags,
return ok;
}
-
int main( int argc, char** argv )
{
Size boardSize, imageSize;
"{help ||}{w||}{h||}{pt|chessboard|}{n|10|}{d|1000|}{s|1|}{o|out_camera_data.yml|}"
"{op||}{oe||}{zt||}{a||}{p||}{v||}{V||}{su||}"
"{oo||}{ws|11|}{dt||}"
+ "{fx||}{fy||}{cx||}{cy||}"
+ "{imshow-scale|1|}{enable-k3|0|}"
"{@input_data|0|}");
if (parser.has("help"))
{
else
inputFilename = parser.get<string>("@input_data");
int winSize = parser.get<int>("ws");
+ cameraMatrix = Mat::eye(3, 3, CV_64F);
+ if (parser.has("fx") && parser.has("fy") && parser.has("cx") && parser.has("cy"))
+ {
+ cameraMatrix.at<double>(0,0) = parser.get<double>("fx");
+ cameraMatrix.at<double>(0,2) = parser.get<double>("cx");
+ cameraMatrix.at<double>(1,1) = parser.get<double>("fy");
+ cameraMatrix.at<double>(1,2) = parser.get<double>("cy");
+ flags |= CALIB_USE_INTRINSIC_GUESS;
+ std::cout << "Use the following camera matrix as an initial guess:\n" << cameraMatrix << std::endl;
+ }
+ int viewScaleFactor = parser.get<int>("imshow-scale");
+ bool useK3 = parser.get<bool>("enable-k3");
+ std::cout << "Use K3 distortion coefficient? " << useK3 << std::endl;
+ if (!useK3)
+ {
+ flags |= CALIB_FIX_K3;
+ }
float grid_width = squareSize * (boardSize.width - 1);
bool release_object = false;
if (parser.has("dt")) {
Mat temp = view.clone();
undistort(temp, view, cameraMatrix, distCoeffs);
}
+ if (viewScaleFactor > 1)
+ {
+ Mat viewScale;
+ resize(view, viewScale, Size(), 1.0/viewScaleFactor, 1.0/viewScaleFactor, INTER_AREA);
+ imshow("Image View", viewScale);
+ }
+ else
+ {
+ imshow("Image View", view);
+ }
- imshow("Image View", view);
char key = (char)waitKey(capture.isOpened() ? 50 : 500);
if( key == 27 )
view = imread(imageList[i], 1);
if(view.empty())
continue;
- //undistort( view, rview, cameraMatrix, distCoeffs, cameraMatrix );
remap(view, rview, map1, map2, INTER_LINEAR);
- imshow("Image View", rview);
+ if (viewScaleFactor > 1)
+ {
+ Mat rviewScale;
+ resize(rview, rviewScale, Size(), 1.0/viewScaleFactor, 1.0/viewScaleFactor, INTER_AREA);
+ imshow("Image View", rviewScale);
+ }
+ else
+ {
+ imshow("Image View", rview);
+ }
char c = (char)waitKey();
if( c == 27 || c == 'q' || c == 'Q' )
break;