#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <cctype>
#include <stdio.h>
#include <string.h>
#include <time.h>
#include <iostream>
#include <fstream>

Include dependency graph for opencv_calibration.cpp:

Enumerations
enum	{ DETECTION = 0, CAPTURING = 1, CALIBRATED = 2 }

enum	Pattern { CHESSBOARD, CIRCLES_GRID, ASYMMETRIC_CIRCLES_GRID }

Functions
static void	calcChessboardCorners (Size boardSize, float squareSize, vector< Point3f > &corners, Pattern patternType=CHESSBOARD)

static double	computeReprojectionErrors (const vector< vector< Point3f > > &objectPoints, const vector< vector< Point2f > > &imagePoints, const vector< Mat > &rvecs, const vector< Mat > &tvecs, const Mat &cameraMatrix, const Mat &distCoeffs, vector< float > &perViewErrors)

static void	help ()

int	main (int argc, char **argv)

static bool	readInputFile (const string &filename, vector< string > &l) throw (std::exception)

static bool	readStringList (const string &filename, vector< string > &l)

static bool	runAndSave (const string &outputFilename, const vector< vector< Point2f > > &imagePoints, Size imageSize, Size boardSize, Pattern patternType, float squareSize, float aspectRatio, int flags, Mat &cameraMatrix, Mat &distCoeffs, bool writeExtrinsics, bool writePoints)

static bool	runCalibration (vector< vector< Point2f > > imagePoints, Size imageSize, Size boardSize, Pattern patternType, float squareSize, float aspectRatio, int flags, Mat &cameraMatrix, Mat &distCoeffs, vector< Mat > &rvecs, vector< Mat > &tvecs, vector< float > &reprojErrs, double &totalAvgErr)

static void	saveCameraParams (const string &filename, Size imageSize, Size boardSize, float squareSize, float aspectRatio, int flags, const Mat &cameraMatrix, const Mat &distCoeffs, const vector< Mat > &rvecs, const vector< Mat > &tvecs, const vector< float > &reprojErrs, const vector< vector< Point2f > > &imagePoints, double totalAvgErr)

Variables
const char *	liveCaptureHelp

const char *	usage

Enumeration Type Documentation

anonymous enum

Enumerator
DETECTION
CAPTURING
CALIBRATED

Definition at line 79 of file opencv_calibration.cpp.

enum Pattern

Enumerator
CHESSBOARD
CIRCLES_GRID
ASYMMETRIC_CIRCLES_GRID

Definition at line 80 of file opencv_calibration.cpp.

Function Documentation

static void calcChessboardCorners	(	Size	boardSize,
		float	squareSize,
		vector< Point3f > &	corners,
		Pattern	patternType = `CHESSBOARD`
	)

static

Definition at line 108 of file opencv_calibration.cpp.

static double computeReprojectionErrors	(	const vector< vector< Point3f > > &	objectPoints,
		const vector< vector< Point2f > > &	imagePoints,
		const vector< Mat > &	rvecs,
		const vector< Mat > &	tvecs,
		const Mat &	cameraMatrix,
		const Mat &	distCoeffs,
		vector< float > &	perViewErrors
	)

static

Definition at line 82 of file opencv_calibration.cpp.

static void help ( )

static

Definition at line 46 of file opencv_calibration.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 318 of file opencv_calibration.cpp.

static bool readInputFile	(	const string &	filename,
		vector< string > &	l
	)
throw	(	std::exception
	)

static

Definition at line 266 of file opencv_calibration.cpp.

static bool readStringList	(	const string &	filename,
		vector< string > &	l
	)

static

Definition at line 248 of file opencv_calibration.cpp.

static bool runAndSave	(	const string &	outputFilename,
		const vector< vector< Point2f > > &	imagePoints,
		Size	imageSize,
		Size	boardSize,
		Pattern	patternType,
		float	squareSize,
		float	aspectRatio,
		int	flags,
		Mat &	cameraMatrix,
		Mat &	distCoeffs,
		bool	writeExtrinsics,
		bool	writePoints
	)

static

Definition at line 288 of file opencv_calibration.cpp.

static bool runCalibration	(	vector< vector< Point2f > >	imagePoints,
		Size	imageSize,
		Size	boardSize,
		Pattern	patternType,
		float	squareSize,
		float	aspectRatio,
		int	flags,
		Mat &	cameraMatrix,
		Mat &	distCoeffs,
		vector< Mat > &	rvecs,
		vector< Mat > &	tvecs,
		vector< float > &	reprojErrs,
		double &	totalAvgErr
	)

static

*|CALIB_FIX_K3*/|CALIB_FIX_K4|CALIB_FIX_K5);

Definition at line 134 of file opencv_calibration.cpp.

static void saveCameraParams	(	const string &	filename,
		Size	imageSize,
		Size	boardSize,
		float	squareSize,
		float	aspectRatio,
		int	flags,
		const Mat &	cameraMatrix,
		const Mat &	distCoeffs,
		const vector< Mat > &	rvecs,
		const vector< Mat > &	tvecs,
		const vector< float > &	reprojErrs,
		const vector< vector< Point2f > > &	imagePoints,
		double	totalAvgErr
	)

static

Definition at line 167 of file opencv_calibration.cpp.

Variable Documentation

const char* liveCaptureHelp

Initial value:

=
    "When the live video from camera is used as input, the following hot-keys may be used:\n"
        "  <ESC>, 'q' - quit the program\n"
        "  'g' - start capturing images\n"
        "  'u' - switch undistortion on/off\n"

Definition at line 40 of file opencv_calibration.cpp.

const char* usage

Initial value:

=
" \nexample command line for calibration from a live feed.\n"
"   calibration  -w 4 -h 5 -s 0.025 -o camera.yml -op -oe\n"
" \n"
" example command line for calibration from a list of stored images:\n"
"   imagelist_creator image_list.xml *.png\n"
"   calibration -w 4 -h 5 -s 0.025 -o camera.yml -op -oe image_list.xml\n"
" where image_list.xml is the standard OpenCV XML/YAML\n"
" use imagelist_creator to create the xml or yaml list\n"
" file consisting of the list of strings, e.g.:\n"
" \n"
"<?xml version=\"1.0\"?>\n"
"<opencv_storage>\n"
"<images>\n"
"view000.png\n"
"view001.png\n"
"<!-- view002.png -->\n"
"view003.png\n"
"view010.png\n"
"one_extra_view.jpg\n"
"</images>\n"
"</opencv_storage>\n"

Definition at line 14 of file opencv_calibration.cpp.

Enumerations

Functions

Variables

Enumeration Type Documentation

Function Documentation

Variable Documentation