SampleCamCalib.cpp

This is an example of how to use ProjPoints and Camera classes to perform camera calibration using a chessboard pattern.

#include <iostream>
#include "Camera.h"
#include "CvTestbed.h"
#include "Shared.h"
using namespace alvar;
using namespace std;
const int calib_count_max=50;
const int etalon_rows=6;
const int etalon_columns=8;
std::stringstream calibrationFilename;
void videocallback(IplImage *image)
{
static bool calibrated = false;
static int calib_count=0;
static Camera cam;
static ProjPoints pp;
static int64 prev_tick=0;
static bool initialized = false;
if (!initialized) {
cam.SetRes(image->width, image->height);
prev_tick = cvGetTickCount();
initialized = true;
}
bool flip_image = (image->origin?true:false);
if (flip_image) {
cvFlip(image);
image->origin = !image->origin;
}
assert(image);
if (!calibrated) {
// If we have already collected enough data to make the calibration
// - We are ready to end the capture loop
// - Calibrate
// - Save the calibration file
if (calib_count >= calib_count_max) {
std::cout<<"Calibrating..."<<endl;
calib_count = 0;
cam.Calibrate(pp);
pp.Reset();
cam.SaveCalib(calibrationFilename.str().c_str());
std::cout<<"Saving calibration: "<<calibrationFilename.str()<<endl;
calibrated = true;
}
// If we are still collecting calibration data
// - For every 1.5s add calibration data from detected 7*9 chessboard (and visualize it if true)
else {
int64 tick = cvGetTickCount();
if ((tick - prev_tick) > (cvGetTickFrequency() * 1000 * 1000 * 1.5)) {
if (pp.AddPointsUsingChessboard(image, 2.8, etalon_rows, etalon_columns, true)) {
prev_tick = tick;
calib_count++;
cout<<calib_count<<"/"<<calib_count_max<<endl;
}
}
}
} else {
if (pp.AddPointsUsingChessboard(image, 2.5, etalon_rows, etalon_columns, true)) {
Pose pose;
for (size_t i=0; i<pp.image_points.size(); i++) {
cvCircle(image, cvPoint((int)pp.image_points[i].x, (int)pp.image_points[i].y), 6, CV_RGB(0, 0, 255));
}
pp.Reset();
}
}
if (flip_image) {
cvFlip(image);
image->origin = !image->origin;
}
}
int main(int argc, char *argv[])
{
try {
// Output usage message
std::string filename(argv[0]);
filename = filename.substr(filename.find_last_of('\\') + 1);
std::cout << "SampleCamCalib" << std::endl;
std::cout << "==============" << std::endl;
std::cout << std::endl;
std::cout << "Description:" << std::endl;
std::cout << " This is an example of how to use the 'Camera' and 'ProjPoints' classes" << std::endl;
std::cout << " to perform camera calibration. Point the camera to the chessboard" << std::endl;
std::cout << " calibration pattern (see ALVAR.pdf) from several directions until 50" << std::endl;
std::cout << " calibration images are collected. A 'calib.xml' file that contains the" << std::endl;
std::cout << " internal parameters of the camera is generated and can be used by other" << std::endl;
std::cout << " applications that require a calibrated camera." << std::endl;
std::cout << std::endl;
std::cout << "Usage:" << std::endl;
std::cout << " " << filename << " [device]" << std::endl;
std::cout << std::endl;
std::cout << " device integer selecting device from enumeration list (default 0)" << std::endl;
std::cout << " highgui capture devices are prefered" << std::endl;
std::cout << std::endl;
std::cout << "Keyboard Shortcuts:" << std::endl;
std::cout << " q: quit" << std::endl;
std::cout << std::endl;
// Initialise CvTestbed
// Enumerate possible capture plugins
if (plugins.size() < 1) {
std::cout << "Could not find any capture plugins." << std::endl;
return 0;
}
// Display capture plugins
std::cout << "Available Plugins: ";
std::cout << std::endl;
// Enumerate possible capture devices
if (devices.size() < 1) {
std::cout << "Could not find any capture devices." << std::endl;
return 0;
}
// Check command line argument for which device to use
int selectedDevice = defaultDevice(devices);
if (argc > 1) {
selectedDevice = atoi(argv[1]);
}
if (selectedDevice >= (int)devices.size()) {
selectedDevice = defaultDevice(devices);
}
// Display capture devices
std::cout << "Enumerated Capture Devices:" << std::endl;
outputEnumeratedDevices(devices, selectedDevice);
std::cout << std::endl;
// Create capture object from camera
Capture *cap = CaptureFactory::instance()->createCapture(devices[selectedDevice]);
std::string uniqueName = devices[selectedDevice].uniqueName();
// Handle capture lifecycle and start video capture
// Note that loadSettings/saveSettings are not supported by all plugins
if (cap) {
std::stringstream settingsFilename;
settingsFilename << "camera_settings_" << uniqueName << ".xml";
calibrationFilename << "camera_calibration_" << uniqueName << ".xml";
cap->start();
cap->setResolution(640, 480);
if (cap->loadSettings(settingsFilename.str())) {
std::cout << "Loading settings: " << settingsFilename.str() << std::endl;
}
std::stringstream title;
title << "SampleCamCalib (" << cap->captureDevice().captureType() << ")";
CvTestbed::Instance().StartVideo(cap, title.str().c_str());
if (cap->saveSettings(settingsFilename.str())) {
std::cout << "Saving settings: " << settingsFilename.str() << std::endl;
}
cap->stop();
delete cap;
}
else if (CvTestbed::Instance().StartVideo(0, argv[0])) {
}
else {
std::cout << "Could not initialize the selected capture backend." << std::endl;
}
return 0;
}
catch (const std::exception &e) {
std::cout << "Exception: " << e.what() << endl;
}
catch (...) {
std::cout << "Exception: unknown" << std::endl;
}
}


ar_track_alvar
Author(s): Scott Niekum
autogenerated on Mon Jun 10 2019 12:47:03