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Changed the camera calibration sample to support circles' grid pattern

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This commit is contained in:
Ilya Lysenkov 2010-12-21 09:32:14 +00:00
parent 5f5dc91bfd
commit bdf6f0258c
1 changed files with 26 additions and 3 deletions
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29
samples/cpp/calibration.cpp
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@ -47,6 +47,7 @@ void help()
"Usage: calibration\n" "Usage: calibration\n"
" -w <board_width> # the number of inner corners per one of board dimension\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" " -h <board_height> # the number of inner corners per another board dimension\n"
" [-pt <pattern>] # the type of pattern: chessboard or circles' grid\n"
" [-n <number_of_frames>] # the number of frames to use for calibration\n" " [-n <number_of_frames>] # the number of frames to use for calibration\n"
" # (if not specified, it will be set to the number\n" " # (if not specified, it will be set to the number\n"
" # of board views actually available)\n" " # of board views actually available)\n"
@ -74,6 +75,7 @@ void help()
} }
enum { DETECTION = 0, CAPTURING = 1, CALIBRATED = 2 }; enum { DETECTION = 0, CAPTURING = 1, CALIBRATED = 2 };
enum Pattern { CHESSBOARD, CIRCLESGRID };
static double computeReprojectionErrors( static double computeReprojectionErrors(
const vector<vector<Point3f> >& objectPoints, const vector<vector<Point3f> >& objectPoints,
@ -288,6 +290,7 @@ int main( int argc, char** argv )
int cameraId = 0; int cameraId = 0;
vector<vector<Point2f> > imagePoints; vector<vector<Point2f> > imagePoints;
vector<string> imageList; vector<string> imageList;
Pattern pattern = CHESSBOARD;
if( argc < 2 ) if( argc < 2 )
{ {
@ -308,6 +311,15 @@ int main( int argc, char** argv )
if( sscanf( argv[++i], "%u", &boardSize.height ) != 1 || boardSize.height <= 0 ) if( sscanf( argv[++i], "%u", &boardSize.height ) != 1 || boardSize.height <= 0 )
return fprintf( stderr, "Invalid board height\n" ), -1; return fprintf( stderr, "Invalid board height\n" ), -1;
} }
else if( strcmp( s, "-pt" ) == 0 )
{
if( !strcmp( argv[++i], "circles" ) )
pattern = CIRCLESGRID;
else if( !strcmp( argv[++i], "chessboard" ) )
pattern = CHESSBOARD;
else
return fprintf( stderr, "Invalid pattern type: must be chessboard or circles\n" ), -1;
}
else if( strcmp( s, "-s" ) == 0 ) else if( strcmp( s, "-s" ) == 0 )
{ {
if( sscanf( argv[++i], "%f", &squareSize ) != 1 || squareSize <= 0 ) if( sscanf( argv[++i], "%f", &squareSize ) != 1 || squareSize <= 0 )
@ -425,11 +437,22 @@ int main( int argc, char** argv )
vector<Point2f> pointbuf; vector<Point2f> pointbuf;
cvtColor(view, viewGray, CV_BGR2GRAY); cvtColor(view, viewGray, CV_BGR2GRAY);
bool found = findChessboardCorners( view, boardSize, pointbuf, bool found;
CV_CALIB_CB_ADAPTIVE_THRESH & CV_CALIB_CB_FAST_CHECK & CV_CALIB_CB_NORMALIZE_IMAGE); switch( pattern )
{
case CHESSBOARD:
found = findChessboardCorners( view, boardSize, pointbuf,
CV_CALIB_CB_ADAPTIVE_THRESH & CV_CALIB_CB_FAST_CHECK & CV_CALIB_CB_NORMALIZE_IMAGE);
break;
case CIRCLESGRID:
found = findCirclesGrid( view, boardSize, pointbuf );
break;
default:
return fprintf( stderr, "Unknown pattern type\n" ), -1;
}
// improve the found corners' coordinate accuracy // improve the found corners' coordinate accuracy
if(found) cornerSubPix( viewGray, pointbuf, Size(11,11), if( pattern == CHESSBOARD && found) cornerSubPix( viewGray, pointbuf, Size(11,11),
Size(-1,-1), TermCriteria( CV_TERMCRIT_EPS+CV_TERMCRIT_ITER, 30, 0.1 )); Size(-1,-1), TermCriteria( CV_TERMCRIT_EPS+CV_TERMCRIT_ITER, 30, 0.1 ));
if( mode == CAPTURING && found && if( mode == CAPTURING && found &&