opencv/apps/interactive-calibration/parametersController.cpp
Alexander Smorkalov 533bb035cf Save Frames option for interactive calibration tool
The option to save all frames that contribute to final calibration result.
Useful for dataset collection and further offline tuning.
2022-06-10 09:32:58 +03:00

148 lines
5.7 KiB
C++

// This file is part of OpenCV project.
// It is subject to the license terms in the LICENSE file found in the top-level directory
// of this distribution and at http://opencv.org/license.html.
#include "parametersController.hpp"
#include <iostream>
template <typename T>
static bool readFromNode(cv::FileNode node, T& value)
{
if(!node.isNone()) {
node >> value;
return true;
}
else
return false;
}
static bool checkAssertion(bool value, const std::string& msg)
{
if(!value)
std::cerr << "Error: " << msg << std::endl;
return value;
}
bool calib::parametersController::loadFromFile(const std::string &inputFileName)
{
cv::FileStorage reader;
reader.open(inputFileName, cv::FileStorage::READ);
if(!reader.isOpened()) {
std::cerr << "Warning: Unable to open " << inputFileName <<
" Application started with default advanced parameters" << std::endl;
return true;
}
readFromNode(reader["charuco_dict"], mCapParams.charucoDictName);
if (readFromNode(reader["charuco_square_lenght"], mCapParams.charucoSquareLength)) {
std::cout << "DEPRECATION: Parameter 'charuco_square_lenght' has been deprecated (typo). Use 'charuco_square_length' instead." << std::endl;
}
readFromNode(reader["charuco_square_length"], mCapParams.charucoSquareLength);
readFromNode(reader["charuco_marker_size"], mCapParams.charucoMarkerSize);
readFromNode(reader["camera_resolution"], mCapParams.cameraResolution);
readFromNode(reader["calibration_step"], mCapParams.calibrationStep);
readFromNode(reader["max_frames_num"], mCapParams.maxFramesNum);
readFromNode(reader["min_frames_num"], mCapParams.minFramesNum);
readFromNode(reader["solver_eps"], mInternalParameters.solverEps);
readFromNode(reader["solver_max_iters"], mInternalParameters.solverMaxIters);
readFromNode(reader["fast_solver"], mInternalParameters.fastSolving);
readFromNode(reader["frame_filter_conv_param"], mInternalParameters.filterAlpha);
bool retValue =
checkAssertion(mCapParams.charucoDictName >= 0, "Dict name must be >= 0") &&
checkAssertion(mCapParams.charucoMarkerSize > 0, "Marker size must be positive") &&
checkAssertion(mCapParams.charucoSquareLength > 0, "Square size must be positive") &&
checkAssertion(mCapParams.minFramesNum > 1, "Minimal number of frames for calibration < 1") &&
checkAssertion(mCapParams.calibrationStep > 0, "Calibration step must be positive") &&
checkAssertion(mCapParams.maxFramesNum > mCapParams.minFramesNum, "maxFramesNum < minFramesNum") &&
checkAssertion(mInternalParameters.solverEps > 0, "Solver precision must be positive") &&
checkAssertion(mInternalParameters.solverMaxIters > 0, "Max solver iterations number must be positive") &&
checkAssertion(mInternalParameters.filterAlpha >=0 && mInternalParameters.filterAlpha <=1 ,
"Frame filter convolution parameter must be in [0,1] interval") &&
checkAssertion(mCapParams.cameraResolution.width > 0 && mCapParams.cameraResolution.height > 0,
"Wrong camera resolution values");
reader.release();
return retValue;
}
calib::parametersController::parametersController()
{
}
calib::captureParameters calib::parametersController::getCaptureParameters() const
{
return mCapParams;
}
calib::internalParameters calib::parametersController::getInternalParameters() const
{
return mInternalParameters;
}
bool calib::parametersController::loadFromParser(cv::CommandLineParser &parser)
{
mCapParams.flipVertical = parser.get<bool>("flip");
mCapParams.captureDelay = parser.get<float>("d");
mCapParams.squareSize = parser.get<float>("sz");
mCapParams.templDst = parser.get<float>("dst");
mCapParams.saveFrames = parser.has("save_frames");
if(!checkAssertion(mCapParams.squareSize > 0, "Distance between corners or circles must be positive"))
return false;
if(!checkAssertion(mCapParams.templDst > 0, "Distance between parts of dual template must be positive"))
return false;
if (parser.has("v")) {
mCapParams.source = File;
mCapParams.videoFileName = parser.get<std::string>("v");
}
else {
mCapParams.source = Camera;
mCapParams.camID = parser.get<int>("ci");
}
std::string templateType = parser.get<std::string>("t");
if(templateType.find("circles", 0) == 0) {
mCapParams.board = AcirclesGrid;
mCapParams.boardSize = cv::Size(4, 11);
}
else if(templateType.find("chessboard", 0) == 0) {
mCapParams.board = Chessboard;
mCapParams.boardSize = cv::Size(7, 7);
}
else if(templateType.find("dualcircles", 0) == 0) {
mCapParams.board = DoubleAcirclesGrid;
mCapParams.boardSize = cv::Size(4, 11);
}
else if(templateType.find("charuco", 0) == 0) {
mCapParams.board = chAruco;
mCapParams.boardSize = cv::Size(6, 8);
mCapParams.charucoDictName = 0;
mCapParams.charucoSquareLength = 200;
mCapParams.charucoMarkerSize = 100;
}
else {
std::cerr << "Wrong template name\n";
return false;
}
if(parser.has("w") && parser.has("h")) {
mCapParams.boardSize = cv::Size(parser.get<int>("w"), parser.get<int>("h"));
if(!checkAssertion(mCapParams.boardSize.width > 0 || mCapParams.boardSize.height > 0,
"Board size must be positive"))
return false;
}
if(!checkAssertion(parser.get<std::string>("of").find(".xml") > 0,
"Wrong output file name: correct format is [name].xml"))
return false;
loadFromFile(parser.get<std::string>("pf"));
return true;
}