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// 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 <opencv2/core.hpp>
#include <opencv2/calib3d.hpp>
#include <opencv2/cvconfig.h>
#include <opencv2/highgui.hpp>
#include <string>
#include <vector>
#include <stdexcept>
#include <algorithm>
#include <iostream>
#include "calibCommon.hpp"
#include "calibPipeline.hpp"
#include "frameProcessor.hpp"
#include "calibController.hpp"
#include "parametersController.hpp"
#include "rotationConverters.hpp"
using namespace calib;
const std::string keys =
"{v | | Input from video file }"
"{ci | 0 | Default camera id }"
"{flip | false | Vertical flip of input frames }"
"{t | circles | Template for calibration (circles, chessboard, dualCircles, charuco, symcircles) }"
"{sz | 16.3 | Distance between two nearest centers of circles or squares on calibration board}"
"{dst | 295 | Distance between white and black parts of daulCircles template}"
"{w | | Width of template (in corners or circles)}"
"{h | | Height of template (in corners or circles)}"
"{ad | DICT_4X4_50 | Name of predefined ArUco dictionary. Available ArUco dictionaries: "
"DICT_4X4_50, DICT_4X4_100, DICT_4X4_250, DICT_4X4_1000, DICT_5X5_50, DICT_5X5_100, DICT_5X5_250, "
"DICT_5X5_1000, DICT_6X6_50, DICT_6X6_100, DICT_6X6_250, DICT_6X6_1000, DICT_7X7_50, DICT_7X7_100, "
"DICT_7X7_250, DICT_7X7_1000, DICT_ARUCO_ORIGINAL, DICT_APRILTAG_16h5, DICT_APRILTAG_25h9, "
"DICT_APRILTAG_36h10, DICT_APRILTAG_36h11 }"
"{fad | None | name of file with ArUco dictionary}"
"{of | cameraParameters.xml | Output file name}"
"{ft | true | Auto tuning of calibration flags}"
"{vis | grid | Captured boards visualisation (grid, window)}"
"{d | 0.8 | Min delay between captures}"
"{pf | defaultConfig.xml| Advanced application parameters}"
"{save_frames | false | Save frames that contribute to final calibration}"
"{zoom | 1 | Zoom factor applied to the preview image}"
"{force_reopen | false | Forcefully reopen camera in case of errors}"
"{help | | Print help}";
bool calib::showOverlayMessage(const std::string& message)
{
#ifdef HAVE_QT
cv::displayOverlay(mainWindowName, message, OVERLAY_DELAY);
return true;
#else
std::cout << message << std::endl;
return false;
#endif
}
static void deleteButton(int, void* data)
{
(static_cast<cv::Ptr<calibDataController>*>(data))->get()->deleteLastFrame();
calib::showOverlayMessage("Last frame deleted");
}
static void deleteAllButton(int, void* data)
{
(static_cast<cv::Ptr<calibDataController>*>(data))->get()->deleteAllData();
calib::showOverlayMessage("All frames deleted");
}
static void saveCurrentParamsButton(int, void* data)
{
if((static_cast<cv::Ptr<calibDataController>*>(data))->get()->saveCurrentCameraParameters())
calib::showOverlayMessage("Calibration parameters saved");
}
#ifdef HAVE_QT
static void switchVisualizationModeButton(int, void* data)
{
ShowProcessor* processor = static_cast<ShowProcessor*>(((cv::Ptr<FrameProcessor>*)data)->get());
processor->switchVisualizationMode();
}
static void undistortButton(int state, void* data)
{
ShowProcessor* processor = static_cast<ShowProcessor*>(((cv::Ptr<FrameProcessor>*)data)->get());
processor->setUndistort(static_cast<bool>(state));
calib::showOverlayMessage(std::string("Undistort is ") +
(static_cast<bool>(state) ? std::string("on") : std::string("off")));
}
#endif //HAVE_QT
int main(int argc, char** argv)
{
cv::CommandLineParser parser(argc, argv, keys);
if(parser.has("help")) {
parser.printMessage();
return 0;
}
std::cout << consoleHelp << std::endl;
parametersController paramsController;
if(!paramsController.loadFromParser(parser))
return 0;
captureParameters capParams = paramsController.getCaptureParameters();
internalParameters intParams = paramsController.getInternalParameters();
cv::TermCriteria solverTermCrit = cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS,
intParams.solverMaxIters, intParams.solverEps);
cv::Ptr<calibrationData> globalData(new calibrationData);
if(!parser.has("v")) globalData->imageSize = capParams.cameraResolution;
int calibrationFlags = 0;
if(intParams.fastSolving) calibrationFlags |= cv::CALIB_USE_QR;
cv::Ptr<calibController> controller(new calibController(globalData, calibrationFlags,
parser.get<bool>("ft"), capParams.minFramesNum));
cv::Ptr<calibDataController> dataController(new calibDataController(globalData, capParams.maxFramesNum,
intParams.filterAlpha));
dataController->setParametersFileName(parser.get<std::string>("of"));
cv::Ptr<FrameProcessor> capProcessor, showProcessor;
capProcessor = cv::Ptr<FrameProcessor>(new CalibProcessor(globalData, capParams));
showProcessor = cv::Ptr<FrameProcessor>(new ShowProcessor(globalData, controller, capParams.board));
if(parser.get<std::string>("vis").find("window") == 0) {
static_cast<ShowProcessor*>(showProcessor.get())->setVisualizationMode(Window);
cv::namedWindow(gridWindowName);
cv::moveWindow(gridWindowName, 1280, 500);
}
cv::Ptr<CalibPipeline> pipeline(new CalibPipeline(capParams));
std::vector<cv::Ptr<FrameProcessor> > processors;
processors.push_back(capProcessor);
processors.push_back(showProcessor);
cv::namedWindow(mainWindowName);
cv::moveWindow(mainWindowName, 10, 10);
#ifdef HAVE_QT
cv::createButton("Delete last frame", deleteButton, &dataController,
cv::QT_PUSH_BUTTON | cv::QT_NEW_BUTTONBAR);
cv::createButton("Delete all frames", deleteAllButton, &dataController,
cv::QT_PUSH_BUTTON | cv::QT_NEW_BUTTONBAR);
cv::createButton("Undistort", undistortButton, &showProcessor,
cv::QT_CHECKBOX | cv::QT_NEW_BUTTONBAR, false);
cv::createButton("Save current parameters", saveCurrentParamsButton, &dataController,
cv::QT_PUSH_BUTTON | cv::QT_NEW_BUTTONBAR);
cv::createButton("Switch visualisation mode", switchVisualizationModeButton, &showProcessor,
cv::QT_PUSH_BUTTON | cv::QT_NEW_BUTTONBAR);
#endif //HAVE_QT
try {
bool pipelineFinished = false;
while(!pipelineFinished)
{
PipelineExitStatus exitStatus = pipeline->start(processors);
if (exitStatus == Finished) {
if(controller->getCommonCalibrationState())
saveCurrentParamsButton(0, &dataController);
pipelineFinished = true;
continue;
}
else if (exitStatus == Calibrate) {
dataController->rememberCurrentParameters();
globalData->imageSize = pipeline->getImageSize();
calibrationFlags = controller->getNewFlags();
globalData->totalAvgErr =
cv::calibrateCamera(globalData->objectPoints, globalData->imagePoints,
globalData->imageSize, globalData->cameraMatrix,
globalData->distCoeffs, cv::noArray(), cv::noArray(),
globalData->stdDeviations, cv::noArray(), globalData->perViewErrors,
calibrationFlags, solverTermCrit);
dataController->updateUndistortMap();
dataController->printParametersToConsole(std::cout);
controller->updateState();
for(int j = 0; j < capParams.calibrationStep; j++)
dataController->filterFrames();
static_cast<ShowProcessor*>(showProcessor.get())->updateBoardsView();
}
else if (exitStatus == DeleteLastFrame) {
deleteButton(0, &dataController);
static_cast<ShowProcessor*>(showProcessor.get())->updateBoardsView();
}
else if (exitStatus == DeleteAllFrames) {
deleteAllButton(0, &dataController);
static_cast<ShowProcessor*>(showProcessor.get())->updateBoardsView();
}
else if (exitStatus == SaveCurrentData) {
saveCurrentParamsButton(0, &dataController);
}
else if (exitStatus == SwitchUndistort)
static_cast<ShowProcessor*>(showProcessor.get())->switchUndistort();
else if (exitStatus == SwitchVisualisation)
static_cast<ShowProcessor*>(showProcessor.get())->switchVisualizationMode();
for (std::vector<cv::Ptr<FrameProcessor> >::iterator it = processors.begin(); it != processors.end(); ++it)
(*it)->resetState();
}
}
catch (const std::runtime_error& exp) {
std::cout << exp.what() << std::endl;
}
return 0;
}
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