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#include <opencv2/highgui.hpp>
#include <opencv2/objdetect/aruco_detector.hpp>
#include <opencv2/calib3d.hpp>
#include <ctime>
namespace {
inline static bool readCameraParameters(const std::string& filename, cv::Mat &camMatrix, cv::Mat &distCoeffs) {
cv::FileStorage fs(filename, cv::FileStorage::READ);
if (!fs.isOpened())
return false;
fs["camera_matrix"] >> camMatrix;
fs["distortion_coefficients"] >> distCoeffs;
return true;
}
inline static bool saveCameraParams(const std::string &filename, cv::Size imageSize, float aspectRatio, int flags,
const cv::Mat &cameraMatrix, const cv::Mat &distCoeffs, double totalAvgErr) {
cv::FileStorage fs(filename, cv::FileStorage::WRITE);
if (!fs.isOpened())
return false;
time_t tt;
time(&tt);
struct tm *t2 = localtime(&tt);
char buf[1024];
strftime(buf, sizeof(buf) - 1, "%c", t2);
fs << "calibration_time" << buf;
fs << "image_width" << imageSize.width;
fs << "image_height" << imageSize.height;
if (flags & cv::CALIB_FIX_ASPECT_RATIO) fs << "aspectRatio" << aspectRatio;
if (flags != 0) {
sprintf(buf, "flags: %s%s%s%s",
flags & cv::CALIB_USE_INTRINSIC_GUESS ? "+use_intrinsic_guess" : "",
flags & cv::CALIB_FIX_ASPECT_RATIO ? "+fix_aspectRatio" : "",
flags & cv::CALIB_FIX_PRINCIPAL_POINT ? "+fix_principal_point" : "",
flags & cv::CALIB_ZERO_TANGENT_DIST ? "+zero_tangent_dist" : "");
}
fs << "flags" << flags;
fs << "camera_matrix" << cameraMatrix;
fs << "distortion_coefficients" << distCoeffs;
fs << "avg_reprojection_error" << totalAvgErr;
return true;
}
inline static cv::aruco::DetectorParameters readDetectorParamsFromCommandLine(cv::CommandLineParser &parser) {
cv::aruco::DetectorParameters detectorParams;
if (parser.has("dp")) {
cv::FileStorage fs(parser.get<std::string>("dp"), cv::FileStorage::READ);
bool readOk = detectorParams.readDetectorParameters(fs.root());
if(!readOk) {
throw std::runtime_error("Invalid detector parameters file\n");
}
}
return detectorParams;
}
inline static void readCameraParamsFromCommandLine(cv::CommandLineParser &parser, cv::Mat& camMatrix, cv::Mat& distCoeffs) {
//! [camDistCoeffs]
if(parser.has("c")) {
bool readOk = readCameraParameters(parser.get<std::string>("c"), camMatrix, distCoeffs);
if(!readOk) {
throw std::runtime_error("Invalid camera file\n");
}
}
//! [camDistCoeffs]
}
inline static cv::aruco::Dictionary readDictionatyFromCommandLine(cv::CommandLineParser &parser) {
cv::aruco::Dictionary dictionary;
if (parser.has("cd")) {
cv::FileStorage fs(parser.get<std::string>("cd"), cv::FileStorage::READ);
bool readOk = dictionary.readDictionary(fs.root());
if(!readOk) {
throw std::runtime_error("Invalid dictionary file\n");
}
}
else {
int dictionaryId = parser.has("d") ? parser.get<int>("d"): cv::aruco::DICT_4X4_50;
if (!parser.has("d")) {
std::cout << "The default DICT_4X4_50 dictionary has been selected, you could "
"select the specific dictionary using flags -d or -cd." << std::endl;
}
dictionary = cv::aruco::getPredefinedDictionary(dictionaryId);
}
return dictionary;
}
}
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