120 lines
4.4 KiB
C++
120 lines
4.4 KiB
C++
#include "opencv2/ccalib/omnidir.hpp"
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#include "opencv2/ccalib/multicalib.hpp"
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#include "opencv2/ccalib/randpattern.hpp"
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using namespace std;
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using namespace cv;
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const char * usage =
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"\n example command line for multi-camera calibration by using random pattern \n"
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" multi_cameras_calibration -nc 5 -pw 800 -ph 600 -ct 1 -fe 0 -nm 25 -v 0 multi_camera_omnidir.xml \n"
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"\n"
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" the file multi_camera_omnidir.xml is generated by imagelist_creator as \n"
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" imagelist_creator multi_camera_omnidir.xml *.* \n"
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" note the first filename in multi_camera_omnidir.xml is the pattern, the rest are photo names,\n"
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" photo names should be in form of cameraIdx-timestamp.*, and cameraIdx starts from 0";
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static void help()
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{
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printf("\n This is a sample for multi-camera calibration, so far it only support random pattern,\n"
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"see randomPattern.hpp for detail. Pinhole and omnidirectional cameras are both supported, \n"
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"for omnidirectional camera, see omnidir.hpp for detail.\n"
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"Usage: mutiCamCalib \n"
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" -nc <num_camera> # number of cameras \n"
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" -pw <pattern_width> # physical width of random pattern \n"
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" -ph <pattern_height> # physical height of random pattern \n"
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" -ct <camera_type> # camera type, 0 for pinhole and 1 for omnidirectional \n"
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" -fe # whether show feature extraction\n"
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" -nm # number of minimal matches of an image \n"
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" -v # whether show verbose information \n"
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" input_data # text file with pattern file names and a list of photo names, the file is generated by imagelist_creator \n");
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printf("\n %s", usage);
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}
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int main(int argc, char** argv)
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{
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float patternWidth = 0.0f, patternHeight = 0.0f;
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int nCamera = 0, nMiniMatches = 0, cameraType = 0;
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const char* outputFilename = "multi-camera-results.xml";
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const char* inputFilename = 0;
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int showFeatureExtraction = 0, verbose = 0;
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if (argc < 2)
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{
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help();
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return 1;
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}
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for (int i = 1; i < argc; ++i)
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{
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const char* s = argv[i];
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if (strcmp( s, "-nc") == 0)
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{
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if (sscanf( argv[++i], "%u", &nCamera) != 1 || nCamera <= 0)
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{
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return fprintf(stderr, "Invalid number of cameras \n"), -1;
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}
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}
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else if ( strcmp( s, "-pw" ) == 0 )
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{
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if (sscanf( argv[++i], "%f", &patternWidth) != 1 || patternWidth <=0 )
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{
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return fprintf(stderr, "Invalid pattern width \n"), -1;
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}
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}
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else if ( strcmp( s, "-ph" ) == 0 )
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{
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if (sscanf( argv[++i], "%f", &patternHeight) != 1 || patternHeight <=0 )
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{
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return fprintf(stderr, "Invalid pattern height \n"), -1;
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}
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}
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else if ( strcmp( s, "-ct" ) == 0 )
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{
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if (sscanf( argv[++i], "%u", &cameraType) != 1 || (cameraType !=0 && cameraType !=1 && cameraType !=2) )
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{
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return fprintf(stderr, "Invalid camera type, 0 for pinhole and 1 for omnidirectional \n"), -1;
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}
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}
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else if ( strcmp( s, "-fe" ) == 0 )
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{
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if (sscanf( argv[++i], "%u", &showFeatureExtraction) != 1 || (showFeatureExtraction !=1 && showFeatureExtraction !=0) )
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{
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return fprintf(stderr, "Not bool value, set to 0 or 1 \n"), -1;
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}
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}
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else if ( strcmp( s, "-nm" ) == 0 )
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{
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if (sscanf( argv[++i], "%u", &nMiniMatches) != 1 || nMiniMatches <=0 )
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{
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return fprintf(stderr, "Invalid number of minimal matches \n"), -1;
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}
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}
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else if ( strcmp( s, "-v" ) == 0 )
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{
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if (sscanf( argv[++i], "%u", &verbose) != 1 || (verbose !=1 && verbose !=0) )
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{
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return fprintf(stderr, "verbose is not bool value, set to 0 or 1 \n"), -1;
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}
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}
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else if( s[0] != '-')
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{
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inputFilename = s;
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}
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else
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{
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return fprintf( stderr, "Unknown option %s\n", s ), -1;
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}
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}
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// do multi-camera calibration
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multicalib::MultiCameraCalibration multiCalib(cameraType, nCamera, inputFilename, patternWidth, patternHeight, verbose, showFeatureExtraction, nMiniMatches);
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multiCalib.loadImages();
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multiCalib.initialize();
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multiCalib.optimizeExtrinsics();
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// the above three lines can be replaced by multiCalib.run();
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multiCalib.writeParameters(outputFilename);
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} |