chore: import upstream snapshot with attribution

2026-07-13 12:06:04 +08:00
commit 86c9b1c39f
7743 changed files with 3316339 additions and 0 deletions
@@ -0,0 +1,91 @@
+#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) {
+        snprintf(buf, sizeof(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;
+}
+
+}