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