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CameraCalibrarion support for sv::Camera

This commit is contained in:
jario 2023-12-06 16:42:02 +08:00
parent 05538095e3
commit 43deec9daa
2 changed files with 41 additions and 16 deletions
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2
CMakeLists.txt
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@ -293,7 +293,7 @@ target_link_libraries(EvalModelOnCocoVal sv_world)
include_directories(${CMAKE_CURRENT_SOURCE_DIR}/samples/calib) include_directories(${CMAKE_CURRENT_SOURCE_DIR}/samples/calib)
add_executable(CameraCalibrarion samples/calib/calibrate_camera_charuco.cpp) add_executable(CameraCalibrarion samples/calib/calibrate_camera_charuco.cpp)
target_link_libraries(CameraCalibrarion ${OpenCV_LIBS}) target_link_libraries(CameraCalibrarion ${OpenCV_LIBS} sv_world)
message(STATUS "CMAKE_INSTALL_PREFIX: ${CMAKE_INSTALL_PREFIX}") message(STATUS "CMAKE_INSTALL_PREFIX: ${CMAKE_INSTALL_PREFIX}")
if (NOT DEFINED SV_INSTALL_PREFIX) if (NOT DEFINED SV_INSTALL_PREFIX)

55
samples/calib/calibrate_camera_charuco.cpp
View File

@ -36,6 +36,7 @@ the use of this software, even if advised of the possibility of such damage.
#include <opencv2/imgproc.hpp> #include <opencv2/imgproc.hpp>
#include <vector> #include <vector>
#include <iostream> #include <iostream>
#include <sv_world.h>
#include "aruco_samples_utility.hpp" #include "aruco_samples_utility.hpp"
using namespace std; using namespace std;
@ -58,7 +59,10 @@ const char* keys =
"DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16}" "DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16}"
"{cd | | Input file with custom dictionary }" "{cd | | Input file with custom dictionary }"
"{@outfile |<none> | Output file with calibrated camera parameters }" "{@outfile |<none> | Output file with calibrated camera parameters }"
"{v | | Input from video file, if ommited, input comes from camera }" "{imh | | Camera Image Height }"
"{imw | | Camera Image Width }"
"{fps | | Camera FPS }"
"{tp | | 1:WEBCAM, 2:V4L2CAM, 3:G1, 4:Q10, 5:MIPI, 6:GX40 }"
"{ci | 0 | Camera id if input doesnt come from video (-v) }" "{ci | 0 | Camera id if input doesnt come from video (-v) }"
"{dp | | File of marker detector parameters }" "{dp | | File of marker detector parameters }"
"{rs | false | Apply refind strategy }" "{rs | false | Apply refind strategy }"
@ -107,26 +111,47 @@ int main(int argc, char *argv[]) {
bool refindStrategy = parser.get<bool>("rs"); bool refindStrategy = parser.get<bool>("rs");
int camId = parser.get<int>("ci"); int camId = parser.get<int>("ci");
String video; int imW = 800;
int imH = 600;
int fps = 30;
int tp = 1;
if(parser.has("v")) { if(parser.has("imh")) {
video = parser.get<String>("v"); imH = parser.get<int>("imh");
} }
if(parser.has("imw")) {
imW = parser.get<int>("imw");
}
if(parser.has("fps")) {
fps = parser.get<int>("fps");
}
if(parser.has("tp")) {
tp = parser.get<int>("tp");
}
sv::CameraType c_type = sv::CameraType::WEBCAM;
if (2 == tp)
c_type = sv::CameraType::V4L2CAM;
else if (3 == tp)
c_type = sv::CameraType::G1;
else if (4 == tp)
c_type = sv::CameraType::Q10;
else if (5 == tp)
c_type = sv::CameraType::MIPI;
else if (6 == tp)
c_type = sv::CameraType::GX40;
if(!parser.check()) { if(!parser.check()) {
parser.printErrors(); parser.printErrors();
return 0; return 0;
} }
VideoCapture inputVideo; // VideoCapture inputVideo;
int waitTime; sv::Camera inputVideo;
if(!video.empty()) { inputVideo.setWH(imW, imH);
inputVideo.open(video); inputVideo.setFps(fps);
waitTime = 0; inputVideo.open(c_type, camId);
} else {
inputVideo.open(camId); int waitTime = 10;
waitTime = 10;
}
aruco::Dictionary dictionary = aruco::getPredefinedDictionary(0); aruco::Dictionary dictionary = aruco::getPredefinedDictionary(0);
if (parser.has("d")) { if (parser.has("d")) {
@ -156,9 +181,9 @@ int main(int argc, char *argv[]) {
vector< Mat > allImgs; vector< Mat > allImgs;
Size imgSize; Size imgSize;
while(inputVideo.grab()) { while(1) {
Mat image, imageCopy; Mat image, imageCopy;
inputVideo.retrieve(image); inputVideo.read(image);
vector< int > ids; vector< int > ids;
vector< vector< Point2f > > corners, rejected; vector< vector< Point2f > > corners, rejected;