floratest1
/
SpireCV
1
0
Fork 1
Code Issues Pull Requests Packages Projects Releases Wiki Activity

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
CMakeLists.txt
View File

@ -293,7 +293,7 @@ target_link_libraries(EvalModelOnCocoVal sv_world)
include_directories(${CMAKE_CURRENT_SOURCE_DIR}/samples/calib)
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}")
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 <vector>
#include <iostream>
#include <sv_world.h>
#include "aruco_samples_utility.hpp"
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}"
"{cd | | Input file with custom dictionary }"
"{@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) }"
"{dp | | File of marker detector parameters }"
"{rs | false | Apply refind strategy }"
@ -107,26 +111,47 @@ int main(int argc, char *argv[]) {
bool refindStrategy = parser.get<bool>("rs");
int camId = parser.get<int>("ci");
String video;
int imW = 800;
int imH = 600;
int fps = 30;
int tp = 1;
if(parser.has("v")) {
video = parser.get<String>("v");
if(parser.has("imh")) {
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()) {
parser.printErrors();
return 0;
}
VideoCapture inputVideo;
int waitTime;
if(!video.empty()) {
inputVideo.open(video);
waitTime = 0;
} else {
inputVideo.open(camId);
waitTime = 10;
}
// VideoCapture inputVideo;
sv::Camera inputVideo;
inputVideo.setWH(imW, imH);
inputVideo.setFps(fps);
inputVideo.open(c_type, camId);
int waitTime = 10;
aruco::Dictionary dictionary = aruco::getPredefinedDictionary(0);
if (parser.has("d")) {
@ -156,9 +181,9 @@ int main(int argc, char *argv[]) {
vector< Mat > allImgs;
Size imgSize;
while(inputVideo.grab()) {
while(1) {
Mat image, imageCopy;
inputVideo.retrieve(image);
inputVideo.read(image);
vector< int > ids;
vector< vector< Point2f > > corners, rejected;