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74 lines
2.0 KiB
C++
74 lines
2.0 KiB
C++
12 years ago
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#include <opencv2/highgui/highgui.hpp>
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#include <opencv2/core/core.hpp>
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#include <opencv2/opencv.hpp>
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#include <opencv2/imgproc/imgproc.hpp>
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#include <opencv2/video/video.hpp>
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#include <fstream>
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#include <iostream>
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using namespace std;
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using namespace cv;
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enum {INTERACTIVE_MODE, PRESPECIFIED_MODE};
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#define KEY_ESCAPE 1048603
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#define KEY_SPACE 1048608
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#define KEY_CLOSE_WINDOW -1
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int main(int argc, char** argv)
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{
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int user_mode;
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if (argc > 2)
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cerr << "Usage: ./calibrate [number of frames]\n";
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else
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if (argc == 1)
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{
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user_mode = INTERACTIVE_MODE;
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cout << "Camera calibration using interactive behavior. Press SPACE to grab frame.\n";
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}
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else
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{
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user_mode = PRESPECIFIED_MODE;
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cout << "Camera calibration using " << argv[1] << " frames.\n";
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}
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VideoCapture cap(-1); // open the default camera
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if(!cap.isOpened()) // check if opening camera stream succeeded
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{
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cerr << "Camera could not be found. Exiting.\n";
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return -1;
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}
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namedWindow("Camera Image", CV_WINDOW_KEEPRATIO);
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for(int count = 0; ; ++count)
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{
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cout << "Frame: " << count << "\n";
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Mat frame;
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cap >> frame; // get a new frame from camera
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imshow("Camera Image", frame);
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int key_pressed = waitKey(0);
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if (key_pressed == KEY_CLOSE_WINDOW || key_pressed == KEY_ESCAPE) break;
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else
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if (user_mode == INTERACTIVE_MODE)
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{
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if (key_pressed == KEY_SPACE)
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{
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Size pattern_size(4, 6); //interior number of corners
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vector<Point2f> corners; //this will be filled by the detected corners
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bool pattern_found = findChessboardCorners( frame, pattern_size, corners, CALIB_CB_ADAPTIVE_THRESH + CALIB_CB_NORMALIZE_IMAGE + CALIB_CB_FAST_CHECK);
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if(pattern_found) // to tweak params: http://bit.ly/QyoU3k
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cornerSubPix(frame, corners, Size(11, 11), Size(-1, -1), TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));
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drawChessboardCorners(frame, pattern_size, Mat(corners), pattern_found);
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imshow("Calibrated", frame);
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waitKey(30);
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}
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}
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}
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// the camera will be deinitialized automatically in VideoCapture destructor
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return 0;
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}
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