sanitize formatting, use 2 spaces instead of tabs

calibrate.cc

@@ -10,7 +10,7 @@
 using namespace std;
 using namespace cv;
 
-enum {INTERACTIVE_MODE, PRESPECIFIED_MODE};
+enum { INTERACTIVE_MODE, PRESPECIFIED_MODE };
 
 #define KEY_ESCAPE 1048603
 #define KEY_SPACE 1048608
@@ -19,92 +19,99 @@ enum {INTERACTIVE_MODE, PRESPECIFIED_MODE};
 #define COUNT_SQUARES_X 4
 #define COUNT_SQUARES_Y 6
 
-int main(int argc, char** argv)
+int main(int argc, char **argv)
 {
-	int user_mode;
-	int specified_boards;
-	if (argc > 2) 
-		cerr << "Usage: ./calibrate [number of frames]\n";
-	else if (argc == 1) 
-	{
-		user_mode = INTERACTIVE_MODE;
-		cout << "Camera calibration using interactive behavior. Press SPACE to grab frame.\n";
-	} 
-	else 
-	{
-		user_mode = PRESPECIFIED_MODE;
-		stringstream ss; ss << argv[1]; 
-		ss >> specified_boards;
-		cout << "Camera calibration using " << specified_boards << " frames.\n";
-	}
-
-	VideoCapture capture(-1); // open the default camera
-	if (!capture.isOpened())  // check if opening camera stream succeeded
-	{
-		cerr << "Camera could not be found. Exiting.\n";
-		return -1;
-	}
-
-	namedWindow("Camera Image", CV_WINDOW_KEEPRATIO);
-	vector< vector <Point3f> > object_points;
-  vector< vector <Point2f> > image_points;
-
-	Mat frame, gray_frame;
-	for(int count = 0; ; ++count)
-	{
-		cout << "Frame: " << count << "\n";		
-	  capture >> frame; // get a new frame from camera
-		cvtColor(frame, gray_frame, CV_BGR2GRAY);
-	  imshow("Camera Image", frame);
-
-		int key_pressed = waitKey(0);
-		if (key_pressed == KEY_CLOSE_WINDOW || key_pressed == KEY_ESCAPE) break;
-
-		if ((user_mode == INTERACTIVE_MODE && key_pressed == KEY_SPACE) || 
-					user_mode == PRESPECIFIED_MODE && count < specified_boards) 
-		{
-			Size pattern_size(COUNT_SQUARES_X, COUNT_SQUARES_Y); //interior number of corners
-			vector<Point2f> corners; //this will be filled by the detected corners
-			bool pattern_found = findChessboardCorners( gray_frame, pattern_size, corners, CALIB_CB_ADAPTIVE_THRESH + CALIB_CB_NORMALIZE_IMAGE + CALIB_CB_FAST_CHECK);
-		
-			if (pattern_found) // to tweak params: http://bit.ly/QyoU3k
-			{
-				cornerSubPix(gray_frame, corners, Size(11, 11), Size(-1, -1), TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));
-				drawChessboardCorners(frame, pattern_size, Mat(corners), pattern_found);
-
-				vector< Point3f > obj;
-			  for(int j = 0; j < COUNT_SQUARES_X * COUNT_SQUARES_Y; ++j)
-		      obj.push_back(Point3f(j/COUNT_SQUARES_X, j%COUNT_SQUARES_X, 0.0f));
-
-				image_points.push_back(corners);
-        object_points.push_back(obj);
-				cout << "Frame " << count << " grabbed.\n";
-			}
-		}
-
-	}
-
-	
-	Mat intrinsic = Mat(3, 3, CV_32FC1);
-	Mat distCoeffs;
-	vector<Mat> rvecs;
-	vector<Mat> tvecs;
-
-  calibrateCamera(object_points, image_points, frame.size(), intrinsic, distCoeffs, rvecs, tvecs);
-
-	Mat imageUndistorted;
-  while(1)
+  int user_mode;
+  int specified_boards;
+  if (argc > 2)
+    cerr << "Usage: ./calibrate [number of frames]\n";
+  else if (argc == 1) {
+    user_mode = INTERACTIVE_MODE;
+    cout <<
+	"Camera calibration using interactive behavior. Press SPACE to grab frame.\n";
+  } else {
+    user_mode = PRESPECIFIED_MODE;
+    stringstream ss;
+    ss << argv[1];
+    ss >> specified_boards;
+    cout << "Camera calibration using " << specified_boards <<
+	" frames.\n";
+  }
+
+  VideoCapture capture(-1);	// open the default camera
+  if (!capture.isOpened())	// check if opening camera stream succeeded
   {
-		capture >> frame;
-		undistort(frame, imageUndistorted, intrinsic, distCoeffs);
- 
+    cerr << "Camera could not be found. Exiting.\n";
+    return -1;
+  }
+
+  namedWindow("Camera Image", CV_WINDOW_KEEPRATIO);
+  vector < vector < Point3f > >object_points;
+  vector < vector < Point2f > >image_points;
+
+  Mat frame, gray_frame;
+  for (int count = 0;; ++count) {
+    cout << "Frame: " << count << "\n";
+    capture >> frame;		// get a new frame from camera
+    cvtColor(frame, gray_frame, CV_BGR2GRAY);
+    imshow("Camera Image", frame);
+
+    int key_pressed = waitKey(0);
+    if (key_pressed == KEY_CLOSE_WINDOW || key_pressed == KEY_ESCAPE)
+      break;
+
+    if ((user_mode == INTERACTIVE_MODE && key_pressed == KEY_SPACE) ||
+	user_mode == PRESPECIFIED_MODE && count < specified_boards) {
+      Size pattern_size(COUNT_SQUARES_X, COUNT_SQUARES_Y);	//interior number of corners
+      vector < Point2f > corners;	//this will be filled by the detected corners
+      bool pattern_found =
+	  findChessboardCorners(gray_frame, pattern_size, corners,
+				CALIB_CB_ADAPTIVE_THRESH +
+				CALIB_CB_NORMALIZE_IMAGE +
+				CALIB_CB_FAST_CHECK);
+
+      if (pattern_found)	// to tweak params: http://bit.ly/QyoU3k
+      {
+	cornerSubPix(gray_frame, corners, Size(11, 11), Size(-1, -1),
+		     TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30,
+				  0.1));
+	drawChessboardCorners(frame, pattern_size, Mat(corners),
+			      pattern_found);
+
+	vector < Point3f > obj;
+	for (int j = 0; j < COUNT_SQUARES_X * COUNT_SQUARES_Y; ++j)
+	  obj.push_back(Point3f
+			(j / COUNT_SQUARES_X, j % COUNT_SQUARES_X, 0.0f));
+
+	image_points.push_back(corners);
+	object_points.push_back(obj);
+	cout << "Frame " << count << " grabbed.\n";
+      }
+    }
+
+  }
+
+
+  Mat intrinsic = Mat(3, 3, CV_32FC1);
+  Mat distCoeffs;
+  vector < Mat > rvecs;
+  vector < Mat > tvecs;
+
+  calibrateCamera(object_points, image_points, frame.size(), intrinsic,
+		  distCoeffs, rvecs, tvecs);
+
+  Mat imageUndistorted;
+  while (1) {
+    capture >> frame;
+    undistort(frame, imageUndistorted, intrinsic, distCoeffs);
+
     imshow("win1", frame);
     imshow("win2", imageUndistorted);
- 
+
     waitKey(1);
   }
 
-	capture.release();
-	// the camera will be deinitialized automatically in VideoCapture destructor
-	return 0;
+  capture.release();
+  // the camera will be deinitialized automatically in VideoCapture destructor
+  return 0;
 }