not working yet. implement reading of image files

calibrate.cc

@@ -19,40 +19,62 @@ enum { INTERACTIVE_MODE, PRESPECIFIED_MODE };
 #define COUNT_SQUARES_X 4
 #define COUNT_SQUARES_Y 6
 
-int main(int argc, char **argv)
+int detect_pattern(Mat frame, vector<vector<Point3f> > object_points, vector<vector<Point2f> > image_points)
 {
-  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";
-  }
+  // interior number of corners
+  Size pattern_size(COUNT_SQUARES_X, COUNT_SQUARES_Y);
+  // will be filled by the detected corners
+  vector<Point2f> corners;
+
+  bool pattern_found = findChessboardCorners(
+            frame, pattern_size, corners,
+            CALIB_CB_ADAPTIVE_THRESH +
+            CALIB_CB_NORMALIZE_IMAGE +
+            CALIB_CB_FAST_CHECK);
+
+  if (!pattern_found)
+    return -1;
 
-  VideoCapture capture(-1);	// open the default camera
-  if (!capture.isOpened())	// check if opening camera stream succeeded
-  {
+  // to tweak params: http://bit.ly/QyoU3k
+  cornerSubPix(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));
+
+  object_points.push_back(obj);
+  image_points.push_back(corners);
+  return 0;
+}
+
+int run_interactive()
+{
+  namedWindow("Camera Image", CV_WINDOW_KEEPRATIO);
+
+  int count = 0;
+  Mat frame;
+  vector<vector<Point3f> > object_points;
+  vector<vector<Point2f> > image_points;
+  Mat intrinsic = Mat(3, 3, CV_32FC1);
+  Mat distCoeffs;
+  vector<Mat> rvecs, tvecs;
+
+  // open the default camera
+  VideoCapture capture(-1);
+
+  // check if opening camera stream succeeded
+  if (!capture.isOpened()) {
     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
+  for (;;) {
+    cout << "Frame: " << count << endl;
+    Mat gray_frame;
+    capture >> frame;        // get a new frame from camera
     cvtColor(frame, gray_frame, CV_BGR2GRAY);
     imshow("Camera Image", frame);
 
@@ -60,58 +82,79 @@ int main(int argc, char **argv)
     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";
+    if (key_pressed == KEY_SPACE) {
+      if (detect_pattern(gray_frame, object_points, image_points) == 0) {
+        cout << "Frame " << count << " grabbed." << endl;
+      } else {
+        cout << "pattern not found" << endl;
       }
     }
+  }
 
+  calibrateCamera(object_points, image_points, frame.size(), intrinsic,
+                  distCoeffs, rvecs, tvecs);
+
+  for (;;) {
+    capture >> frame;
+    Mat imageUndistorted;
+    undistort(frame, imageUndistorted, intrinsic, distCoeffs);
+    imshow("win1", frame);
+    imshow("win2", imageUndistorted);
+    waitKey(1);
   }
 
+  capture.release();
+}
 
+int run_prespecified(int argc, char **argv)
+{
+  int count = 0;
+  Mat frame;
+  vector<vector<Point3f> > object_points;
+  vector<vector<Point2f> > image_points;
   Mat intrinsic = Mat(3, 3, CV_32FC1);
   Mat distCoeffs;
-  vector < Mat > rvecs;
-  vector < Mat > tvecs;
+  vector<Mat> rvecs, tvecs;
+
+  for (int i; i < argc; i++) {
+    Mat gray_frame;
+    frame = imread(argv[i], CV_LOAD_IMAGE_COLOR);
+    cvtColor(frame, gray_frame, CV_BGR2GRAY);
+    imshow("Camera Image", frame);
+    if (detect_pattern(gray_frame, object_points, image_points) == 0) {
+      cout << "Frame " << count << " grabbed." << endl;
+    } else {
+      cout << "pattern not found" << endl;
+    }
+  }
 
   calibrateCamera(object_points, image_points, frame.size(), intrinsic,
-		  distCoeffs, rvecs, tvecs);
+                  distCoeffs, rvecs, tvecs);
 
-  Mat imageUndistorted;
-  while (1) {
-    capture >> frame;
+  for (int i; i < argc; i++) {
+    frame = imread(argv[i], CV_LOAD_IMAGE_COLOR);
+    Mat imageUndistorted;
     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;
+}
+
+int main(int argc, char **argv)
+{
+  int user_mode;
+  int specified_boards;
+
+  /* no arguments means interactive mode
+   * one or more arguments are image filenames */
+  if (argc == 1) {
+      run_interactive();
+  } else {
+      run_prespecified(argc-1, ++argv);
+  }
+
   return 0;
 }