josch/calibrate_camera_opencv
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Add C++ implementation of chessboard detection and set up interactive user mode

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Razvan Mihalyi 2012-09-18 10:31:37 +02:00
parent c37087bb78
commit 9c3de4bcab
1 changed files with 73 additions and 0 deletions
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#include <opencv2/highgui/highgui.hpp>
#include <opencv2/core/core.hpp>
#include <opencv2/opencv.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/video/video.hpp>
#include <fstream>
#include <iostream>
using namespace std;
using namespace cv;
enum {INTERACTIVE_MODE, PRESPECIFIED_MODE};
#define KEY_ESCAPE 1048603
#define KEY_SPACE 1048608
#define KEY_CLOSE_WINDOW -1
int main(int argc, char** argv)
{
int user_mode;
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;
cout << "Camera calibration using " << argv[1] << " frames.\n";
}
VideoCapture cap(-1); // open the default camera
if(!cap.isOpened()) // check if opening camera stream succeeded
{
cerr << "Camera could not be found. Exiting.\n";
return -1;
}
namedWindow("Camera Image", CV_WINDOW_KEEPRATIO);
for(int count = 0; ; ++count)
{
cout << "Frame: " << count << "\n";
Mat frame;
cap >> frame; // get a new frame from camera
imshow("Camera Image", frame);
int key_pressed = waitKey(0);
if (key_pressed == KEY_CLOSE_WINDOW || key_pressed == KEY_ESCAPE) break;
else
if (user_mode == INTERACTIVE_MODE)
{
if (key_pressed == KEY_SPACE)
{
Size pattern_size(4, 6); //interior number of corners
vector<Point2f> corners; //this will be filled by the detected corners
bool pattern_found = findChessboardCorners( 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(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);
imshow("Calibrated", frame);
waitKey(30);
}
}
}
// the camera will be deinitialized automatically in VideoCapture destructor
return 0;
}