CameraSystemCalibration/calibrate_example.cpp at master · pekingme/CameraSystemCalibration · GitHub

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#include <string>
#include "opencv2/opencv.hpp"
#include "camera_system_calibration.h"

using namespace std;
using namespace cv;

namespace
{
const char* about = "This program calibrates a camera system using videos of ChArUco board\n";
const char* keys =
    "{help h ?||Print help message}"
    "{@output|<none>|Output folder storing calibration results}"
    "{@config|<none>|Input file storing calibration configurations}"
    "{@aruco|<none>|Input file storing ArUco detector parameters}"
    "{mono monoFileName||Input file storing mono calibration results}"
    "{ph usePhoto||Use photos for calibration instead of videos}";
}

int main ( int argc, char** argv )
{
    CommandLineParser parser ( argc, argv, keys );
    parser.about ( about );

    if ( parser.has ( "help" ) || argc < 3 )
    {
        parser.printMessage();
        return 0;
    }

    string output_folder = parser.get<string> ( "@output" );
    string config_file_name = parser.get<string> ( "@config" );
    string detector_file_name = parser.get<string> ( "@aruco" );
    bool mono_calibration_used = parser.has ( "mono" );
    string mono_file_name = parser.get<string> ( "monoFileName" );
    bool use_photo = parser.has ( "usePhoto" );

    if ( !parser.check() )
    {
        parser.printErrors();
        return 0;
    }

    if ( !use_photo )
    {
        CameraSystemCalibration camera_system_calibration;
        if ( mono_calibration_used )
        {
            camera_system_calibration.LoadCalibrationWithVideoAndMono ( output_folder, config_file_name, detector_file_name, mono_file_name, false );;
            camera_system_calibration.ExtractFramesAndCorners();
        }
        else
        {
            camera_system_calibration.LoadCalibrationWithVideo ( output_folder, config_file_name, detector_file_name, false );
            camera_system_calibration.ExtractFramesAndCorners();
        }
        camera_system_calibration.Calibrate();
        camera_system_calibration.SaveResultsCombined();
        camera_system_calibration.SaveInterCameraExtrinsics();
        camera_system_calibration.SaveIntrinsics();

//         CameraSystemCalibration camera_system_calibration ( output_folder, config_file_name, detector_file_name, mono_file_name, mono_calibration_used, false );
//         camera_system_calibration.FetchCornersInFrames();
//         camera_system_calibration.Calibrate();
//         camera_system_calibration.SaveResults();
//         camera_system_calibration.SaveResults2();
    }
    else
    {
        CameraSystemCalibration camera_system_calibration;
        camera_system_calibration.LoadCalibrationWithPhotos ( output_folder, config_file_name, detector_file_name, false );
        camera_system_calibration.Calibrate();
        camera_system_calibration.SaveResultsCombined();
        camera_system_calibration.SaveInterCameraExtrinsics();
        camera_system_calibration.SaveIntrinsics();


//         CameraSystemCalibration camera_system_calibration ( output_folder, config_file_name, detector_file_name, false );
//         camera_system_calibration.FetchCornersInPhotos();
//         camera_system_calibration.Calibrate();
//         camera_system_calibration.SaveIntrinsics();
//         camera_system_calibration.SaveInterCameraExtrinsics();
    }
}