calibration

2026-01-18 16:47:33 +01:00 · 2024-05-02 16:31:45 +02:00
parent 87a1490708
commit 906e0537ff
2 changed files with 334 additions and 105 deletions
--- a/aruco_samples_utility.hpp
+++ b/aruco_samples_utility.hpp
@@ -0,0 +1,48 @@
+#include <opencv2/highgui.hpp>
+#include <opencv2/aruco.hpp>
+#include <opencv2/calib3d.hpp>
+#include <ctime>
+
+namespace {
+    inline static bool readCameraParameters(std::string filename, cv::Mat &camMatrix, cv::Mat &distCoeffs) {
+        cv::FileStorage fs(filename, cv::FileStorage::READ);
+        if (!fs.isOpened())
+            return false;
+        fs["camera_matrix"] >> camMatrix;
+        fs["distortion_coefficients"] >> distCoeffs;
+        return true;
+    }
+
+    inline static bool saveCameraParams(const std::string &filename, cv::Size imageSize, float aspectRatio, int flags,
+                                        const cv::Mat &cameraMatrix, const cv::Mat &distCoeffs, double totalAvgErr) {
+        cv::FileStorage fs(filename, cv::FileStorage::WRITE);
+        if (!fs.isOpened())
+            return false;
+
+        time_t tt;
+        time(&tt);
+        struct tm *t2 = localtime(&tt);
+        char buf[1024];
+        strftime(buf, sizeof(buf) - 1, "%c", t2);
+
+        fs << "calibration_time" << buf;
+        fs << "image_width" << imageSize.width;
+        fs << "image_height" << imageSize.height;
+
+        if (flags & cv::CALIB_FIX_ASPECT_RATIO) fs << "aspectRatio" << aspectRatio;
+
+        if (flags != 0) {
+            sprintf(buf, "flags: %s%s%s%s",
+                    flags & cv::CALIB_USE_INTRINSIC_GUESS ? "+use_intrinsic_guess" : "",
+                    flags & cv::CALIB_FIX_ASPECT_RATIO ? "+fix_aspectRatio" : "",
+                    flags & cv::CALIB_FIX_PRINCIPAL_POINT ? "+fix_principal_point" : "",
+                    flags & cv::CALIB_ZERO_TANGENT_DIST ? "+zero_tangent_dist" : "");
+        }
+        fs << "flags" << flags;
+        fs << "camera_matrix" << cameraMatrix;
+        fs << "distortion_coefficients" << distCoeffs;
+        fs << "avg_reprojection_error" << totalAvgErr;
+        return true;
+    }
+
+}