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Save Frames option for interactive calibration tool

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The option to save all frames that contribute to final calibration result.
Useful for dataset collection and further offline tuning.
This commit is contained in:
Alexander Smorkalov
2022-06-08 13:59:55 +03:00
parent 14754deb21
commit 533bb035cf
6 changed files with 30 additions and 0 deletions
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apps/interactive-calibration/calibController.cpp
+14
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@@ -10,6 +10,7 @@
#include <opencv2/calib3d.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/imgcodecs.hpp>
double calib::calibController::estimateCoverageQuality()
{
@@ -212,6 +213,9 @@ void calib::calibDataController::filterFrames()
}
showOverlayMessage(cv::format("Frame %zu is worst", worstElemIndex + 1));
if(mCalibData->allFrames.size())
mCalibData->allFrames.erase(mCalibData->allFrames.begin() + worstElemIndex);
if(mCalibData->imagePoints.size()) {
mCalibData->imagePoints.erase(mCalibData->imagePoints.begin() + worstElemIndex);
mCalibData->objectPoints.erase(mCalibData->objectPoints.begin() + worstElemIndex);
@@ -239,6 +243,11 @@ void calib::calibDataController::setParametersFileName(const std::string &name)
void calib::calibDataController::deleteLastFrame()
{
if(!mCalibData->allFrames.empty())
{
mCalibData->allFrames.pop_back();
}
if( !mCalibData->imagePoints.empty()) {
mCalibData->imagePoints.pop_back();
mCalibData->objectPoints.pop_back();
@@ -269,6 +278,7 @@ void calib::calibDataController::rememberCurrentParameters()
void calib::calibDataController::deleteAllData()
{
mCalibData->allFrames.clear();
mCalibData->imagePoints.clear();
mCalibData->objectPoints.clear();
mCalibData->allCharucoCorners.clear();
@@ -280,6 +290,10 @@ void calib::calibDataController::deleteAllData()
bool calib::calibDataController::saveCurrentCameraParameters() const
{
for(size_t i = 0; i < mCalibData->allFrames.size(); i++)
cv::imwrite(cv::format("calibration_%zu.png", i), mCalibData->allFrames[i]);
bool success = false;
if(mCalibData->cameraMatrix.total()) {
cv::FileStorage parametersWriter(mParamsFileName, cv::FileStorage::WRITE);