From 3c1ef54b36a0b81ddff46f52ef236d0acb0efa8a Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Wed, 13 Mar 2019 09:32:54 +0200
Subject: [PATCH] Add delay between calibration frame capture
---
cv-node/src/calibrate.cpp | 7 ++++---
cv-node/src/main.cpp | 2 +-
2 files changed, 5 insertions(+), 4 deletions(-)
diff --git a/cv-node/src/calibrate.cpp b/cv-node/src/calibrate.cpp
index 0808fa00c..50df9d6c0 100644
--- a/cv-node/src/calibrate.cpp
+++ b/cv-node/src/calibrate.cpp
@@ -349,7 +349,7 @@ bool Calibrate::_recalibrate(vector<vector<Point2f>> *imagePoints,
//Mat cameraMatrix, distCoeffs;
//Size imageSize;
int mode = CAPTURING;
- clock_t prevTimestamp = 0;
+ double prevTimestamp = 0.0;
const Scalar RED(0,0,255), GREEN(0,255,0);
int chessBoardFlags = CALIB_CB_ADAPTIVE_THRESH | CALIB_CB_NORMALIZE_IMAGE;
@@ -405,8 +405,9 @@ bool Calibrate::_recalibrate(vector<vector<Point2f>> *imagePoints,
found1 = findChessboardCorners( view[0], settings_.boardSize, pointBuf[0], chessBoardFlags);
found2 = !local_->isStereo() || findChessboardCorners( view[1], settings_.boardSize, pointBuf[1], chessBoardFlags);
- if (found1 && found2) // If done with success,
+ if (found1 && found2 && local_->getTimestamp()-prevTimestamp > 0.5) // If done with success,
{
+ prevTimestamp = local_->getTimestamp();
// improve the found corners' coordinate accuracy for chessboard
Mat viewGray;
cvtColor(view[0], viewGray, COLOR_BGR2GRAY);
@@ -431,7 +432,7 @@ bool Calibrate::_recalibrate(vector<vector<Point2f>> *imagePoints,
imshow("Left", view[0]);
if (local_->isStereo()) imshow("Right", view[1]);
- char key = (char)waitKey(settings_.delay);
+ char key = (char)waitKey(50);
if( key == 27 )
break;
diff --git a/cv-node/src/main.cpp b/cv-node/src/main.cpp
index fb535deec..026a5da7f 100644
--- a/cv-node/src/main.cpp
+++ b/cv-node/src/main.cpp
@@ -111,7 +111,7 @@ int main(int argc, char **argv) {
cv::imshow("Left",l);
if (lsrc->isStereo()) cv::imshow("Right",r);
- if(cv::waitKey(100) == 27){
+ if(cv::waitKey(20) == 27){
//exit if ESC is pressed
break;
}
--
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