I have a system running Arch Linux ARM with opencv-2.4.10-3. The Raspberry Pi 2 is connected to a Raspberry Pi Noir Camera. When i run the calibration the camera is lagging with what looks like 15-20s delay.
Any suggestions why this is occurring?
I noticed in top that it is using a nasty amount of resources:
PID USER PR NI VIRT RES %CPU %MEM TIME+ S COMMAND
708 root 20 0 102.9m 34.5m 124.4 4.0 1:00.95 R `- calibration
config.txt:
start_x=1
cma_lwm=
cma_hwm=
cma_offline_start=
start_file=start_x.elf
fixup_file=fixup_x.dat
gpu_mem=128
calibration.cpp:
#include <iostream>
#include <sstream>
#include <time.h>
#include <stdio.h>
#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/highgui/highgui.hpp>
#ifndef _CRT_SECURE_NO_WARNINGS
# define _CRT_SECURE_NO_WARNINGS
#endif
using namespace cv;
using namespace std;
static void help()
{
cout << "This is a camera calibration sample." << endl
<< "Usage: calibration configurationFile" << endl
<< "Near the sample file you'll find the configuration file, which has detailed help of "
"how to edit it. It may be any OpenCV supported file format XML/YAML." << endl;
}
class Settings
{
public:
Settings() : goodInput(false) {}
enum Pattern { NOT_EXISTING, CHESSBOARD, CIRCLES_GRID, ASYMMETRIC_CIRCLES_GRID };
enum InputType {INVALID, CAMERA, VIDEO_FILE, IMAGE_LIST};
void write(FileStorage& fs) const //Write serialization for this class
{
fs << "{" << "BoardSize_Width" << boardSize.width
<< "BoardSize_Height" << boardSize.height
<< "Square_Size" << squareSize
<< "Calibrate_Pattern" << patternToUse
<< "Calibrate_NrOfFrameToUse" << nrFrames
<< "Calibrate_FixAspectRatio" << aspectRatio
<< "Calibrate_AssumeZeroTangentialDistortion" << calibZeroTangentDist
<< "Calibrate_FixPrincipalPointAtTheCenter" << calibFixPrincipalPoint
<< "Write_DetectedFeaturePoints" << bwritePoints
<< "Write_extrinsicParameters" << bwriteExtrinsics
<< "Write_outputFileName" << outputFileName
<< "Show_UndistortedImage" << showUndistorsed
<< "Input_FlipAroundHorizontalAxis" << flipVertical
<< "Input_Delay" << delay
<< "Input" << input
<< "}";
}
void read(const FileNode& node) //Read serialization for this class
{
node["BoardSize_Width" ] >> boardSize.width;
node["BoardSize_Height"] >> boardSize.height;
node["Calibrate_Pattern"] >> patternToUse;
node["Square_Size"] >> squareSize;
node["Calibrate_NrOfFrameToUse"] >> nrFrames;
node["Calibrate_FixAspectRatio"] >> aspectRatio;
node["Write_DetectedFeaturePoints"] >> bwritePoints;
node["Write_extrinsicParameters"] >> bwriteExtrinsics;
node["Write_outputFileName"] >> outputFileName;
node["Calibrate_AssumeZeroTangentialDistortion"] >> calibZeroTangentDist;
node["Calibrate_FixPrincipalPointAtTheCenter"] >> calibFixPrincipalPoint;
node["Input_FlipAroundHorizontalAxis"] >> flipVertical;
node["Show_UndistortedImage"] >> showUndistorsed;
node["Input"] >> input;
node["Input_Delay"] >> delay;
interprate();
}
void interprate()
{
goodInput = true;
if (boardSize.width <= 0 || boardSize.height <= 0)
{
cerr << "Invalid Board size: " << boardSize.width << " " << boardSize.height << endl;
goodInput = false;
}
if (squareSize <= 10e-6)
{
cerr << "Invalid square size " << squareSize << endl;
goodInput = false;
}
if (nrFrames <= 0)
{
cerr << "Invalid number of frames " << nrFrames << endl;
goodInput = false;
}
if (input.empty()) // Check for valid input
inputType = INVALID;
else
{
if (input[0] >= '0' && input[0] <= '9')
{
stringstream ss(input);
ss >> cameraID;
inputType = CAMERA;
}
else
{
if (readStringList(input, imageList))
{
inputType = IMAGE_LIST;
nrFrames = (nrFrames < (int)imageList.size()) ? nrFrames : (int)imageList.size();
}
else
inputType = VIDEO_FILE;
}
if (inputType == CAMERA)
inputCapture.open(cameraID);
if (inputType == VIDEO_FILE)
inputCapture.open(input);
if (inputType != IMAGE_LIST && !inputCapture.isOpened())
inputType = INVALID;
}
if (inputType == INVALID)
{
cerr << " Inexistent input: " << input;
goodInput = false;
}
flag = 0;
if(calibFixPrincipalPoint) flag |= CV_CALIB_FIX_PRINCIPAL_POINT;
if(calibZeroTangentDist) flag |= CV_CALIB_ZERO_TANGENT_DIST;
if(aspectRatio) flag |= CV_CALIB_FIX_ASPECT_RATIO;
calibrationPattern = NOT_EXISTING;
if (!patternToUse.compare("CHESSBOARD")) calibrationPattern = CHESSBOARD;
if (!patternToUse.compare("CIRCLES_GRID")) calibrationPattern = CIRCLES_GRID;
if (!patternToUse.compare("ASYMMETRIC_CIRCLES_GRID")) calibrationPattern = ASYMMETRIC_CIRCLES_GRID;
if (calibrationPattern == NOT_EXISTING)
{
cerr << " Inexistent camera calibration mode: " << patternToUse << endl;
goodInput = false;
}
atImageList = 0;
}
Mat nextImage()
{
Mat result;
if( inputCapture.isOpened() )
{
Mat view0;
inputCapture >> view0;
view0.copyTo(result);
}
else if( atImageList < (int)imageList.size() )
result = imread(imageList[atImageList++], CV_LOAD_IMAGE_COLOR);
return result;
}
static ...
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