Merge pull request #22146 from rogday:symcircles

apps/interactive-calibration/calibCommon.hpp

@@ -21,7 +21,7 @@ namespace calib
 
     enum InputType { Video, Pictures };
     enum InputVideoSource { Camera, File };
-    enum TemplateType { AcirclesGrid, Chessboard, chAruco, DoubleAcirclesGrid };
+    enum TemplateType { AcirclesGrid, Chessboard, chAruco, DoubleAcirclesGrid, CirclesGrid };
 
     static const std::string mainWindowName = "Calibration";
     static const std::string gridWindowName = "Board locations";

apps/interactive-calibration/frameProcessor.cpp

@@ -108,6 +108,16 @@ bool CalibProcessor::detectAndParseChAruco(const cv::Mat &frame)
     return false;
 }
 
+bool CalibProcessor::detectAndParseCircles(const cv::Mat &frame)
+{
+    bool isTemplateFound = findCirclesGrid(frame, mBoardSize, mCurrentImagePoints, cv::CALIB_CB_SYMMETRIC_GRID, mBlobDetectorPtr);
+    if(isTemplateFound) {
+        mTemplateLocations.insert(mTemplateLocations.begin(), mCurrentImagePoints[0]);
+        cv::drawChessboardCorners(frame, mBoardSize, cv::Mat(mCurrentImagePoints), isTemplateFound);
+    }
+    return isTemplateFound;
+}
+
 bool CalibProcessor::detectAndParseACircles(const cv::Mat &frame)
 {
     bool isTemplateFound = findCirclesGrid(frame, mBoardSize, mCurrentImagePoints, cv::CALIB_CB_ASYMMETRIC_GRID, mBlobDetectorPtr);
@@ -160,6 +170,14 @@ void CalibProcessor::saveFrameData()
         mCalibData->allCharucoCorners.push_back(mCurrentCharucoCorners);
         mCalibData->allCharucoIds.push_back(mCurrentCharucoIds);
         break;
+    case CirclesGrid:
+        objectPoints.reserve(mBoardSize.height*mBoardSize.width);
+        for( int i = 0; i < mBoardSize.height; i++ )
+            for( int j = 0; j < mBoardSize.width; j++ )
+                objectPoints.push_back(cv::Point3f(j*mSquareSize, i*mSquareSize, 0));
+        mCalibData->imagePoints.push_back(mCurrentImagePoints);
+        mCalibData->objectPoints.push_back(objectPoints);
+        break;
     case AcirclesGrid:
         objectPoints.reserve(mBoardSize.height*mBoardSize.width);
         for( int i = 0; i < mBoardSize.height; i++ )
@@ -288,6 +306,7 @@ CalibProcessor::CalibProcessor(cv::Ptr<calibrationData> data, captureParameters
                                                         capParams.charucoMarkerSize, mArucoDictionary);
 #endif
         break;
+    case CirclesGrid:
     case AcirclesGrid:
         mBlobDetectorPtr = cv::SimpleBlobDetector::create();
         break;
@@ -318,6 +337,9 @@ cv::Mat CalibProcessor::processFrame(const cv::Mat &frame)
     case chAruco:
         isTemplateFound = detectAndParseChAruco(frameCopy);
         break;
+    case CirclesGrid:
+        isTemplateFound = detectAndParseCircles(frameCopy);
+        break;
     case AcirclesGrid:
         isTemplateFound = detectAndParseACircles(frameCopy);
         break;

apps/interactive-calibration/frameProcessor.hpp

@@ -55,6 +55,7 @@ protected:
 
     bool detectAndParseChessboard(const cv::Mat& frame);
     bool detectAndParseChAruco(const cv::Mat& frame);
+    bool detectAndParseCircles(const cv::Mat& frame);
     bool detectAndParseACircles(const cv::Mat& frame);
     bool detectAndParseDualACircles(const cv::Mat& frame);
     void saveFrameData();

apps/interactive-calibration/main.cpp

@@ -30,7 +30,7 @@ const std::string keys  =
         "{v        |         | Input from video file }"
         "{ci       | 0       | Default camera id }"
         "{flip     | false   | Vertical flip of input frames }"
-        "{t        | circles | Template for calibration (circles, chessboard, dualCircles, charuco) }"
+        "{t        | circles | Template for calibration (circles, chessboard, dualCircles, charuco, symcircles) }"
         "{sz       | 16.3    | Distance between two nearest centers of circles or squares on calibration board}"
         "{dst      | 295     | Distance between white and black parts of daulCircles template}"
         "{w        |         | Width of template (in corners or circles)}"

apps/interactive-calibration/parametersController.cpp

@@ -108,7 +108,11 @@ bool calib::parametersController::loadFromParser(cv::CommandLineParser &parser)
 
     std::string templateType = parser.get<std::string>("t");
 
-    if(templateType.find("circles", 0) == 0) {
+    if(templateType.find("symcircles", 0) == 0) {
+        mCapParams.board = CirclesGrid;
+        mCapParams.boardSize = cv::Size(4, 11);
+    }
+    else if(templateType.find("circles", 0) == 0) {
         mCapParams.board = AcirclesGrid;
         mCapParams.boardSize = cv::Size(4, 11);
     }