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Open Source Computer Vision Library
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104 lines
2.9 KiB
104 lines
2.9 KiB
// This file is part of OpenCV project. |
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// It is subject to the license terms in the LICENSE file found in the top-level directory |
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// of this distribution and at http://opencv.org/license.html. |
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#ifndef FRAME_PROCESSOR_HPP |
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#define FRAME_PROCESSOR_HPP |
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#include <opencv2/core.hpp> |
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#include <opencv2/calib.hpp> |
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#ifdef HAVE_OPENCV_ARUCO |
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#include <opencv2/aruco/charuco.hpp> |
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#endif |
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#include "calibCommon.hpp" |
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#include "calibController.hpp" |
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namespace calib |
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{ |
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class FrameProcessor |
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{ |
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protected: |
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public: |
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virtual ~FrameProcessor(); |
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virtual cv::Mat processFrame(const cv::Mat& frame) = 0; |
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virtual bool isProcessed() const = 0; |
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virtual void resetState() = 0; |
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}; |
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class CalibProcessor : public FrameProcessor |
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{ |
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protected: |
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cv::Ptr<calibrationData> mCalibData; |
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TemplateType mBoardType; |
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cv::Size mBoardSize; |
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std::vector<cv::Point2f> mTemplateLocations; |
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std::vector<cv::Point2f> mCurrentImagePoints; |
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cv::Mat mCurrentCharucoCorners; |
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cv::Mat mCurrentCharucoIds; |
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cv::Ptr<cv::SimpleBlobDetector> mBlobDetectorPtr; |
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#ifdef HAVE_OPENCV_ARUCO |
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cv::Ptr<cv::aruco::Dictionary> mArucoDictionary; |
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cv::Ptr<cv::aruco::CharucoBoard> mCharucoBoard; |
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#endif |
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int mNeededFramesNum; |
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unsigned mDelayBetweenCaptures; |
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int mCapuredFrames; |
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double mMaxTemplateOffset; |
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float mSquareSize; |
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float mTemplDist; |
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bool detectAndParseChessboard(const cv::Mat& frame); |
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bool detectAndParseChAruco(const cv::Mat& frame); |
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bool detectAndParseACircles(const cv::Mat& frame); |
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bool detectAndParseDualACircles(const cv::Mat& frame); |
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void saveFrameData(); |
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void showCaptureMessage(const cv::Mat &frame, const std::string& message); |
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bool checkLastFrame(); |
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public: |
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CalibProcessor(cv::Ptr<calibrationData> data, captureParameters& capParams); |
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virtual cv::Mat processFrame(const cv::Mat& frame) CV_OVERRIDE; |
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virtual bool isProcessed() const CV_OVERRIDE; |
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virtual void resetState() CV_OVERRIDE; |
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~CalibProcessor() CV_OVERRIDE; |
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}; |
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enum visualisationMode {Grid, Window}; |
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class ShowProcessor : public FrameProcessor |
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{ |
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protected: |
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cv::Ptr<calibrationData> mCalibdata; |
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cv::Ptr<calibController> mController; |
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TemplateType mBoardType; |
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visualisationMode mVisMode; |
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bool mNeedUndistort; |
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double mGridViewScale; |
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double mTextSize; |
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void drawBoard(cv::Mat& img, cv::InputArray points); |
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void drawGridPoints(const cv::Mat& frame); |
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public: |
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ShowProcessor(cv::Ptr<calibrationData> data, cv::Ptr<calibController> controller, TemplateType board); |
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virtual cv::Mat processFrame(const cv::Mat& frame) CV_OVERRIDE; |
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virtual bool isProcessed() const CV_OVERRIDE; |
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virtual void resetState() CV_OVERRIDE; |
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void setVisualizationMode(visualisationMode mode); |
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void switchVisualizationMode(); |
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void clearBoardsView(); |
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void updateBoardsView(); |
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void switchUndistort(); |
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void setUndistort(bool isEnabled); |
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~ShowProcessor() CV_OVERRIDE; |
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}; |
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} |
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#endif
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