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333 lines
13 KiB
333 lines
13 KiB
/*M/////////////////////////////////////////////////////////////////////////////////////// |
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// |
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. |
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// |
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// By downloading, copying, installing or using the software you agree to this license. |
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// If you do not agree to this license, do not download, install, |
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// copy or use the software. |
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// |
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// |
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// License Agreement |
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// For Open Source Computer Vision Library |
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// |
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved. |
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// Copyright (C) 2009, Willow Garage Inc., all rights reserved. |
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// Third party copyrights are property of their respective owners. |
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// |
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// Redistribution and use in source and binary forms, with or without modification, |
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// are permitted provided that the following conditions are met: |
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// |
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// * Redistribution's of source code must retain the above copyright notice, |
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// this list of conditions and the following disclaimer. |
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// |
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// * Redistribution's in binary form must reproduce the above copyright notice, |
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// this list of conditions and the following disclaimer in the documentation |
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// and/or other materials provided with the distribution. |
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// |
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// * The name of the copyright holders may not be used to endorse or promote products |
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// derived from this software without specific prior written permission. |
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// |
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// This software is provided by the copyright holders and contributors "as is" and |
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// any express or implied warranties, including, but not limited to, the implied |
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// warranties of merchantability and fitness for a particular purpose are disclaimed. |
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// In no event shall the Intel Corporation or contributors be liable for any direct, |
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// indirect, incidental, special, exemplary, or consequential damages |
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// (including, but not limited to, procurement of substitute goods or services; |
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// loss of use, data, or profits; or business interruption) however caused |
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// and on any theory of liability, whether in contract, strict liability, |
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// or tort (including negligence or otherwise) arising in any way out of |
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// the use of this software, even if advised of the possibility of such damage. |
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// |
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//M*/ |
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#include "test_precomp.hpp" |
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#include "test_chessboardgenerator.hpp" |
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#include <vector> |
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#include <iterator> |
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#include <algorithm> |
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using namespace cv; |
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using namespace std; |
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ChessBoardGenerator::ChessBoardGenerator(const Size& _patternSize) : sensorWidth(32), sensorHeight(24), |
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squareEdgePointsNum(200), min_cos(std::sqrt(3.f)*0.5f), cov(0.5), |
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patternSize(_patternSize), rendererResolutionMultiplier(4), tvec(Mat::zeros(1, 3, CV_32F)) |
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{ |
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Rodrigues(Mat::eye(3, 3, CV_32F), rvec); |
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} |
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void cv::ChessBoardGenerator::generateEdge(const Point3f& p1, const Point3f& p2, vector<Point3f>& out) const |
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{ |
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Point3f step = (p2 - p1) * (1.f/squareEdgePointsNum); |
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for(size_t n = 0; n < squareEdgePointsNum; ++n) |
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out.push_back( p1 + step * (float)n); |
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} |
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Size cv::ChessBoardGenerator::cornersSize() const |
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{ |
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return Size(patternSize.width-1, patternSize.height-1); |
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} |
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struct Mult |
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{ |
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float m; |
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Mult(int mult) : m((float)mult) {} |
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Point2f operator()(const Point2f& p)const { return p * m; } |
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}; |
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void cv::ChessBoardGenerator::generateBasis(Point3f& pb1, Point3f& pb2) const |
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{ |
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RNG& rng = theRNG(); |
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Vec3f n; |
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for(;;) |
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{ |
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n[0] = rng.uniform(-1.f, 1.f); |
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n[1] = rng.uniform(-1.f, 1.f); |
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n[2] = rng.uniform(0.0f, 1.f); |
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float len = (float)norm(n); |
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if (len < 1e-3) |
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continue; |
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n[0]/=len; |
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n[1]/=len; |
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n[2]/=len; |
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if (n[2] > min_cos) |
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break; |
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} |
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Vec3f n_temp = n; n_temp[0] += 100; |
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Vec3f b1 = n.cross(n_temp); |
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Vec3f b2 = n.cross(b1); |
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float len_b1 = (float)norm(b1); |
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float len_b2 = (float)norm(b2); |
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pb1 = Point3f(b1[0]/len_b1, b1[1]/len_b1, b1[2]/len_b1); |
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pb2 = Point3f(b2[0]/len_b1, b2[1]/len_b2, b2[2]/len_b2); |
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} |
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Mat cv::ChessBoardGenerator::generateChessBoard(const Mat& bg, const Mat& camMat, const Mat& distCoeffs, |
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const Point3f& zero, const Point3f& pb1, const Point3f& pb2, |
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float sqWidth, float sqHeight, const vector<Point3f>& whole, |
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vector<Point2f>& corners) const |
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{ |
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vector< vector<Point> > squares_black; |
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for(int i = 0; i < patternSize.width; ++i) |
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for(int j = 0; j < patternSize.height; ++j) |
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if ( (i % 2 == 0 && j % 2 == 0) || (i % 2 != 0 && j % 2 != 0) ) |
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{ |
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vector<Point3f> pts_square3d; |
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vector<Point2f> pts_square2d; |
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Point3f p1 = zero + (i + 0) * sqWidth * pb1 + (j + 0) * sqHeight * pb2; |
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Point3f p2 = zero + (i + 1) * sqWidth * pb1 + (j + 0) * sqHeight * pb2; |
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Point3f p3 = zero + (i + 1) * sqWidth * pb1 + (j + 1) * sqHeight * pb2; |
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Point3f p4 = zero + (i + 0) * sqWidth * pb1 + (j + 1) * sqHeight * pb2; |
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generateEdge(p1, p2, pts_square3d); |
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generateEdge(p2, p3, pts_square3d); |
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generateEdge(p3, p4, pts_square3d); |
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generateEdge(p4, p1, pts_square3d); |
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projectPoints(Mat(pts_square3d), rvec, tvec, camMat, distCoeffs, pts_square2d); |
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squares_black.resize(squares_black.size() + 1); |
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vector<Point2f> temp; |
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approxPolyDP(Mat(pts_square2d), temp, 1.0, true); |
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transform(temp.begin(), temp.end(), back_inserter(squares_black.back()), Mult(rendererResolutionMultiplier)); |
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} |
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/* calculate corners */ |
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corners3d.clear(); |
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for(int j = 0; j < patternSize.height - 1; ++j) |
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for(int i = 0; i < patternSize.width - 1; ++i) |
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corners3d.push_back(zero + (i + 1) * sqWidth * pb1 + (j + 1) * sqHeight * pb2); |
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corners.clear(); |
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projectPoints(Mat(corners3d), rvec, tvec, camMat, distCoeffs, corners); |
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vector<Point3f> whole3d; |
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vector<Point2f> whole2d; |
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generateEdge(whole[0], whole[1], whole3d); |
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generateEdge(whole[1], whole[2], whole3d); |
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generateEdge(whole[2], whole[3], whole3d); |
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generateEdge(whole[3], whole[0], whole3d); |
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projectPoints(Mat(whole3d), rvec, tvec, camMat, distCoeffs, whole2d); |
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vector<Point2f> temp_whole2d; |
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approxPolyDP(Mat(whole2d), temp_whole2d, 1.0, true); |
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vector< vector<Point > > whole_contour(1); |
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transform(temp_whole2d.begin(), temp_whole2d.end(), |
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back_inserter(whole_contour.front()), Mult(rendererResolutionMultiplier)); |
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Mat result; |
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if (rendererResolutionMultiplier == 1) |
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{ |
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result = bg.clone(); |
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drawContours(result, whole_contour, -1, Scalar::all(255), FILLED, LINE_AA); |
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drawContours(result, squares_black, -1, Scalar::all(0), FILLED, LINE_AA); |
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} |
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else |
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{ |
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Mat tmp; |
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resize(bg, tmp, bg.size() * rendererResolutionMultiplier); |
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drawContours(tmp, whole_contour, -1, Scalar::all(255), FILLED, LINE_AA); |
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drawContours(tmp, squares_black, -1, Scalar::all(0), FILLED, LINE_AA); |
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resize(tmp, result, bg.size(), 0, 0, INTER_AREA); |
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} |
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return result; |
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} |
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Mat cv::ChessBoardGenerator::operator ()(const Mat& bg, const Mat& camMat, const Mat& distCoeffs, vector<Point2f>& corners) const |
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{ |
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cov = std::min(cov, 0.8); |
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double fovx, fovy, focalLen; |
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Point2d principalPoint; |
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double aspect; |
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calibrationMatrixValues( camMat, bg.size(), sensorWidth, sensorHeight, |
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fovx, fovy, focalLen, principalPoint, aspect); |
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RNG& rng = theRNG(); |
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float d1 = static_cast<float>(rng.uniform(0.1, 10.0)); |
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float ah = static_cast<float>(rng.uniform(-fovx/2 * cov, fovx/2 * cov) * CV_PI / 180); |
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float av = static_cast<float>(rng.uniform(-fovy/2 * cov, fovy/2 * cov) * CV_PI / 180); |
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Point3f p; |
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p.z = cos(ah) * d1; |
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p.x = sin(ah) * d1; |
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p.y = p.z * tan(av); |
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Point3f pb1, pb2; |
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generateBasis(pb1, pb2); |
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float cbHalfWidth = static_cast<float>(norm(p) * sin( std::min(fovx, fovy) * 0.5 * CV_PI / 180)); |
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float cbHalfHeight = cbHalfWidth * patternSize.height / patternSize.width; |
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float cbHalfWidthEx = cbHalfWidth * ( patternSize.width + 1) / patternSize.width; |
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float cbHalfHeightEx = cbHalfHeight * (patternSize.height + 1) / patternSize.height; |
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vector<Point3f> pts3d(4); |
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vector<Point2f> pts2d(4); |
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for(;;) |
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{ |
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pts3d[0] = p + pb1 * cbHalfWidthEx + cbHalfHeightEx * pb2; |
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pts3d[1] = p + pb1 * cbHalfWidthEx - cbHalfHeightEx * pb2; |
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pts3d[2] = p - pb1 * cbHalfWidthEx - cbHalfHeightEx * pb2; |
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pts3d[3] = p - pb1 * cbHalfWidthEx + cbHalfHeightEx * pb2; |
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/* can remake with better perf */ |
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projectPoints(Mat(pts3d), rvec, tvec, camMat, distCoeffs, pts2d); |
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bool inrect1 = pts2d[0].x < bg.cols && pts2d[0].y < bg.rows && pts2d[0].x > 0 && pts2d[0].y > 0; |
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bool inrect2 = pts2d[1].x < bg.cols && pts2d[1].y < bg.rows && pts2d[1].x > 0 && pts2d[1].y > 0; |
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bool inrect3 = pts2d[2].x < bg.cols && pts2d[2].y < bg.rows && pts2d[2].x > 0 && pts2d[2].y > 0; |
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bool inrect4 = pts2d[3].x < bg.cols && pts2d[3].y < bg.rows && pts2d[3].x > 0 && pts2d[3].y > 0; |
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if (inrect1 && inrect2 && inrect3 && inrect4) |
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break; |
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cbHalfWidth*=0.8f; |
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cbHalfHeight = cbHalfWidth * patternSize.height / patternSize.width; |
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cbHalfWidthEx = cbHalfWidth * ( patternSize.width + 1) / patternSize.width; |
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cbHalfHeightEx = cbHalfHeight * (patternSize.height + 1) / patternSize.height; |
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} |
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Point3f zero = p - pb1 * cbHalfWidth - cbHalfHeight * pb2; |
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float sqWidth = 2 * cbHalfWidth/patternSize.width; |
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float sqHeight = 2 * cbHalfHeight/patternSize.height; |
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return generateChessBoard(bg, camMat, distCoeffs, zero, pb1, pb2, sqWidth, sqHeight, pts3d, corners); |
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} |
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Mat cv::ChessBoardGenerator::operator ()(const Mat& bg, const Mat& camMat, const Mat& distCoeffs, |
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const Size2f& squareSize, vector<Point2f>& corners) const |
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{ |
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cov = std::min(cov, 0.8); |
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double fovx, fovy, focalLen; |
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Point2d principalPoint; |
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double aspect; |
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calibrationMatrixValues( camMat, bg.size(), sensorWidth, sensorHeight, |
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fovx, fovy, focalLen, principalPoint, aspect); |
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RNG& rng = theRNG(); |
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float d1 = static_cast<float>(rng.uniform(0.1, 10.0)); |
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float ah = static_cast<float>(rng.uniform(-fovx/2 * cov, fovx/2 * cov) * CV_PI / 180); |
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float av = static_cast<float>(rng.uniform(-fovy/2 * cov, fovy/2 * cov) * CV_PI / 180); |
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Point3f p; |
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p.z = cos(ah) * d1; |
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p.x = sin(ah) * d1; |
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p.y = p.z * tan(av); |
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Point3f pb1, pb2; |
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generateBasis(pb1, pb2); |
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float cbHalfWidth = squareSize.width * patternSize.width * 0.5f; |
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float cbHalfHeight = squareSize.height * patternSize.height * 0.5f; |
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float cbHalfWidthEx = cbHalfWidth * ( patternSize.width + 1) / patternSize.width; |
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float cbHalfHeightEx = cbHalfHeight * (patternSize.height + 1) / patternSize.height; |
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vector<Point3f> pts3d(4); |
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vector<Point2f> pts2d(4); |
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for(;;) |
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{ |
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pts3d[0] = p + pb1 * cbHalfWidthEx + cbHalfHeightEx * pb2; |
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pts3d[1] = p + pb1 * cbHalfWidthEx - cbHalfHeightEx * pb2; |
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pts3d[2] = p - pb1 * cbHalfWidthEx - cbHalfHeightEx * pb2; |
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pts3d[3] = p - pb1 * cbHalfWidthEx + cbHalfHeightEx * pb2; |
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/* can remake with better perf */ |
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projectPoints(Mat(pts3d), rvec, tvec, camMat, distCoeffs, pts2d); |
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bool inrect1 = pts2d[0].x < bg.cols && pts2d[0].y < bg.rows && pts2d[0].x > 0 && pts2d[0].y > 0; |
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bool inrect2 = pts2d[1].x < bg.cols && pts2d[1].y < bg.rows && pts2d[1].x > 0 && pts2d[1].y > 0; |
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bool inrect3 = pts2d[2].x < bg.cols && pts2d[2].y < bg.rows && pts2d[2].x > 0 && pts2d[2].y > 0; |
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bool inrect4 = pts2d[3].x < bg.cols && pts2d[3].y < bg.rows && pts2d[3].x > 0 && pts2d[3].y > 0; |
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if ( inrect1 && inrect2 && inrect3 && inrect4) |
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break; |
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p.z *= 1.1f; |
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} |
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Point3f zero = p - pb1 * cbHalfWidth - cbHalfHeight * pb2; |
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return generateChessBoard(bg, camMat, distCoeffs, zero, pb1, pb2, |
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squareSize.width, squareSize.height, pts3d, corners); |
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} |
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Mat cv::ChessBoardGenerator::operator ()(const Mat& bg, const Mat& camMat, const Mat& distCoeffs, |
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const Size2f& squareSize, const Point3f& pos, vector<Point2f>& corners) const |
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{ |
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cov = std::min(cov, 0.8); |
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Point3f p = pos; |
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Point3f pb1, pb2; |
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generateBasis(pb1, pb2); |
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float cbHalfWidth = squareSize.width * patternSize.width * 0.5f; |
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float cbHalfHeight = squareSize.height * patternSize.height * 0.5f; |
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float cbHalfWidthEx = cbHalfWidth * ( patternSize.width + 1) / patternSize.width; |
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float cbHalfHeightEx = cbHalfHeight * (patternSize.height + 1) / patternSize.height; |
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vector<Point3f> pts3d(4); |
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vector<Point2f> pts2d(4); |
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pts3d[0] = p + pb1 * cbHalfWidthEx + cbHalfHeightEx * pb2; |
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pts3d[1] = p + pb1 * cbHalfWidthEx - cbHalfHeightEx * pb2; |
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pts3d[2] = p - pb1 * cbHalfWidthEx - cbHalfHeightEx * pb2; |
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pts3d[3] = p - pb1 * cbHalfWidthEx + cbHalfHeightEx * pb2; |
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/* can remake with better perf */ |
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projectPoints(Mat(pts3d), rvec, tvec, camMat, distCoeffs, pts2d); |
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Point3f zero = p - pb1 * cbHalfWidth - cbHalfHeight * pb2; |
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return generateChessBoard(bg, camMat, distCoeffs, zero, pb1, pb2, |
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squareSize.width, squareSize.height, pts3d, corners); |
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}
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