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157 lines
6.6 KiB
157 lines
6.6 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) 2014, OpenCV Foundation, 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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#ifndef __OPENCV_CCALIB_HPP__ |
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#define __OPENCV_CCALIB_HPP__ |
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#include <opencv2/core.hpp> |
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#include <opencv2/features2d.hpp> |
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#include <opencv2/imgproc.hpp> |
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#include <opencv2/calib3d.hpp> |
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#include <vector> |
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/** @defgroup ccalib Custom Calibration Pattern for 3D reconstruction |
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*/ |
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namespace cv{ namespace ccalib{ |
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//! @addtogroup ccalib |
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//! @{ |
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class CV_EXPORTS CustomPattern : public Algorithm |
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{ |
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public: |
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CustomPattern(); |
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virtual ~CustomPattern(); |
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bool create(InputArray pattern, const Size2f boardSize, OutputArray output = noArray()); |
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bool findPattern(InputArray image, OutputArray matched_features, OutputArray pattern_points, const double ratio = 0.7, |
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const double proj_error = 8.0, const bool refine_position = false, OutputArray out = noArray(), |
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OutputArray H = noArray(), OutputArray pattern_corners = noArray()); |
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bool isInitialized(); |
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void getPatternPoints(OutputArray original_points); |
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/**< |
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Returns a vector<Point> of the original points. |
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*/ |
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double getPixelSize(); |
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/**< |
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Get the pixel size of the pattern |
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*/ |
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bool setFeatureDetector(Ptr<FeatureDetector> featureDetector); |
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bool setDescriptorExtractor(Ptr<DescriptorExtractor> extractor); |
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bool setDescriptorMatcher(Ptr<DescriptorMatcher> matcher); |
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Ptr<FeatureDetector> getFeatureDetector(); |
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Ptr<DescriptorExtractor> getDescriptorExtractor(); |
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Ptr<DescriptorMatcher> getDescriptorMatcher(); |
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double calibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, |
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Size imageSize, InputOutputArray cameraMatrix, InputOutputArray distCoeffs, |
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OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, int flags = 0, |
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TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 30, DBL_EPSILON)); |
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/**< |
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Calls the calirateCamera function with the same inputs. |
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*/ |
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bool findRt(InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs, |
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OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess = false, int flags = SOLVEPNP_ITERATIVE); |
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bool findRt(InputArray image, InputArray cameraMatrix, InputArray distCoeffs, |
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OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess = false, int flags = SOLVEPNP_ITERATIVE); |
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/**< |
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Uses solvePnP to find the rotation and translation of the pattern |
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with respect to the camera frame. |
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*/ |
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bool findRtRANSAC(InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs, |
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OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess = false, int iterationsCount = 100, |
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float reprojectionError = 8.0, int minInliersCount = 100, OutputArray inliers = noArray(), int flags = SOLVEPNP_ITERATIVE); |
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bool findRtRANSAC(InputArray image, InputArray cameraMatrix, InputArray distCoeffs, |
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OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess = false, int iterationsCount = 100, |
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float reprojectionError = 8.0, int minInliersCount = 100, OutputArray inliers = noArray(), int flags = SOLVEPNP_ITERATIVE); |
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/**< |
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Uses solvePnPRansac() |
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*/ |
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void drawOrientation(InputOutputArray image, InputArray tvec, InputArray rvec, InputArray cameraMatrix, |
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InputArray distCoeffs, double axis_length = 3, int axis_width = 2); |
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/**< |
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pattern_corners -> projected over the image position of the edges of the pattern. |
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*/ |
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private: |
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Mat img_roi; |
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std::vector<Point2f> obj_corners; |
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double pxSize; |
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bool initialized; |
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Ptr<FeatureDetector> detector; |
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Ptr<DescriptorExtractor> descriptorExtractor; |
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Ptr<DescriptorMatcher> descriptorMatcher; |
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std::vector<KeyPoint> keypoints; |
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std::vector<Point3f> points3d; |
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Mat descriptor; |
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bool init(Mat& image, const float pixel_size, OutputArray output = noArray()); |
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bool findPatternPass(const Mat& image, std::vector<Point2f>& matched_features, std::vector<Point3f>& pattern_points, |
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Mat& H, std::vector<Point2f>& scene_corners, const double pratio, const double proj_error, |
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const bool refine_position = false, const Mat& mask = Mat(), OutputArray output = noArray()); |
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void scaleFoundPoints(const double squareSize, const std::vector<KeyPoint>& corners, std::vector<Point3f>& pts3d); |
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void check_matches(std::vector<Point2f>& matched, const std::vector<Point2f>& pattern, std::vector<DMatch>& good, std::vector<Point3f>& pattern_3d, const Mat& H); |
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void keypoints2points(const std::vector<KeyPoint>& in, std::vector<Point2f>& out); |
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void updateKeypointsPos(std::vector<KeyPoint>& in, const std::vector<Point2f>& new_pos); |
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void refinePointsPos(const Mat& img, std::vector<Point2f>& p); |
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void refineKeypointsPos(const Mat& img, std::vector<KeyPoint>& kp); |
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}; |
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//! @} |
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}} // namespace ccalib, cv |
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#endif
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