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Merge branch 4.x

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This commit is contained in:
Alexander Alekhin
2023-01-09 11:08:02 +00:00
parent 8a62b03761 2ab46d9553
commit 593a376566
880 changed files with 83958 additions and 9368 deletions
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apps/interactive-calibration/frameProcessor.cpp
+21 -44
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@@ -12,7 +12,6 @@
#include <vector>
#include <string>
#include <algorithm>
#include <limits>
using namespace calib;
@@ -75,17 +74,12 @@ bool CalibProcessor::detectAndParseChessboard(const cv::Mat &frame)
bool CalibProcessor::detectAndParseChAruco(const cv::Mat &frame)
{
#ifdef HAVE_OPENCV_ARUCO
cv::Ptr<cv::aruco::Board> board = mCharucoBoard.staticCast<cv::aruco::Board>();
std::vector<std::vector<cv::Point2f> > corners, rejected;
std::vector<int> ids;
cv::aruco::detectMarkers(frame, mArucoDictionary, corners, ids, cv::aruco::DetectorParameters::create(), rejected);
cv::aruco::refineDetectedMarkers(frame, board, corners, ids, rejected);
cv::Mat currentCharucoCorners, currentCharucoIds;
if(ids.size() > 0)
cv::aruco::interpolateCornersCharuco(corners, ids, frame, mCharucoBoard, currentCharucoCorners,
currentCharucoIds);
detector->detectBoard(frame, currentCharucoCorners, currentCharucoIds, corners, ids);
if(ids.size() > 0) cv::aruco::drawDetectedMarkers(frame, corners);
if(currentCharucoCorners.total() > 3) {
@@ -103,9 +97,6 @@ bool CalibProcessor::detectAndParseChAruco(const cv::Mat &frame)
mCurrentCharucoIds = currentCharucoIds;
return true;
}
#else
CV_UNUSED(frame);
#endif
return false;
}
@@ -156,6 +147,7 @@ bool CalibProcessor::detectAndParseDualACircles(const cv::Mat &frame)
void CalibProcessor::saveFrameData()
{
std::vector<cv::Point3f> objectPoints;
std::vector<cv::Point2f> imagePoints;
switch(mBoardType)
{
@@ -170,6 +162,11 @@ void CalibProcessor::saveFrameData()
case chAruco:
mCalibData->allCharucoCorners.push_back(mCurrentCharucoCorners);
mCalibData->allCharucoIds.push_back(mCurrentCharucoIds);
mCharucoBoard->matchImagePoints(mCurrentCharucoCorners, mCurrentCharucoIds, objectPoints, imagePoints);
CV_Assert(mCurrentCharucoIds.total() == imagePoints.size());
mCalibData->imagePoints.push_back(imagePoints);
mCalibData->objectPoints.push_back(objectPoints);
break;
case CirclesGrid:
objectPoints.reserve(mBoardSize.height*mBoardSize.width);
@@ -249,37 +246,17 @@ bool CalibProcessor::checkLastFrame()
else
mCalibData->cameraMatrix.copyTo(tmpCamMatrix);
if(mBoardType != chAruco) {
cv::Mat r, t, angles;
cv::solvePnP(mCalibData->objectPoints.back(), mCurrentImagePoints, tmpCamMatrix, mCalibData->distCoeffs, r, t);
RodriguesToEuler(r, angles, CALIB_DEGREES);
if(fabs(angles.at<double>(0)) > badAngleThresh || fabs(angles.at<double>(1)) > badAngleThresh) {
mCalibData->objectPoints.pop_back();
mCalibData->imagePoints.pop_back();
isFrameBad = true;
}
}
else {
#ifdef HAVE_OPENCV_ARUCO
cv::Mat r, t, angles;
std::vector<cv::Point3f> allObjPoints;
allObjPoints.reserve(mCurrentCharucoIds.total());
for(size_t i = 0; i < mCurrentCharucoIds.total(); i++) {
int pointID = mCurrentCharucoIds.at<int>((int)i);
CV_Assert(pointID >= 0 && pointID < (int)mCharucoBoard->chessboardCorners.size());
allObjPoints.push_back(mCharucoBoard->chessboardCorners[pointID]);
}
cv::solvePnP(allObjPoints, mCurrentCharucoCorners, tmpCamMatrix, mCalibData->distCoeffs, r, t);
RodriguesToEuler(r, angles, CALIB_DEGREES);
if(180.0 - fabs(angles.at<double>(0)) > badAngleThresh || fabs(angles.at<double>(1)) > badAngleThresh) {
isFrameBad = true;
cv::Mat r, t, angles;
cv::solvePnP(mCalibData->objectPoints.back(), mCalibData->imagePoints.back(), tmpCamMatrix, mCalibData->distCoeffs, r, t);
RodriguesToEuler(r, angles, CALIB_DEGREES);
if(fabs(angles.at<double>(0)) > badAngleThresh || fabs(angles.at<double>(1)) > badAngleThresh) {
mCalibData->objectPoints.pop_back();
mCalibData->imagePoints.pop_back();
if (mCalibData->allCharucoCorners.size()) {
mCalibData->allCharucoCorners.pop_back();
mCalibData->allCharucoIds.pop_back();
}
#endif
isFrameBad = true;
}
return isFrameBad;
}
@@ -296,16 +273,16 @@ CalibProcessor::CalibProcessor(cv::Ptr<calibrationData> data, captureParameters
mTemplDist = capParams.templDst;
mSaveFrames = capParams.saveFrames;
mZoom = capParams.zoom;
cv::aruco::CharucoParameters charucoParameters;
charucoParameters.tryRefineMarkers = true;
switch(mBoardType)
{
case chAruco:
#ifdef HAVE_OPENCV_ARUCO
mArucoDictionary = cv::aruco::getPredefinedDictionary(
cv::aruco::PREDEFINED_DICTIONARY_NAME(capParams.charucoDictName));
mCharucoBoard = cv::aruco::CharucoBoard::create(mBoardSize.width, mBoardSize.height, capParams.charucoSquareLength,
capParams.charucoMarkerSize, mArucoDictionary);
#endif
mArucoDictionary = cv::aruco::getPredefinedDictionary(cv::aruco::PredefinedDictionaryType(capParams.charucoDictName));
mCharucoBoard = cv::makePtr<cv::aruco::CharucoBoard>(cv::Size(mBoardSize.width + 1, mBoardSize.height + 1), capParams.charucoSquareLength,
capParams.charucoMarkerSize, mArucoDictionary);
detector = cv::makePtr<cv::aruco::CharucoDetector>(cv::aruco::CharucoDetector(*mCharucoBoard, charucoParameters));
break;
case CirclesGrid:
case AcirclesGrid: