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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/main.cpp
+6 -31
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@@ -8,9 +8,6 @@
#include <opencv2/cvconfig.h>
#include <opencv2/highgui.hpp>
#ifdef HAVE_OPENCV_ARUCO
#include <opencv2/aruco/charuco.hpp>
#endif
#include <string>
#include <vector>
@@ -106,11 +103,6 @@ int main(int argc, char** argv)
captureParameters capParams = paramsController.getCaptureParameters();
internalParameters intParams = paramsController.getInternalParameters();
#ifndef HAVE_OPENCV_ARUCO
if(capParams.board == chAruco)
CV_Error(cv::Error::StsNotImplemented, "Aruco module is disabled in current build configuration."
" Consider usage of another calibration pattern\n");
#endif
cv::TermCriteria solverTermCrit = cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS,
intParams.solverMaxIters, intParams.solverEps);
@@ -171,29 +163,12 @@ int main(int argc, char** argv)
globalData->imageSize = pipeline->getImageSize();
calibrationFlags = controller->getNewFlags();
if(capParams.board != chAruco) {
globalData->totalAvgErr =
cv::calibrateCamera(globalData->objectPoints, globalData->imagePoints,
globalData->imageSize, globalData->cameraMatrix,
globalData->distCoeffs, cv::noArray(), cv::noArray(),
globalData->stdDeviations, cv::noArray(), globalData->perViewErrors,
calibrationFlags, solverTermCrit);
}
else {
#ifdef HAVE_OPENCV_ARUCO
cv::Ptr<cv::aruco::Dictionary> dictionary =
cv::aruco::getPredefinedDictionary(cv::aruco::PREDEFINED_DICTIONARY_NAME(capParams.charucoDictName));
cv::Ptr<cv::aruco::CharucoBoard> charucoboard =
cv::aruco::CharucoBoard::create(capParams.boardSize.width, capParams.boardSize.height,
capParams.charucoSquareLength, capParams.charucoMarkerSize, dictionary);
globalData->totalAvgErr =
cv::aruco::calibrateCameraCharuco(globalData->allCharucoCorners, globalData->allCharucoIds,
charucoboard, globalData->imageSize,
globalData->cameraMatrix, globalData->distCoeffs,
cv::noArray(), cv::noArray(), globalData->stdDeviations, cv::noArray(),
globalData->perViewErrors, calibrationFlags, solverTermCrit);
#endif
}
globalData->totalAvgErr =
cv::calibrateCamera(globalData->objectPoints, globalData->imagePoints,
globalData->imageSize, globalData->cameraMatrix,
globalData->distCoeffs, cv::noArray(), cv::noArray(),
globalData->stdDeviations, cv::noArray(), globalData->perViewErrors,
calibrationFlags, solverTermCrit);
dataController->updateUndistortMap();
dataController->printParametersToConsole(std::cout);
controller->updateState();