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Merge branch 4.x

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This commit is contained in:
Alexander Smorkalov
2023-06-01 09:37:38 +03:00
parent d24ffe9a65 fc5d412ba7
commit 5af40a0269
565 changed files with 84396 additions and 17589 deletions
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apps/interactive-calibration/frameProcessor.cpp
+46 -37
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@@ -59,14 +59,14 @@ FrameProcessor::~FrameProcessor()
bool CalibProcessor::detectAndParseChessboard(const cv::Mat &frame)
{
int chessBoardFlags = cv::CALIB_CB_ADAPTIVE_THRESH | cv::CALIB_CB_NORMALIZE_IMAGE | cv::CALIB_CB_FAST_CHECK;
bool isTemplateFound = cv::findChessboardCorners(frame, mBoardSize, mCurrentImagePoints, chessBoardFlags);
bool isTemplateFound = cv::findChessboardCorners(frame, mBoardSizeInnerCorners, mCurrentImagePoints, chessBoardFlags);
if (isTemplateFound) {
cv::Mat viewGray;
cv::cvtColor(frame, viewGray, cv::COLOR_BGR2GRAY);
cv::cornerSubPix(viewGray, mCurrentImagePoints, cv::Size(11,11),
cv::Size(-1,-1), cv::TermCriteria( cv::TermCriteria::EPS+cv::TermCriteria::COUNT, 30, 0.1 ));
cv::drawChessboardCorners(frame, mBoardSize, cv::Mat(mCurrentImagePoints), isTemplateFound);
cv::drawChessboardCorners(frame, mBoardSizeInnerCorners, cv::Mat(mCurrentImagePoints), isTemplateFound);
mTemplateLocations.insert(mTemplateLocations.begin(), mCurrentImagePoints[0]);
}
return isTemplateFound;
@@ -76,7 +76,7 @@ bool CalibProcessor::detectAndParseChAruco(const cv::Mat &frame)
{
cv::Ptr<cv::aruco::Board> board = mCharucoBoard.staticCast<cv::aruco::Board>();
std::vector<std::vector<cv::Point2f> > corners, rejected;
std::vector<std::vector<cv::Point2f> > corners;
std::vector<int> ids;
cv::Mat currentCharucoCorners, currentCharucoIds;
detector->detectBoard(frame, currentCharucoCorners, currentCharucoIds, corners, ids);
@@ -102,20 +102,20 @@ bool CalibProcessor::detectAndParseChAruco(const cv::Mat &frame)
bool CalibProcessor::detectAndParseCircles(const cv::Mat &frame)
{
bool isTemplateFound = findCirclesGrid(frame, mBoardSize, mCurrentImagePoints, cv::CALIB_CB_SYMMETRIC_GRID, mBlobDetectorPtr);
bool isTemplateFound = findCirclesGrid(frame, mBoardSizeUnits, mCurrentImagePoints, cv::CALIB_CB_SYMMETRIC_GRID, mBlobDetectorPtr);
if(isTemplateFound) {
mTemplateLocations.insert(mTemplateLocations.begin(), mCurrentImagePoints[0]);
cv::drawChessboardCorners(frame, mBoardSize, cv::Mat(mCurrentImagePoints), isTemplateFound);
cv::drawChessboardCorners(frame, mBoardSizeUnits, cv::Mat(mCurrentImagePoints), isTemplateFound);
}
return isTemplateFound;
}
bool CalibProcessor::detectAndParseACircles(const cv::Mat &frame)
{
bool isTemplateFound = findCirclesGrid(frame, mBoardSize, mCurrentImagePoints, cv::CALIB_CB_ASYMMETRIC_GRID, mBlobDetectorPtr);
bool isTemplateFound = findCirclesGrid(frame, mBoardSizeUnits, mCurrentImagePoints, cv::CALIB_CB_ASYMMETRIC_GRID, mBlobDetectorPtr);
if(isTemplateFound) {
mTemplateLocations.insert(mTemplateLocations.begin(), mCurrentImagePoints[0]);
cv::drawChessboardCorners(frame, mBoardSize, cv::Mat(mCurrentImagePoints), isTemplateFound);
cv::drawChessboardCorners(frame, mBoardSizeUnits, cv::Mat(mCurrentImagePoints), isTemplateFound);
}
return isTemplateFound;
}
@@ -126,18 +126,18 @@ bool CalibProcessor::detectAndParseDualACircles(const cv::Mat &frame)
cv::Mat invertedView;
cv::bitwise_not(frame, invertedView);
bool isWhiteGridFound = cv::findCirclesGrid(frame, mBoardSize, mCurrentImagePoints, cv::CALIB_CB_ASYMMETRIC_GRID, mBlobDetectorPtr);
bool isWhiteGridFound = cv::findCirclesGrid(frame, mBoardSizeUnits, mCurrentImagePoints, cv::CALIB_CB_ASYMMETRIC_GRID, mBlobDetectorPtr);
if(!isWhiteGridFound)
return false;
bool isBlackGridFound = cv::findCirclesGrid(invertedView, mBoardSize, blackPointbuf, cv::CALIB_CB_ASYMMETRIC_GRID, mBlobDetectorPtr);
bool isBlackGridFound = cv::findCirclesGrid(invertedView, mBoardSizeUnits, blackPointbuf, cv::CALIB_CB_ASYMMETRIC_GRID, mBlobDetectorPtr);
if(!isBlackGridFound)
{
mCurrentImagePoints.clear();
return false;
}
cv::drawChessboardCorners(frame, mBoardSize, cv::Mat(mCurrentImagePoints), isWhiteGridFound);
cv::drawChessboardCorners(frame, mBoardSize, cv::Mat(blackPointbuf), isBlackGridFound);
cv::drawChessboardCorners(frame, mBoardSizeUnits, cv::Mat(mCurrentImagePoints), isWhiteGridFound);
cv::drawChessboardCorners(frame, mBoardSizeUnits, cv::Mat(blackPointbuf), isBlackGridFound);
mCurrentImagePoints.insert(mCurrentImagePoints.end(), blackPointbuf.begin(), blackPointbuf.end());
mTemplateLocations.insert(mTemplateLocations.begin(), mCurrentImagePoints[0]);
@@ -152,14 +152,14 @@ void CalibProcessor::saveFrameData()
switch(mBoardType)
{
case Chessboard:
objectPoints.reserve(mBoardSize.height*mBoardSize.width);
for( int i = 0; i < mBoardSize.height; ++i )
for( int j = 0; j < mBoardSize.width; ++j )
objectPoints.reserve(mBoardSizeInnerCorners.height*mBoardSizeInnerCorners.width);
for( int i = 0; i < mBoardSizeInnerCorners.height; ++i )
for( int j = 0; j < mBoardSizeInnerCorners.width; ++j )
objectPoints.push_back(cv::Point3f(j*mSquareSize, i*mSquareSize, 0));
mCalibData->imagePoints.push_back(mCurrentImagePoints);
mCalibData->objectPoints.push_back(objectPoints);
break;
case chAruco:
case ChArUco:
mCalibData->allCharucoCorners.push_back(mCurrentCharucoCorners);
mCalibData->allCharucoIds.push_back(mCurrentCharucoIds);
@@ -169,38 +169,38 @@ void CalibProcessor::saveFrameData()
mCalibData->objectPoints.push_back(objectPoints);
break;
case CirclesGrid:
objectPoints.reserve(mBoardSize.height*mBoardSize.width);
for( int i = 0; i < mBoardSize.height; i++ )
for( int j = 0; j < mBoardSize.width; j++ )
objectPoints.reserve(mBoardSizeUnits.height*mBoardSizeUnits.width);
for( int i = 0; i < mBoardSizeUnits.height; i++ )
for( int j = 0; j < mBoardSizeUnits.width; j++ )
objectPoints.push_back(cv::Point3f(j*mSquareSize, i*mSquareSize, 0));
mCalibData->imagePoints.push_back(mCurrentImagePoints);
mCalibData->objectPoints.push_back(objectPoints);
break;
case AcirclesGrid:
objectPoints.reserve(mBoardSize.height*mBoardSize.width);
for( int i = 0; i < mBoardSize.height; i++ )
for( int j = 0; j < mBoardSize.width; j++ )
objectPoints.reserve(mBoardSizeUnits.height*mBoardSizeUnits.width);
for( int i = 0; i < mBoardSizeUnits.height; i++ )
for( int j = 0; j < mBoardSizeUnits.width; j++ )
objectPoints.push_back(cv::Point3f((2*j + i % 2)*mSquareSize, i*mSquareSize, 0));
mCalibData->imagePoints.push_back(mCurrentImagePoints);
mCalibData->objectPoints.push_back(objectPoints);
break;
case DoubleAcirclesGrid:
{
float gridCenterX = (2*((float)mBoardSize.width - 1) + 1)*mSquareSize + mTemplDist / 2;
float gridCenterY = (mBoardSize.height - 1)*mSquareSize / 2;
objectPoints.reserve(2*mBoardSize.height*mBoardSize.width);
float gridCenterX = (2*((float)mBoardSizeUnits.width - 1) + 1)*mSquareSize + mTemplDist / 2;
float gridCenterY = (mBoardSizeUnits.height - 1)*mSquareSize / 2;
objectPoints.reserve(2*mBoardSizeUnits.height*mBoardSizeUnits.width);
//white part
for( int i = 0; i < mBoardSize.height; i++ )
for( int j = 0; j < mBoardSize.width; j++ )
for( int i = 0; i < mBoardSizeUnits.height; i++ )
for( int j = 0; j < mBoardSizeUnits.width; j++ )
objectPoints.push_back(
cv::Point3f(-float((2*j + i % 2)*mSquareSize + mTemplDist +
(2*(mBoardSize.width - 1) + 1)*mSquareSize - gridCenterX),
(2*(mBoardSizeUnits.width - 1) + 1)*mSquareSize - gridCenterX),
-float(i*mSquareSize) - gridCenterY,
0));
//black part
for( int i = 0; i < mBoardSize.height; i++ )
for( int j = 0; j < mBoardSize.width; j++ )
for( int i = 0; i < mBoardSizeUnits.height; i++ )
for( int j = 0; j < mBoardSizeUnits.width; j++ )
objectPoints.push_back(cv::Point3f(-float((2*j + i % 2)*mSquareSize - gridCenterX),
-float(i*mSquareSize) - gridCenterY, 0));
@@ -262,7 +262,8 @@ bool CalibProcessor::checkLastFrame()
}
CalibProcessor::CalibProcessor(cv::Ptr<calibrationData> data, captureParameters &capParams) :
mCalibData(data), mBoardType(capParams.board), mBoardSize(capParams.boardSize)
mCalibData(data), mBoardType(capParams.board), mBoardSizeUnits(capParams.boardSizeUnits),
mBoardSizeInnerCorners(capParams.boardSizeInnerCorners)
{
mCapuredFrames = 0;
mNeededFramesNum = capParams.calibrationStep;
@@ -278,10 +279,18 @@ CalibProcessor::CalibProcessor(cv::Ptr<calibrationData> data, captureParameters
switch(mBoardType)
{
case chAruco:
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);
case ChArUco:
if (capParams.charucoDictFile != "None") {
std::string filename = capParams.charucoDictFile;
cv::FileStorage dict_file(filename, cv::FileStorage::Mode::READ);
cv::FileNode fn(dict_file.root());
mArucoDictionary.readDictionary(fn);
}
else {
mArucoDictionary = cv::aruco::getPredefinedDictionary(cv::aruco::PredefinedDictionaryType(capParams.charucoDictName));
}
mCharucoBoard = cv::makePtr<cv::aruco::CharucoBoard>(cv::Size(mBoardSizeUnits.width, mBoardSizeUnits.height), capParams.charucoSquareLength,
capParams.charucoMarkerSize, mArucoDictionary);
detector = cv::makePtr<cv::aruco::CharucoDetector>(cv::aruco::CharucoDetector(*mCharucoBoard, charucoParameters));
break;
case CirclesGrid:
@@ -312,7 +321,7 @@ cv::Mat CalibProcessor::processFrame(const cv::Mat &frame)
case Chessboard:
isTemplateFound = detectAndParseChessboard(frameCopy);
break;
case chAruco:
case ChArUco:
isTemplateFound = detectAndParseChAruco(frameCopy);
break;
case CirclesGrid:
@@ -392,7 +401,7 @@ void ShowProcessor::drawBoard(cv::Mat &img, cv::InputArray points)
void ShowProcessor::drawGridPoints(const cv::Mat &frame)
{
if(mBoardType != chAruco)
if(mBoardType != ChArUco)
for(std::vector<std::vector<cv::Point2f> >::iterator it = mCalibdata->imagePoints.begin(); it != mCalibdata->imagePoints.end(); ++it)
for(std::vector<cv::Point2f>::iterator pointIt = (*it).begin(); pointIt != (*it).end(); ++pointIt)
cv::circle(frame, *pointIt, POINT_SIZE, cv::Scalar(0, 255, 0), 1, cv::LINE_AA);
@@ -514,7 +523,7 @@ void ShowProcessor::updateBoardsView()
if(mVisMode == Window) {
cv::Size originSize = mCalibdata->imageSize;
cv::Mat altGridView = cv::Mat::zeros((int)(originSize.height*mGridViewScale), (int)(originSize.width*mGridViewScale), CV_8UC3);
if(mBoardType != chAruco)
if(mBoardType != ChArUco)
for(std::vector<std::vector<cv::Point2f> >::iterator it = mCalibdata->imagePoints.begin(); it != mCalibdata->imagePoints.end(); ++it)
if(mBoardType != DoubleAcirclesGrid)
drawBoard(altGridView, *it);