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Code Packages Releases Wiki Activity

Merge branch 4.x

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This commit is contained in:
Alexander Alekhin
2022-08-21 14:55:48 +00:00
parent 99d216c8d4 925ff6241f
commit c25f776151
538 changed files with 84703 additions and 5374 deletions
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apps/interactive-calibration/frameProcessor.cpp
+42 -1
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@@ -109,6 +109,16 @@ bool CalibProcessor::detectAndParseChAruco(const cv::Mat &frame)
return false;
}
bool CalibProcessor::detectAndParseCircles(const cv::Mat &frame)
{
bool isTemplateFound = findCirclesGrid(frame, mBoardSize, mCurrentImagePoints, cv::CALIB_CB_SYMMETRIC_GRID, mBlobDetectorPtr);
if(isTemplateFound) {
mTemplateLocations.insert(mTemplateLocations.begin(), mCurrentImagePoints[0]);
cv::drawChessboardCorners(frame, mBoardSize, 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);
@@ -161,6 +171,14 @@ void CalibProcessor::saveFrameData()
mCalibData->allCharucoCorners.push_back(mCurrentCharucoCorners);
mCalibData->allCharucoIds.push_back(mCurrentCharucoIds);
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.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++ )
@@ -202,7 +220,16 @@ void CalibProcessor::showCaptureMessage(const cv::Mat& frame, const std::string
double textSize = VIDEO_TEXT_SIZE * frame.cols / (double) IMAGE_MAX_WIDTH;
cv::bitwise_not(frame, frame);
cv::putText(frame, message, textOrigin, 1, textSize, cv::Scalar(0,0,255), 2, cv::LINE_AA);
cv::imshow(mainWindowName, frame);
cv::Mat resized;
if (std::fabs(mZoom - 1.) > 0.001f)
{
cv::resize(frame, resized, cv::Size(), mZoom, mZoom);
}
else
{
resized = frame;
}
cv::imshow(mainWindowName, resized);
cv::waitKey(300);
}
@@ -267,6 +294,8 @@ CalibProcessor::CalibProcessor(cv::Ptr<calibrationData> data, captureParameters
static_cast<float>(mCalibData->imageSize.width * mCalibData->imageSize.width)) / 20.0;
mSquareSize = capParams.squareSize;
mTemplDist = capParams.templDst;
mSaveFrames = capParams.saveFrames;
mZoom = capParams.zoom;
switch(mBoardType)
{
@@ -278,6 +307,7 @@ CalibProcessor::CalibProcessor(cv::Ptr<calibrationData> data, captureParameters
capParams.charucoMarkerSize, mArucoDictionary);
#endif
break;
case CirclesGrid:
case AcirclesGrid:
mBlobDetectorPtr = cv::SimpleBlobDetector::create();
break;
@@ -292,10 +322,14 @@ CalibProcessor::CalibProcessor(cv::Ptr<calibrationData> data, captureParameters
cv::Mat CalibProcessor::processFrame(const cv::Mat &frame)
{
cv::Mat frameCopy;
cv::Mat frameCopyToSave;
frame.copyTo(frameCopy);
bool isTemplateFound = false;
mCurrentImagePoints.clear();
if(mSaveFrames)
frame.copyTo(frameCopyToSave);
switch(mBoardType)
{
case Chessboard:
@@ -304,6 +338,9 @@ cv::Mat CalibProcessor::processFrame(const cv::Mat &frame)
case chAruco:
isTemplateFound = detectAndParseChAruco(frameCopy);
break;
case CirclesGrid:
isTemplateFound = detectAndParseCircles(frameCopy);
break;
case AcirclesGrid:
isTemplateFound = detectAndParseACircles(frameCopy);
break;
@@ -323,6 +360,10 @@ cv::Mat CalibProcessor::processFrame(const cv::Mat &frame)
mCalibData->allCharucoCorners.size()));
if(!showOverlayMessage(displayMessage))
showCaptureMessage(frame, displayMessage);
if(mSaveFrames)
mCalibData->allFrames.push_back(frameCopyToSave);
mCapuredFrames++;
}
else {