158 lines
6.7 KiB
C++
158 lines
6.7 KiB
C++
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/*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(std::vector<KeyPoint>& 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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InputOutputArray rvec, InputOutputArray tvec, bool useExtrinsicGuess = false, int flags = SOLVEPNP_ITERATIVE);
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bool findRt(InputArray image, InputArray cameraMatrix, InputArray distCoeffs,
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InputOutputArray rvec, InputOutputArray 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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InputOutputArray rvec, InputOutputArray 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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InputOutputArray rvec, InputOutputArray 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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