123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107108109110111112113114115116117118119120121122123124125126127128129130131132133134135136137138139140141142143144145146147148149150151152153154155156157 |
- #ifndef __OPENCV_CCALIB_HPP__
- #define __OPENCV_CCALIB_HPP__
- #include <opencv2/core.hpp>
- #include <opencv2/features2d.hpp>
- #include <opencv2/imgproc.hpp>
- #include <opencv2/calib3d.hpp>
- #include <vector>
- namespace cv{ namespace ccalib{
- class CV_EXPORTS CustomPattern : public Algorithm
- {
- public:
- CustomPattern();
- virtual ~CustomPattern();
- bool create(InputArray pattern, const Size2f boardSize, OutputArray output = noArray());
- bool findPattern(InputArray image, OutputArray matched_features, OutputArray pattern_points, const double ratio = 0.7,
- const double proj_error = 8.0, const bool refine_position = false, OutputArray out = noArray(),
- OutputArray H = noArray(), OutputArray pattern_corners = noArray());
- bool isInitialized();
- void getPatternPoints(std::vector<KeyPoint>& original_points);
-
- double getPixelSize();
-
- bool setFeatureDetector(Ptr<FeatureDetector> featureDetector);
- bool setDescriptorExtractor(Ptr<DescriptorExtractor> extractor);
- bool setDescriptorMatcher(Ptr<DescriptorMatcher> matcher);
- Ptr<FeatureDetector> getFeatureDetector();
- Ptr<DescriptorExtractor> getDescriptorExtractor();
- Ptr<DescriptorMatcher> getDescriptorMatcher();
- double calibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints,
- Size imageSize, InputOutputArray cameraMatrix, InputOutputArray distCoeffs,
- OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, int flags = 0,
- TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 30, DBL_EPSILON));
-
- bool findRt(InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs,
- OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess = false, int flags = SOLVEPNP_ITERATIVE);
- bool findRt(InputArray image, InputArray cameraMatrix, InputArray distCoeffs,
- OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess = false, int flags = SOLVEPNP_ITERATIVE);
-
- bool findRtRANSAC(InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs,
- OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess = false, int iterationsCount = 100,
- float reprojectionError = 8.0, int minInliersCount = 100, OutputArray inliers = noArray(), int flags = SOLVEPNP_ITERATIVE);
- bool findRtRANSAC(InputArray image, InputArray cameraMatrix, InputArray distCoeffs,
- OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess = false, int iterationsCount = 100,
- float reprojectionError = 8.0, int minInliersCount = 100, OutputArray inliers = noArray(), int flags = SOLVEPNP_ITERATIVE);
-
- void drawOrientation(InputOutputArray image, InputArray tvec, InputArray rvec, InputArray cameraMatrix,
- InputArray distCoeffs, double axis_length = 3, int axis_width = 2);
-
- private:
- Mat img_roi;
- std::vector<Point2f> obj_corners;
- double pxSize;
- bool initialized;
- Ptr<FeatureDetector> detector;
- Ptr<DescriptorExtractor> descriptorExtractor;
- Ptr<DescriptorMatcher> descriptorMatcher;
- std::vector<KeyPoint> keypoints;
- std::vector<Point3f> points3d;
- Mat descriptor;
- bool init(Mat& image, const float pixel_size, OutputArray output = noArray());
- bool findPatternPass(const Mat& image, std::vector<Point2f>& matched_features, std::vector<Point3f>& pattern_points,
- Mat& H, std::vector<Point2f>& scene_corners, const double pratio, const double proj_error,
- const bool refine_position = false, const Mat& mask = Mat(), OutputArray output = noArray());
- void scaleFoundPoints(const double squareSize, const std::vector<KeyPoint>& corners, std::vector<Point3f>& pts3d);
- void check_matches(std::vector<Point2f>& matched, const std::vector<Point2f>& pattern, std::vector<DMatch>& good, std::vector<Point3f>& pattern_3d, const Mat& H);
- void keypoints2points(const std::vector<KeyPoint>& in, std::vector<Point2f>& out);
- void updateKeypointsPos(std::vector<KeyPoint>& in, const std::vector<Point2f>& new_pos);
- void refinePointsPos(const Mat& img, std::vector<Point2f>& p);
- void refineKeypointsPos(const Mat& img, std::vector<KeyPoint>& kp);
- };
- }}
- #endif
|