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Diffstat (limited to 'thirdparty/linux/include/opencv2/ccalib.hpp')
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diff --git a/thirdparty/linux/include/opencv2/ccalib.hpp b/thirdparty/linux/include/opencv2/ccalib.hpp new file mode 100644 index 0000000..79df598 --- /dev/null +++ b/thirdparty/linux/include/opencv2/ccalib.hpp @@ -0,0 +1,157 @@ +/*M/////////////////////////////////////////////////////////////////////////////////////// + // + // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. + // + // By downloading, copying, installing or using the software you agree to this license. + // If you do not agree to this license, do not download, install, + // copy or use the software. + // + // + // License Agreement + // For Open Source Computer Vision Library + // + // Copyright (C) 2014, OpenCV Foundation, all rights reserved. + // Third party copyrights are property of their respective owners. + // + // Redistribution and use in source and binary forms, with or without modification, + // are permitted provided that the following conditions are met: + // + // * Redistribution's of source code must retain the above copyright notice, + // this list of conditions and the following disclaimer. + // + // * Redistribution's in binary form must reproduce the above copyright notice, + // this list of conditions and the following disclaimer in the documentation + // and/or other materials provided with the distribution. + // + // * The name of the copyright holders may not be used to endorse or promote products + // derived from this software without specific prior written permission. + // + // This software is provided by the copyright holders and contributors "as is" and + // any express or implied warranties, including, but not limited to, the implied + // warranties of merchantability and fitness for a particular purpose are disclaimed. + // In no event shall the Intel Corporation or contributors be liable for any direct, + // indirect, incidental, special, exemplary, or consequential damages + // (including, but not limited to, procurement of substitute goods or services; + // loss of use, data, or profits; or business interruption) however caused + // and on any theory of liability, whether in contract, strict liability, + // or tort (including negligence or otherwise) arising in any way out of + // the use of this software, even if advised of the possibility of such damage. + // + //M*/ + +#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> + +/** @defgroup ccalib Custom Calibration Pattern for 3D reconstruction +*/ + +namespace cv{ namespace ccalib{ + +//! @addtogroup 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(OutputArray original_points); + /**< + Returns a vector<Point> of the original points. + */ + double getPixelSize(); + /**< + Get the pixel size of the pattern + */ + + 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)); + /**< + Calls the calirateCamera function with the same inputs. + */ + + 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); + /**< + Uses solvePnP to find the rotation and translation of the pattern + with respect to the camera frame. + */ + + 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); + /**< + Uses solvePnPRansac() + */ + + void drawOrientation(InputOutputArray image, InputArray tvec, InputArray rvec, InputArray cameraMatrix, + InputArray distCoeffs, double axis_length = 3, int axis_width = 2); + /**< + pattern_corners -> projected over the image position of the edges of the pattern. + */ + +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); +}; + +//! @} + +}} // namespace ccalib, cv + +#endif |