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Diffstat (limited to 'thirdparty/linux/include/opencv2/ccalib/randpattern.hpp')
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diff --git a/thirdparty/linux/include/opencv2/ccalib/randpattern.hpp b/thirdparty/linux/include/opencv2/ccalib/randpattern.hpp new file mode 100644 index 0000000..9fc08f8 --- /dev/null +++ b/thirdparty/linux/include/opencv2/ccalib/randpattern.hpp @@ -0,0 +1,177 @@ +/*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) 2015, Baisheng Lai (laibaisheng@gmail.com), Zhejiang University, +// all rights reserved. +// +// 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_RANDOMPATTERN_HPP__ +#define __OPENCV_RANDOMPATTERN_HPP__ + +#include "opencv2/features2d.hpp" +#include "opencv2/highgui.hpp" + +namespace cv { namespace randpattern { + + +//! @addtogroup ccalib +//! @{ + +/** @brief Class for finding features points and corresponding 3D in world coordinate of +a "random" pattern, which can be to be used in calibration. It is useful when pattern is +partly occluded or only a part of pattern can be observed in multiple cameras calibration. +The pattern can be generated by RandomPatternGenerator class described in this file. + +Please refer to paper + B. Li, L. Heng, K. Kevin and M. Pollefeys, "A Multiple-Camera System + Calibration Toolbox Using A Feature Descriptor-Based Calibration + Pattern", in IROS 2013. +*/ + +class CV_EXPORTS RandomPatternCornerFinder +{ +public: + + /* @brief Construct RandomPatternCornerFinder object + + @param patternWidth the real width of "random" pattern in a user defined unit. + @param patternHeight the real height of "random" pattern in a user defined unit. + @param nMiniMatch number of minimal matches, otherwise that image is abandoned + @depth depth of output objectPoints and imagePoints, set it to be CV_32F or CV_64F. + @showExtraction whether show feature extraction, 0 for no and 1 for yes. + @detector feature detector to detect feature points in pattern and images. + @descriptor feature descriptor. + @matcher feature matcher. + */ + RandomPatternCornerFinder(float patternWidth, float patternHeight, + int nminiMatch = 20, int depth = CV_32F, int verbose = 0, int showExtraction = 0, + Ptr<FeatureDetector> detector = AKAZE::create(AKAZE::DESCRIPTOR_MLDB, 0, 3, 0.005f), + Ptr<DescriptorExtractor> descriptor = AKAZE::create(AKAZE::DESCRIPTOR_MLDB,0, 3, 0.005f), + Ptr<DescriptorMatcher> matcher = DescriptorMatcher::create("BruteForce-L1")); + + /* @brief Load pattern image and compute features for pattern + @param patternImage image for "random" pattern generated by RandomPatternGenerator, run it first. + */ + void loadPattern(cv::Mat patternImage); + + /* @brief Compute matched object points and image points which are used for calibration + The objectPoints (3D) and imagePoints (2D) are stored inside the class. Run getObjectPoints() + and getImagePoints() to get them. + + @param inputImages vector of 8-bit grayscale images containing "random" pattern + that are used for calibration. + */ + void computeObjectImagePoints(std::vector<cv::Mat> inputImages); + + //void computeObjectImagePoints2(std::vector<cv::Mat> inputImages); + + /* @brief Compute object and image points for a single image. It returns a vector<Mat> that + the first element stores the imagePoints and the second one stores the objectPoints. + + @param inputImage single input image for calibration + */ + std::vector<cv::Mat> computeObjectImagePointsForSingle(cv::Mat inputImage); + + /* @brief Get object(3D) points + */ + std::vector<cv::Mat> getObjectPoints(); + + /* @brief and image(2D) points + */ + std::vector<cv::Mat> getImagePoints(); + +private: + + std::vector<cv::Mat> _objectPonits, _imagePoints; + float _patternWidth, _patternHeight; + cv::Size _patternImageSize; + int _nminiMatch; + int _depth; + int _verbose; + + Ptr<FeatureDetector> _detector; + Ptr<DescriptorExtractor> _descriptor; + Ptr<DescriptorMatcher> _matcher; + Mat _descriptorPattern; + std::vector<cv::KeyPoint> _keypointsPattern; + Mat _patternImage; + int _showExtraction; + + void keyPoints2MatchedLocation(const std::vector<cv::KeyPoint>& imageKeypoints, + const std::vector<cv::KeyPoint>& patternKeypoints, const std::vector<cv::DMatch> matchces, + cv::Mat& matchedImagelocation, cv::Mat& matchedPatternLocation); + void getFilteredLocation(cv::Mat& imageKeypoints, cv::Mat& patternKeypoints, const cv::Mat mask); + void getObjectImagePoints(const cv::Mat& imageKeypoints, const cv::Mat& patternKeypoints); + void crossCheckMatching( cv::Ptr<DescriptorMatcher>& descriptorMatcher, + const Mat& descriptors1, const Mat& descriptors2, + std::vector<DMatch>& filteredMatches12, int knn=1 ); + void drawCorrespondence(const Mat& image1, const std::vector<cv::KeyPoint> keypoint1, + const Mat& image2, const std::vector<cv::KeyPoint> keypoint2, const std::vector<cv::DMatch> matchces, + const Mat& mask1, const Mat& mask2, const int step); +}; + +/* @brief Class to generate "random" pattern image that are used for RandomPatternCornerFinder +Please refer to paper +B. Li, L. Heng, K. Kevin and M. Pollefeys, "A Multiple-Camera System +Calibration Toolbox Using A Feature Descriptor-Based Calibration +Pattern", in IROS 2013. +*/ +class CV_EXPORTS RandomPatternGenerator +{ +public: + /* @brief Construct RandomPatternGenerator + + @param imageWidth image width of the generated pattern image + @param imageHeight image height of the generated pattern image + */ + RandomPatternGenerator(int imageWidth, int imageHeight); + + /* @brief Generate pattern + */ + void generatePattern(); + /* @brief Get pattern + */ + cv::Mat getPattern(); +private: + cv::Mat _pattern; + int _imageWidth, _imageHeight; +}; + +//! @} + +}} //namespace randpattern, cv +#endif
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