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/*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
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