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336 lines
12 KiB
C++
336 lines
12 KiB
C++
#include "opencv2/calib3d/calib3d.hpp"
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#include "opencv2/imgproc/imgproc.hpp"
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#include "opencv2/highgui/highgui.hpp"
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#include <iostream>
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#include <vector>
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#include <algorithm>
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#include <iterator>
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#include <stdio.h>
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using namespace cv;
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using namespace std;
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static void help()
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{
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printf( "\nThis code generates an artificial camera and artificial chessboard images,\n"
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"and then calibrates. It is basically test code for calibration that shows\n"
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"how to package calibration points and then calibrate the camera.\n"
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"Usage:\n"
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"./calibration_artificial\n\n");
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}
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namespace cv
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{
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/* copy of class defines int tests/cv/chessboardgenerator.h */
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class ChessBoardGenerator
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{
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public:
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double sensorWidth;
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double sensorHeight;
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size_t squareEdgePointsNum;
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double min_cos;
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mutable double cov;
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Size patternSize;
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int rendererResolutionMultiplier;
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ChessBoardGenerator(const Size& patternSize = Size(8, 6));
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Mat operator()(const Mat& bg, const Mat& camMat, const Mat& distCoeffs, vector<Point2f>& corners) const;
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Size cornersSize() const;
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private:
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void generateEdge(const Point3f& p1, const Point3f& p2, vector<Point3f>& out) const;
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Mat generageChessBoard(const Mat& bg, const Mat& camMat, const Mat& distCoeffs,
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const Point3f& zero, const Point3f& pb1, const Point3f& pb2,
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float sqWidth, float sqHeight, const vector<Point3f>& whole, vector<Point2f>& corners) const;
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void generateBasis(Point3f& pb1, Point3f& pb2) const;
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Point3f generateChessBoardCenter(const Mat& camMat, const Size& imgSize) const;
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Mat rvec, tvec;
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};
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};
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const Size imgSize(800, 600);
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const Size brdSize(8, 7);
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const size_t brds_num = 20;
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template<class T> ostream& operator<<(ostream& out, const Mat_<T>& mat)
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{
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for(int j = 0; j < mat.rows; ++j)
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for(int i = 0; i < mat.cols; ++i)
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out << mat(j, i) << " ";
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return out;
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}
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int main()
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{
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help();
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cout << "Initializing background...";
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Mat background(imgSize, CV_8UC3);
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randu(background, Scalar::all(32), Scalar::all(255));
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GaussianBlur(background, background, Size(5, 5), 2);
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cout << "Done" << endl;
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cout << "Initializing chess board generator...";
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ChessBoardGenerator cbg(brdSize);
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cbg.rendererResolutionMultiplier = 4;
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cout << "Done" << endl;
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/* camera params */
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Mat_<double> camMat(3, 3);
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camMat << 300., 0., background.cols/2., 0, 300., background.rows/2., 0., 0., 1.;
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Mat_<double> distCoeffs(1, 5);
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distCoeffs << 1.2, 0.2, 0., 0., 0.;
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cout << "Generating chessboards...";
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vector<Mat> boards(brds_num);
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vector<Point2f> tmp;
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for(size_t i = 0; i < brds_num; ++i)
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cout << (boards[i] = cbg(background, camMat, distCoeffs, tmp), i) << " ";
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cout << "Done" << endl;
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vector<Point3f> chessboard3D;
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for(int j = 0; j < cbg.cornersSize().height; ++j)
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for(int i = 0; i < cbg.cornersSize().width; ++i)
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chessboard3D.push_back(Point3i(i, j, 0));
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/* init points */
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vector< vector<Point3f> > objectPoints;
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vector< vector<Point2f> > imagePoints;
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cout << endl << "Finding chessboards' corners...";
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for(size_t i = 0; i < brds_num; ++i)
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{
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cout << i;
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namedWindow("Current chessboard"); imshow("Current chessboard", boards[i]); waitKey(100);
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bool found = findChessboardCorners(boards[i], cbg.cornersSize(), tmp);
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if (found)
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{
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imagePoints.push_back(tmp);
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objectPoints.push_back(chessboard3D);
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cout<< "-found ";
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}
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else
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cout<< "-not-found ";
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drawChessboardCorners(boards[i], cbg.cornersSize(), Mat(tmp), found);
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imshow("Current chessboard", boards[i]); waitKey(1000);
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}
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cout << "Done" << endl;
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destroyAllWindows();
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Mat camMat_est;
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Mat distCoeffs_est;
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vector<Mat> rvecs, tvecs;
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cout << "Calibrating...";
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double rep_err = calibrateCamera(objectPoints, imagePoints, imgSize, camMat_est, distCoeffs_est, rvecs, tvecs);
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cout << "Done" << endl;
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cout << endl << "Average Reprojection error: " << rep_err/brds_num/cbg.cornersSize().area() << endl;
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cout << "==================================" << endl;
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cout << "Original camera matrix:\n" << camMat << endl;
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cout << "Original distCoeffs:\n" << distCoeffs << endl;
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cout << "==================================" << endl;
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cout << "Estimated camera matrix:\n" << (Mat_<double>&)camMat_est << endl;
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cout << "Estimated distCoeffs:\n" << (Mat_<double>&)distCoeffs_est << endl;
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return 0;
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}
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/////////////////////////////////////////////////////////////////////////////////////////////////
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/////////////////////////////////////////////////////////////////////////////////////////////////
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/////////////////////////////////////////////////////////////////////////////////////////////////
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// Copy of tests/cv/src/chessboardgenerator code. Just do not want to add dependency.
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ChessBoardGenerator::ChessBoardGenerator(const Size& _patternSize) : sensorWidth(32), sensorHeight(24),
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squareEdgePointsNum(200), min_cos(std::sqrt(2.f)*0.5f), cov(0.5),
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patternSize(_patternSize), rendererResolutionMultiplier(4), tvec(Mat::zeros(1, 3, CV_32F))
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{
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Rodrigues(Mat::eye(3, 3, CV_32F), rvec);
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}
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void cv::ChessBoardGenerator::generateEdge(const Point3f& p1, const Point3f& p2, vector<Point3f>& out) const
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{
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Point3f step = (p2 - p1) * (1.f/squareEdgePointsNum);
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for(size_t n = 0; n < squareEdgePointsNum; ++n)
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out.push_back( p1 + step * (float)n);
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}
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Size cv::ChessBoardGenerator::cornersSize() const
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{
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return Size(patternSize.width-1, patternSize.height-1);
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}
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struct Mult
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{
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float m;
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Mult(int mult) : m((float)mult) {}
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Point2f operator()(const Point2f& p)const { return p * m; }
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};
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void cv::ChessBoardGenerator::generateBasis(Point3f& pb1, Point3f& pb2) const
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{
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RNG& rng = theRNG();
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Vec3f n;
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for(;;)
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{
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n[0] = rng.uniform(-1.f, 1.f);
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n[1] = rng.uniform(-1.f, 1.f);
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n[2] = rng.uniform(-1.f, 1.f);
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float len = (float)norm(n);
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n[0]/=len;
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n[1]/=len;
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n[2]/=len;
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if (fabs(n[2]) > min_cos)
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break;
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}
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Vec3f n_temp = n; n_temp[0] += 100;
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Vec3f b1 = n.cross(n_temp);
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Vec3f b2 = n.cross(b1);
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float len_b1 = (float)norm(b1);
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float len_b2 = (float)norm(b2);
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pb1 = Point3f(b1[0]/len_b1, b1[1]/len_b1, b1[2]/len_b1);
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pb2 = Point3f(b2[0]/len_b1, b2[1]/len_b2, b2[2]/len_b2);
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}
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Mat cv::ChessBoardGenerator::generageChessBoard(const Mat& bg, const Mat& camMat, const Mat& distCoeffs,
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const Point3f& zero, const Point3f& pb1, const Point3f& pb2,
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float sqWidth, float sqHeight, const vector<Point3f>& whole,
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vector<Point2f>& corners) const
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{
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vector< vector<Point> > squares_black;
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for(int i = 0; i < patternSize.width; ++i)
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for(int j = 0; j < patternSize.height; ++j)
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if ( (i % 2 == 0 && j % 2 == 0) || (i % 2 != 0 && j % 2 != 0) )
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{
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vector<Point3f> pts_square3d;
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vector<Point2f> pts_square2d;
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Point3f p1 = zero + (i + 0) * sqWidth * pb1 + (j + 0) * sqHeight * pb2;
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Point3f p2 = zero + (i + 1) * sqWidth * pb1 + (j + 0) * sqHeight * pb2;
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Point3f p3 = zero + (i + 1) * sqWidth * pb1 + (j + 1) * sqHeight * pb2;
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Point3f p4 = zero + (i + 0) * sqWidth * pb1 + (j + 1) * sqHeight * pb2;
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generateEdge(p1, p2, pts_square3d);
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generateEdge(p2, p3, pts_square3d);
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generateEdge(p3, p4, pts_square3d);
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generateEdge(p4, p1, pts_square3d);
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projectPoints( Mat(pts_square3d), rvec, tvec, camMat, distCoeffs, pts_square2d);
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squares_black.resize(squares_black.size() + 1);
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vector<Point2f> temp;
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approxPolyDP(Mat(pts_square2d), temp, 1.0, true);
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transform(temp.begin(), temp.end(), back_inserter(squares_black.back()), Mult(rendererResolutionMultiplier));
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}
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/* calculate corners */
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vector<Point3f> corners3d;
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for(int j = 0; j < patternSize.height - 1; ++j)
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for(int i = 0; i < patternSize.width - 1; ++i)
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corners3d.push_back(zero + (i + 1) * sqWidth * pb1 + (j + 1) * sqHeight * pb2);
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corners.clear();
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projectPoints( Mat(corners3d), rvec, tvec, camMat, distCoeffs, corners);
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vector<Point3f> whole3d;
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vector<Point2f> whole2d;
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generateEdge(whole[0], whole[1], whole3d);
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generateEdge(whole[1], whole[2], whole3d);
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generateEdge(whole[2], whole[3], whole3d);
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generateEdge(whole[3], whole[0], whole3d);
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projectPoints( Mat(whole3d), rvec, tvec, camMat, distCoeffs, whole2d);
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vector<Point2f> temp_whole2d;
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approxPolyDP(Mat(whole2d), temp_whole2d, 1.0, true);
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vector< vector<Point > > whole_contour(1);
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transform(temp_whole2d.begin(), temp_whole2d.end(),
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back_inserter(whole_contour.front()), Mult(rendererResolutionMultiplier));
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Mat result;
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if (rendererResolutionMultiplier == 1)
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{
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result = bg.clone();
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drawContours(result, whole_contour, -1, Scalar::all(255), FILLED, LINE_AA);
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drawContours(result, squares_black, -1, Scalar::all(0), FILLED, LINE_AA);
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}
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else
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{
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Mat tmp;
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resize(bg, tmp, bg.size() * rendererResolutionMultiplier);
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drawContours(tmp, whole_contour, -1, Scalar::all(255), FILLED, LINE_AA);
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drawContours(tmp, squares_black, -1, Scalar::all(0), FILLED, LINE_AA);
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resize(tmp, result, bg.size(), 0, 0, INTER_AREA);
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}
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return result;
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}
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Mat cv::ChessBoardGenerator::operator ()(const Mat& bg, const Mat& camMat, const Mat& distCoeffs, vector<Point2f>& corners) const
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{
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cov = std::min(cov, 0.8);
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double fovx, fovy, focalLen;
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Point2d principalPoint;
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double aspect;
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calibrationMatrixValues( camMat, bg.size(), sensorWidth, sensorHeight,
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fovx, fovy, focalLen, principalPoint, aspect);
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RNG& rng = theRNG();
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float d1 = static_cast<float>(rng.uniform(0.1, 10.0));
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float ah = static_cast<float>(rng.uniform(-fovx/2 * cov, fovx/2 * cov) * CV_PI / 180);
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float av = static_cast<float>(rng.uniform(-fovy/2 * cov, fovy/2 * cov) * CV_PI / 180);
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Point3f p;
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p.z = cos(ah) * d1;
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p.x = sin(ah) * d1;
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p.y = p.z * tan(av);
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Point3f pb1, pb2;
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generateBasis(pb1, pb2);
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float cbHalfWidth = static_cast<float>(norm(p) * sin( std::min(fovx, fovy) * 0.5 * CV_PI / 180));
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float cbHalfHeight = cbHalfWidth * patternSize.height / patternSize.width;
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vector<Point3f> pts3d(4);
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vector<Point2f> pts2d(4);
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for(;;)
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{
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pts3d[0] = p + pb1 * cbHalfWidth + cbHalfHeight * pb2;
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pts3d[1] = p + pb1 * cbHalfWidth - cbHalfHeight * pb2;
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pts3d[2] = p - pb1 * cbHalfWidth - cbHalfHeight * pb2;
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pts3d[3] = p - pb1 * cbHalfWidth + cbHalfHeight * pb2;
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/* can remake with better perf */
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projectPoints( Mat(pts3d), rvec, tvec, camMat, distCoeffs, pts2d);
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bool inrect1 = pts2d[0].x < bg.cols && pts2d[0].y < bg.rows && pts2d[0].x > 0 && pts2d[0].y > 0;
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bool inrect2 = pts2d[1].x < bg.cols && pts2d[1].y < bg.rows && pts2d[1].x > 0 && pts2d[1].y > 0;
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bool inrect3 = pts2d[2].x < bg.cols && pts2d[2].y < bg.rows && pts2d[2].x > 0 && pts2d[2].y > 0;
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bool inrect4 = pts2d[3].x < bg.cols && pts2d[3].y < bg.rows && pts2d[3].x > 0 && pts2d[3].y > 0;
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if ( inrect1 && inrect2 && inrect3 && inrect4)
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break;
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cbHalfWidth*=0.8f;
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cbHalfHeight = cbHalfWidth * patternSize.height / patternSize.width;
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}
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cbHalfWidth *= static_cast<float>(patternSize.width)/(patternSize.width + 1);
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cbHalfHeight *= static_cast<float>(patternSize.height)/(patternSize.height + 1);
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Point3f zero = p - pb1 * cbHalfWidth - cbHalfHeight * pb2;
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float sqWidth = 2 * cbHalfWidth/patternSize.width;
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float sqHeight = 2 * cbHalfHeight/patternSize.height;
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return generageChessBoard(bg, camMat, distCoeffs, zero, pb1, pb2, sqWidth, sqHeight, pts3d, corners);
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}
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