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121034876d
merge with https://github.com/opencv/opencv_contrib/pull/3394 move Charuco API from contrib to main repo: - add CharucoDetector: ``` CharucoDetector::detectBoard(InputArray image, InputOutputArrayOfArrays markerCorners, InputOutputArray markerIds, OutputArray charucoCorners, OutputArray charucoIds) const // detect charucoCorners and/or markerCorners CharucoDetector::detectDiamonds(InputArray image, InputOutputArrayOfArrays _markerCorners, InputOutputArrayOfArrays _markerIds, OutputArrayOfArrays _diamondCorners, OutputArray _diamondIds) const ``` - add `matchImagePoints()` for `CharucoBoard` - remove contrib aruco dependencies from interactive-calibration tool - move almost all aruco tests to objdetect ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [x] I agree to contribute to the project under Apache 2 License. - [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV - [x] The PR is proposed to the proper branch - [x] There is a reference to the original bug report and related work - [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable Patch to opencv_extra has the same branch name. - [x] The feature is well documented and sample code can be built with the project CMake
105 lines
3.0 KiB
C++
105 lines
3.0 KiB
C++
// This file is part of OpenCV project.
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// It is subject to the license terms in the LICENSE file found in the top-level directory
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// of this distribution and at http://opencv.org/license.html.
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#ifndef FRAME_PROCESSOR_HPP
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#define FRAME_PROCESSOR_HPP
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#include <opencv2/core.hpp>
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#include <opencv2/calib3d.hpp>
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#include <opencv2/objdetect.hpp>
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#include "calibCommon.hpp"
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#include "calibController.hpp"
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namespace calib
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{
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class FrameProcessor
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{
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protected:
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public:
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virtual ~FrameProcessor();
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virtual cv::Mat processFrame(const cv::Mat& frame) = 0;
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virtual bool isProcessed() const = 0;
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virtual void resetState() = 0;
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};
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class CalibProcessor : public FrameProcessor
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{
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protected:
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cv::Ptr<calibrationData> mCalibData;
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TemplateType mBoardType;
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cv::Size mBoardSize;
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std::vector<cv::Point2f> mTemplateLocations;
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std::vector<cv::Point2f> mCurrentImagePoints;
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cv::Mat mCurrentCharucoCorners;
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cv::Mat mCurrentCharucoIds;
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cv::Ptr<cv::SimpleBlobDetector> mBlobDetectorPtr;
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cv::aruco::Dictionary mArucoDictionary;
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cv::Ptr<cv::aruco::CharucoBoard> mCharucoBoard;
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cv::Ptr<cv::aruco::CharucoDetector> detector;
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int mNeededFramesNum;
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unsigned mDelayBetweenCaptures;
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int mCapuredFrames;
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double mMaxTemplateOffset;
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float mSquareSize;
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float mTemplDist;
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bool mSaveFrames;
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float mZoom;
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bool detectAndParseChessboard(const cv::Mat& frame);
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bool detectAndParseChAruco(const cv::Mat& frame);
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bool detectAndParseCircles(const cv::Mat& frame);
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bool detectAndParseACircles(const cv::Mat& frame);
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bool detectAndParseDualACircles(const cv::Mat& frame);
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void saveFrameData();
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void showCaptureMessage(const cv::Mat &frame, const std::string& message);
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bool checkLastFrame();
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public:
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CalibProcessor(cv::Ptr<calibrationData> data, captureParameters& capParams);
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virtual cv::Mat processFrame(const cv::Mat& frame) CV_OVERRIDE;
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virtual bool isProcessed() const CV_OVERRIDE;
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virtual void resetState() CV_OVERRIDE;
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~CalibProcessor() CV_OVERRIDE;
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};
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enum visualisationMode {Grid, Window};
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class ShowProcessor : public FrameProcessor
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{
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protected:
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cv::Ptr<calibrationData> mCalibdata;
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cv::Ptr<calibController> mController;
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TemplateType mBoardType;
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visualisationMode mVisMode;
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bool mNeedUndistort;
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double mGridViewScale;
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double mTextSize;
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void drawBoard(cv::Mat& img, cv::InputArray points);
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void drawGridPoints(const cv::Mat& frame);
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public:
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ShowProcessor(cv::Ptr<calibrationData> data, cv::Ptr<calibController> controller, TemplateType board);
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virtual cv::Mat processFrame(const cv::Mat& frame) CV_OVERRIDE;
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virtual bool isProcessed() const CV_OVERRIDE;
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virtual void resetState() CV_OVERRIDE;
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void setVisualizationMode(visualisationMode mode);
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void switchVisualizationMode();
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void clearBoardsView();
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void updateBoardsView();
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void switchUndistort();
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void setUndistort(bool isEnabled);
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~ShowProcessor() CV_OVERRIDE;
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};
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}
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#endif
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