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334 lines
13 KiB
C++
334 lines
13 KiB
C++
/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include "test_precomp.hpp"
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#include "test_chessboardgenerator.hpp"
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#include <vector>
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#include <iterator>
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#include <algorithm>
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using namespace cv;
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using namespace std;
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ChessBoardGenerator::ChessBoardGenerator(const Size& _patternSize) : sensorWidth(32), sensorHeight(24),
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squareEdgePointsNum(200), min_cos(std::sqrt(3.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(0.0f, 1.f);
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float len = (float)norm(n);
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if (len < 1e-3)
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continue;
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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 (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::generateChessBoard(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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corners3d.clear();
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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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float cbHalfWidthEx = cbHalfWidth * ( patternSize.width + 1) / patternSize.width;
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float cbHalfHeightEx = cbHalfHeight * (patternSize.height + 1) / patternSize.height;
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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 * cbHalfWidthEx + cbHalfHeightEx * pb2;
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pts3d[1] = p + pb1 * cbHalfWidthEx - cbHalfHeightEx * pb2;
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pts3d[2] = p - pb1 * cbHalfWidthEx - cbHalfHeightEx * pb2;
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pts3d[3] = p - pb1 * cbHalfWidthEx + cbHalfHeightEx * 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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cbHalfWidthEx = cbHalfWidth * ( patternSize.width + 1) / patternSize.width;
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cbHalfHeightEx = cbHalfHeight * (patternSize.height + 1) / patternSize.height;
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}
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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 generateChessBoard(bg, camMat, distCoeffs, zero, pb1, pb2, sqWidth, sqHeight, pts3d, corners);
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}
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Mat cv::ChessBoardGenerator::operator ()(const Mat& bg, const Mat& camMat, const Mat& distCoeffs,
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const Size2f& squareSize, 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 = squareSize.width * patternSize.width * 0.5f;
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float cbHalfHeight = squareSize.height * patternSize.height * 0.5f;
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float cbHalfWidthEx = cbHalfWidth * ( patternSize.width + 1) / patternSize.width;
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float cbHalfHeightEx = cbHalfHeight * (patternSize.height + 1) / patternSize.height;
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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 * cbHalfWidthEx + cbHalfHeightEx * pb2;
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pts3d[1] = p + pb1 * cbHalfWidthEx - cbHalfHeightEx * pb2;
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pts3d[2] = p - pb1 * cbHalfWidthEx - cbHalfHeightEx * pb2;
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pts3d[3] = p - pb1 * cbHalfWidthEx + cbHalfHeightEx * 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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p.z *= 1.1f;
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}
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Point3f zero = p - pb1 * cbHalfWidth - cbHalfHeight * pb2;
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return generateChessBoard(bg, camMat, distCoeffs, zero, pb1, pb2,
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squareSize.width, squareSize.height, pts3d, corners);
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}
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Mat cv::ChessBoardGenerator::operator ()(const Mat& bg, const Mat& camMat, const Mat& distCoeffs,
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const Size2f& squareSize, const Point3f& pos, vector<Point2f>& corners) const
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{
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cov = std::min(cov, 0.8);
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Point3f p = pos;
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Point3f pb1, pb2;
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generateBasis(pb1, pb2);
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float cbHalfWidth = squareSize.width * patternSize.width * 0.5f;
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float cbHalfHeight = squareSize.height * patternSize.height * 0.5f;
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float cbHalfWidthEx = cbHalfWidth * ( patternSize.width + 1) / patternSize.width;
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float cbHalfHeightEx = cbHalfHeight * (patternSize.height + 1) / patternSize.height;
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vector<Point3f> pts3d(4);
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vector<Point2f> pts2d(4);
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pts3d[0] = p + pb1 * cbHalfWidthEx + cbHalfHeightEx * pb2;
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pts3d[1] = p + pb1 * cbHalfWidthEx - cbHalfHeightEx * pb2;
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pts3d[2] = p - pb1 * cbHalfWidthEx - cbHalfHeightEx * pb2;
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pts3d[3] = p - pb1 * cbHalfWidthEx + cbHalfHeightEx * 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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Point3f zero = p - pb1 * cbHalfWidth - cbHalfHeight * pb2;
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return generateChessBoard(bg, camMat, distCoeffs, zero, pb1, pb2,
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squareSize.width, squareSize.height, pts3d, corners);
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}
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