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533bb035cf
The option to save all frames that contribute to final calibration result. Useful for dataset collection and further offline tuning.
106 lines
2.9 KiB
C++
106 lines
2.9 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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#ifdef HAVE_OPENCV_ARUCO
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#include <opencv2/aruco/charuco.hpp>
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#endif
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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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#ifdef HAVE_OPENCV_ARUCO
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cv::Ptr<cv::aruco::Dictionary> mArucoDictionary;
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cv::Ptr<cv::aruco::CharucoBoard> mCharucoBoard;
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#endif
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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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bool detectAndParseChessboard(const cv::Mat& frame);
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bool detectAndParseChAruco(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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