1 /*M/////////////////////////////////////////////////////////////////////////////////////// 2 // 3 // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. 4 // 5 // By downloading, copying, installing or using the software you agree to this license. 6 // If you do not agree to this license, do not download, install, 7 // copy or use the software. 8 // 9 // 10 // License Agreement 11 // For Open Source Computer Vision Library 12 // 13 // Copyright (C) 2014, OpenCV Foundation, all rights reserved. 14 // Third party copyrights are property of their respective owners. 15 // 16 // Redistribution and use in source and binary forms, with or without modification, 17 // are permitted provided that the following conditions are met: 18 // 19 // * Redistribution's of source code must retain the above copyright notice, 20 // this list of conditions and the following disclaimer. 21 // 22 // * Redistribution's in binary form must reproduce the above copyright notice, 23 // this list of conditions and the following disclaimer in the documentation 24 // and/or other materials provided with the distribution. 25 // 26 // * The name of the copyright holders may not be used to endorse or promote products 27 // derived from this software without specific prior written permission. 28 // 29 // This software is provided by the copyright holders and contributors "as is" and 30 // any express or implied warranties, including, but not limited to, the implied 31 // warranties of merchantability and fitness for a particular purpose are disclaimed. 32 // In no event shall the Intel Corporation or contributors be liable for any direct, 33 // indirect, incidental, special, exemplary, or consequential damages 34 // (including, but not limited to, procurement of substitute goods or services; 35 // loss of use, data, or profits; or business interruption) however caused 36 // and on any theory of liability, whether in contract, strict liability, 37 // or tort (including negligence or otherwise) arising in any way out of 38 // the use of this software, even if advised of the possibility of such damage. 39 // 40 //M*/ 41 42 #ifndef __OPENCV_CCALIB_HPP__ 43 #define __OPENCV_CCALIB_HPP__ 44 45 #include <opencv2/core.hpp> 46 #include <opencv2/features2d.hpp> 47 #include <opencv2/imgproc.hpp> 48 #include <opencv2/calib3d.hpp> 49 50 #include <vector> 51 52 /** @defgroup ccalib Custom Calibration Pattern for 3D reconstruction 53 */ 54 55 namespace cv{ namespace ccalib{ 56 57 //! @addtogroup ccalib 58 //! @{ 59 60 class CV_EXPORTS CustomPattern : public Algorithm 61 { 62 public: 63 CustomPattern(); 64 virtual ~CustomPattern(); 65 66 bool create(InputArray pattern, const Size2f boardSize, OutputArray output = noArray()); 67 68 bool findPattern(InputArray image, OutputArray matched_features, OutputArray pattern_points, const double ratio = 0.7, 69 const double proj_error = 8.0, const bool refine_position = false, OutputArray out = noArray(), 70 OutputArray H = noArray(), OutputArray pattern_corners = noArray()); 71 72 bool isInitialized(); 73 74 void getPatternPoints(std::vector<KeyPoint>& original_points); 75 /**< 76 Returns a vector<Point> of the original points. 77 */ 78 double getPixelSize(); 79 /**< 80 Get the pixel size of the pattern 81 */ 82 83 bool setFeatureDetector(Ptr<FeatureDetector> featureDetector); 84 bool setDescriptorExtractor(Ptr<DescriptorExtractor> extractor); 85 bool setDescriptorMatcher(Ptr<DescriptorMatcher> matcher); 86 87 Ptr<FeatureDetector> getFeatureDetector(); 88 Ptr<DescriptorExtractor> getDescriptorExtractor(); 89 Ptr<DescriptorMatcher> getDescriptorMatcher(); 90 91 double calibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, 92 Size imageSize, InputOutputArray cameraMatrix, InputOutputArray distCoeffs, 93 OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, int flags = 0, 94 TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 30, DBL_EPSILON)); 95 /**< 96 Calls the calirateCamera function with the same inputs. 97 */ 98 99 bool findRt(InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs, 100 InputOutputArray rvec, InputOutputArray tvec, bool useExtrinsicGuess = false, int flags = SOLVEPNP_ITERATIVE); 101 bool findRt(InputArray image, InputArray cameraMatrix, InputArray distCoeffs, 102 InputOutputArray rvec, InputOutputArray tvec, bool useExtrinsicGuess = false, int flags = SOLVEPNP_ITERATIVE); 103 /**< 104 Uses solvePnP to find the rotation and translation of the pattern 105 with respect to the camera frame. 106 */ 107 108 bool findRtRANSAC(InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs, 109 InputOutputArray rvec, InputOutputArray tvec, bool useExtrinsicGuess = false, int iterationsCount = 100, 110 float reprojectionError = 8.0, int minInliersCount = 100, OutputArray inliers = noArray(), int flags = SOLVEPNP_ITERATIVE); 111 bool findRtRANSAC(InputArray image, InputArray cameraMatrix, InputArray distCoeffs, 112 InputOutputArray rvec, InputOutputArray tvec, bool useExtrinsicGuess = false, int iterationsCount = 100, 113 float reprojectionError = 8.0, int minInliersCount = 100, OutputArray inliers = noArray(), int flags = SOLVEPNP_ITERATIVE); 114 /**< 115 Uses solvePnPRansac() 116 */ 117 118 void drawOrientation(InputOutputArray image, InputArray tvec, InputArray rvec, InputArray cameraMatrix, 119 InputArray distCoeffs, double axis_length = 3, int axis_width = 2); 120 /**< 121 pattern_corners -> projected over the image position of the edges of the pattern. 122 */ 123 124 private: 125 126 Mat img_roi; 127 std::vector<Point2f> obj_corners; 128 double pxSize; 129 130 bool initialized; 131 132 Ptr<FeatureDetector> detector; 133 Ptr<DescriptorExtractor> descriptorExtractor; 134 Ptr<DescriptorMatcher> descriptorMatcher; 135 136 std::vector<KeyPoint> keypoints; 137 std::vector<Point3f> points3d; 138 Mat descriptor; 139 140 bool init(Mat& image, const float pixel_size, OutputArray output = noArray()); 141 bool findPatternPass(const Mat& image, std::vector<Point2f>& matched_features, std::vector<Point3f>& pattern_points, 142 Mat& H, std::vector<Point2f>& scene_corners, const double pratio, const double proj_error, 143 const bool refine_position = false, const Mat& mask = Mat(), OutputArray output = noArray()); 144 void scaleFoundPoints(const double squareSize, const std::vector<KeyPoint>& corners, std::vector<Point3f>& pts3d); 145 void check_matches(std::vector<Point2f>& matched, const std::vector<Point2f>& pattern, std::vector<DMatch>& good, std::vector<Point3f>& pattern_3d, const Mat& H); 146 147 void keypoints2points(const std::vector<KeyPoint>& in, std::vector<Point2f>& out); 148 void updateKeypointsPos(std::vector<KeyPoint>& in, const std::vector<Point2f>& new_pos); 149 void refinePointsPos(const Mat& img, std::vector<Point2f>& p); 150 void refineKeypointsPos(const Mat& img, std::vector<KeyPoint>& kp); 151 }; 152 153 //! @} 154 155 }} // namespace ccalib, cv 156 157 #endif 158