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Merge pull request #22146 from rogday:symcircles

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This commit is contained in:
Alexander Smorkalov
2022-08-05 11:13:14 +00:00
parent 4c1e064a2b 2c2466fb25
commit 163770f99a
5 changed files with 30 additions and 3 deletions
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apps/interactive-calibration/frameProcessor.cpp
+22
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@@ -108,6 +108,16 @@ bool CalibProcessor::detectAndParseChAruco(const cv::Mat &frame)
return false;
}
bool CalibProcessor::detectAndParseCircles(const cv::Mat &frame)
{
bool isTemplateFound = findCirclesGrid(frame, mBoardSize, mCurrentImagePoints, cv::CALIB_CB_SYMMETRIC_GRID, mBlobDetectorPtr);
if(isTemplateFound) {
mTemplateLocations.insert(mTemplateLocations.begin(), mCurrentImagePoints[0]);
cv::drawChessboardCorners(frame, mBoardSize, cv::Mat(mCurrentImagePoints), isTemplateFound);
}
return isTemplateFound;
}
bool CalibProcessor::detectAndParseACircles(const cv::Mat &frame)
{
bool isTemplateFound = findCirclesGrid(frame, mBoardSize, mCurrentImagePoints, cv::CALIB_CB_ASYMMETRIC_GRID, mBlobDetectorPtr);
@@ -160,6 +170,14 @@ void CalibProcessor::saveFrameData()
mCalibData->allCharucoCorners.push_back(mCurrentCharucoCorners);
mCalibData->allCharucoIds.push_back(mCurrentCharucoIds);
break;
case CirclesGrid:
objectPoints.reserve(mBoardSize.height*mBoardSize.width);
for( int i = 0; i < mBoardSize.height; i++ )
for( int j = 0; j < mBoardSize.width; j++ )
objectPoints.push_back(cv::Point3f(j*mSquareSize, i*mSquareSize, 0));
mCalibData->imagePoints.push_back(mCurrentImagePoints);
mCalibData->objectPoints.push_back(objectPoints);
break;
case AcirclesGrid:
objectPoints.reserve(mBoardSize.height*mBoardSize.width);
for( int i = 0; i < mBoardSize.height; i++ )
@@ -288,6 +306,7 @@ CalibProcessor::CalibProcessor(cv::Ptr<calibrationData> data, captureParameters
capParams.charucoMarkerSize, mArucoDictionary);
#endif
break;
case CirclesGrid:
case AcirclesGrid:
mBlobDetectorPtr = cv::SimpleBlobDetector::create();
break;
@@ -318,6 +337,9 @@ cv::Mat CalibProcessor::processFrame(const cv::Mat &frame)
case chAruco:
isTemplateFound = detectAndParseChAruco(frameCopy);
break;
case CirclesGrid:
isTemplateFound = detectAndParseCircles(frameCopy);
break;
case AcirclesGrid:
isTemplateFound = detectAndParseACircles(frameCopy);
break;