init - 初始化项目
This commit is contained in:
Lee Nony
331
modules/calib3d/test/test_chessboardgenerator.cpp
Normal file
331
modules/calib3d/test/test_chessboardgenerator.cpp
Normal file
@@ -0,0 +1,331 @@
|
||||
/*M///////////////////////////////////////////////////////////////////////////////////////
|
||||
//
|
||||
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
|
||||
//
|
||||
// By downloading, copying, installing or using the software you agree to this license.
|
||||
// If you do not agree to this license, do not download, install,
|
||||
// copy or use the software.
|
||||
//
|
||||
//
|
||||
// License Agreement
|
||||
// For Open Source Computer Vision Library
|
||||
//
|
||||
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
|
||||
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
|
||||
// Third party copyrights are property of their respective owners.
|
||||
//
|
||||
// Redistribution and use in source and binary forms, with or without modification,
|
||||
// are permitted provided that the following conditions are met:
|
||||
//
|
||||
// * Redistribution's of source code must retain the above copyright notice,
|
||||
// this list of conditions and the following disclaimer.
|
||||
//
|
||||
// * Redistribution's in binary form must reproduce the above copyright notice,
|
||||
// this list of conditions and the following disclaimer in the documentation
|
||||
// and/or other materials provided with the distribution.
|
||||
//
|
||||
// * The name of the copyright holders may not be used to endorse or promote products
|
||||
// derived from this software without specific prior written permission.
|
||||
//
|
||||
// This software is provided by the copyright holders and contributors "as is" and
|
||||
// any express or implied warranties, including, but not limited to, the implied
|
||||
// warranties of merchantability and fitness for a particular purpose are disclaimed.
|
||||
// In no event shall the Intel Corporation or contributors be liable for any direct,
|
||||
// indirect, incidental, special, exemplary, or consequential damages
|
||||
// (including, but not limited to, procurement of substitute goods or services;
|
||||
// loss of use, data, or profits; or business interruption) however caused
|
||||
// and on any theory of liability, whether in contract, strict liability,
|
||||
// or tort (including negligence or otherwise) arising in any way out of
|
||||
// the use of this software, even if advised of the possibility of such damage.
|
||||
//
|
||||
//M*/
|
||||
|
||||
#include "test_precomp.hpp"
|
||||
#include "test_chessboardgenerator.hpp"
|
||||
|
||||
namespace cv {
|
||||
|
||||
ChessBoardGenerator::ChessBoardGenerator(const Size& _patternSize) : sensorWidth(32), sensorHeight(24),
|
||||
squareEdgePointsNum(200), min_cos(std::sqrt(3.f)*0.5f), cov(0.5),
|
||||
patternSize(_patternSize), rendererResolutionMultiplier(4), tvec(Mat::zeros(1, 3, CV_32F))
|
||||
{
|
||||
rvec.create(3, 1, CV_32F);
|
||||
cvtest::Rodrigues(Mat::eye(3, 3, CV_32F), rvec);
|
||||
}
|
||||
|
||||
void ChessBoardGenerator::generateEdge(const Point3f& p1, const Point3f& p2, vector<Point3f>& out) const
|
||||
{
|
||||
Point3f step = (p2 - p1) * (1.f/squareEdgePointsNum);
|
||||
for(size_t n = 0; n < squareEdgePointsNum; ++n)
|
||||
out.push_back( p1 + step * (float)n);
|
||||
}
|
||||
|
||||
Size ChessBoardGenerator::cornersSize() const
|
||||
{
|
||||
return Size(patternSize.width-1, patternSize.height-1);
|
||||
}
|
||||
|
||||
struct Mult
|
||||
{
|
||||
float m;
|
||||
Mult(int mult) : m((float)mult) {}
|
||||
Point2f operator()(const Point2f& p)const { return p * m; }
|
||||
};
|
||||
|
||||
void ChessBoardGenerator::generateBasis(Point3f& pb1, Point3f& pb2) const
|
||||
{
|
||||
RNG& rng = theRNG();
|
||||
|
||||
Vec3f n;
|
||||
for(;;)
|
||||
{
|
||||
n[0] = rng.uniform(-1.f, 1.f);
|
||||
n[1] = rng.uniform(-1.f, 1.f);
|
||||
n[2] = rng.uniform(0.0f, 1.f);
|
||||
float len = (float)norm(n);
|
||||
if (len < 1e-3)
|
||||
continue;
|
||||
n[0]/=len;
|
||||
n[1]/=len;
|
||||
n[2]/=len;
|
||||
|
||||
if (n[2] > min_cos)
|
||||
break;
|
||||
}
|
||||
|
||||
Vec3f n_temp = n; n_temp[0] += 100;
|
||||
Vec3f b1 = n.cross(n_temp);
|
||||
Vec3f b2 = n.cross(b1);
|
||||
float len_b1 = (float)norm(b1);
|
||||
float len_b2 = (float)norm(b2);
|
||||
|
||||
pb1 = Point3f(b1[0]/len_b1, b1[1]/len_b1, b1[2]/len_b1);
|
||||
pb2 = Point3f(b2[0]/len_b1, b2[1]/len_b2, b2[2]/len_b2);
|
||||
}
|
||||
|
||||
|
||||
Mat ChessBoardGenerator::generateChessBoard(const Mat& bg, const Mat& camMat, const Mat& distCoeffs,
|
||||
const Point3f& zero, const Point3f& pb1, const Point3f& pb2,
|
||||
float sqWidth, float sqHeight, const vector<Point3f>& whole,
|
||||
vector<Point2f>& corners) const
|
||||
{
|
||||
vector< vector<Point> > squares_black;
|
||||
for(int i = 0; i < patternSize.width; ++i)
|
||||
for(int j = 0; j < patternSize.height; ++j)
|
||||
if ( (i % 2 == 0 && j % 2 == 0) || (i % 2 != 0 && j % 2 != 0) )
|
||||
{
|
||||
vector<Point3f> pts_square3d;
|
||||
vector<Point2f> pts_square2d;
|
||||
|
||||
Point3f p1 = zero + (i + 0) * sqWidth * pb1 + (j + 0) * sqHeight * pb2;
|
||||
Point3f p2 = zero + (i + 1) * sqWidth * pb1 + (j + 0) * sqHeight * pb2;
|
||||
Point3f p3 = zero + (i + 1) * sqWidth * pb1 + (j + 1) * sqHeight * pb2;
|
||||
Point3f p4 = zero + (i + 0) * sqWidth * pb1 + (j + 1) * sqHeight * pb2;
|
||||
generateEdge(p1, p2, pts_square3d);
|
||||
generateEdge(p2, p3, pts_square3d);
|
||||
generateEdge(p3, p4, pts_square3d);
|
||||
generateEdge(p4, p1, pts_square3d);
|
||||
|
||||
projectPoints(pts_square3d, rvec, tvec, camMat, distCoeffs, pts_square2d);
|
||||
squares_black.resize(squares_black.size() + 1);
|
||||
vector<Point2f> temp;
|
||||
approxPolyDP(pts_square2d, temp, 1.0, true);
|
||||
transform(temp.begin(), temp.end(), back_inserter(squares_black.back()), Mult(rendererResolutionMultiplier));
|
||||
}
|
||||
|
||||
/* calculate corners */
|
||||
corners3d.clear();
|
||||
for(int j = 0; j < patternSize.height - 1; ++j)
|
||||
for(int i = 0; i < patternSize.width - 1; ++i)
|
||||
corners3d.push_back(zero + (i + 1) * sqWidth * pb1 + (j + 1) * sqHeight * pb2);
|
||||
corners.clear();
|
||||
projectPoints(corners3d, rvec, tvec, camMat, distCoeffs, corners);
|
||||
|
||||
vector<Point3f> whole3d;
|
||||
vector<Point2f> whole2d;
|
||||
generateEdge(whole[0], whole[1], whole3d);
|
||||
generateEdge(whole[1], whole[2], whole3d);
|
||||
generateEdge(whole[2], whole[3], whole3d);
|
||||
generateEdge(whole[3], whole[0], whole3d);
|
||||
projectPoints(whole3d, rvec, tvec, camMat, distCoeffs, whole2d);
|
||||
vector<Point2f> temp_whole2d;
|
||||
approxPolyDP(whole2d, temp_whole2d, 1.0, true);
|
||||
|
||||
vector< vector<Point > > whole_contour(1);
|
||||
transform(temp_whole2d.begin(), temp_whole2d.end(),
|
||||
back_inserter(whole_contour.front()), Mult(rendererResolutionMultiplier));
|
||||
|
||||
Mat result;
|
||||
if (rendererResolutionMultiplier == 1)
|
||||
{
|
||||
result = bg.clone();
|
||||
drawContours(result, whole_contour, -1, Scalar::all(255), FILLED, LINE_AA);
|
||||
drawContours(result, squares_black, -1, Scalar::all(0), FILLED, LINE_AA);
|
||||
}
|
||||
else
|
||||
{
|
||||
Mat tmp;
|
||||
resize(bg, tmp, bg.size() * rendererResolutionMultiplier, 0, 0, INTER_LINEAR_EXACT);
|
||||
drawContours(tmp, whole_contour, -1, Scalar::all(255), FILLED, LINE_AA);
|
||||
drawContours(tmp, squares_black, -1, Scalar::all(0), FILLED, LINE_AA);
|
||||
resize(tmp, result, bg.size(), 0, 0, INTER_AREA);
|
||||
}
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
Mat ChessBoardGenerator::operator ()(const Mat& bg, const Mat& camMat, const Mat& distCoeffs, vector<Point2f>& corners) const
|
||||
{
|
||||
cov = std::min(cov, 0.8);
|
||||
double fovx, fovy, focalLen;
|
||||
Point2d principalPoint;
|
||||
double aspect;
|
||||
calibrationMatrixValues( camMat, bg.size(), sensorWidth, sensorHeight,
|
||||
fovx, fovy, focalLen, principalPoint, aspect);
|
||||
|
||||
RNG& rng = theRNG();
|
||||
|
||||
float d1 = static_cast<float>(rng.uniform(0.1, 10.0));
|
||||
float ah = static_cast<float>(rng.uniform(-fovx/2 * cov, fovx/2 * cov) * CV_PI / 180);
|
||||
float av = static_cast<float>(rng.uniform(-fovy/2 * cov, fovy/2 * cov) * CV_PI / 180);
|
||||
|
||||
Point3f p;
|
||||
p.z = cos(ah) * d1;
|
||||
p.x = sin(ah) * d1;
|
||||
p.y = p.z * tan(av);
|
||||
|
||||
Point3f pb1, pb2;
|
||||
generateBasis(pb1, pb2);
|
||||
|
||||
float cbHalfWidth = static_cast<float>(norm(p) * sin( std::min(fovx, fovy) * 0.5 * CV_PI / 180));
|
||||
float cbHalfHeight = cbHalfWidth * patternSize.height / patternSize.width;
|
||||
|
||||
float cbHalfWidthEx = cbHalfWidth * ( patternSize.width + 1) / patternSize.width;
|
||||
float cbHalfHeightEx = cbHalfHeight * (patternSize.height + 1) / patternSize.height;
|
||||
|
||||
vector<Point3f> pts3d(4);
|
||||
vector<Point2f> pts2d(4);
|
||||
for(;;)
|
||||
{
|
||||
pts3d[0] = p + pb1 * cbHalfWidthEx + cbHalfHeightEx * pb2;
|
||||
pts3d[1] = p + pb1 * cbHalfWidthEx - cbHalfHeightEx * pb2;
|
||||
pts3d[2] = p - pb1 * cbHalfWidthEx - cbHalfHeightEx * pb2;
|
||||
pts3d[3] = p - pb1 * cbHalfWidthEx + cbHalfHeightEx * pb2;
|
||||
|
||||
/* can remake with better perf */
|
||||
projectPoints(pts3d, rvec, tvec, camMat, distCoeffs, pts2d);
|
||||
|
||||
bool inrect1 = pts2d[0].x < bg.cols && pts2d[0].y < bg.rows && pts2d[0].x > 0 && pts2d[0].y > 0;
|
||||
bool inrect2 = pts2d[1].x < bg.cols && pts2d[1].y < bg.rows && pts2d[1].x > 0 && pts2d[1].y > 0;
|
||||
bool inrect3 = pts2d[2].x < bg.cols && pts2d[2].y < bg.rows && pts2d[2].x > 0 && pts2d[2].y > 0;
|
||||
bool inrect4 = pts2d[3].x < bg.cols && pts2d[3].y < bg.rows && pts2d[3].x > 0 && pts2d[3].y > 0;
|
||||
|
||||
if (inrect1 && inrect2 && inrect3 && inrect4)
|
||||
break;
|
||||
|
||||
cbHalfWidth*=0.8f;
|
||||
cbHalfHeight = cbHalfWidth * patternSize.height / patternSize.width;
|
||||
|
||||
cbHalfWidthEx = cbHalfWidth * ( patternSize.width + 1) / patternSize.width;
|
||||
cbHalfHeightEx = cbHalfHeight * (patternSize.height + 1) / patternSize.height;
|
||||
}
|
||||
|
||||
Point3f zero = p - pb1 * cbHalfWidth - cbHalfHeight * pb2;
|
||||
float sqWidth = 2 * cbHalfWidth/patternSize.width;
|
||||
float sqHeight = 2 * cbHalfHeight/patternSize.height;
|
||||
|
||||
return generateChessBoard(bg, camMat, distCoeffs, zero, pb1, pb2, sqWidth, sqHeight, pts3d, corners);
|
||||
}
|
||||
|
||||
|
||||
Mat ChessBoardGenerator::operator ()(const Mat& bg, const Mat& camMat, const Mat& distCoeffs,
|
||||
const Size2f& squareSize, vector<Point2f>& corners) const
|
||||
{
|
||||
cov = std::min(cov, 0.8);
|
||||
double fovx, fovy, focalLen;
|
||||
Point2d principalPoint;
|
||||
double aspect;
|
||||
calibrationMatrixValues( camMat, bg.size(), sensorWidth, sensorHeight,
|
||||
fovx, fovy, focalLen, principalPoint, aspect);
|
||||
|
||||
RNG& rng = theRNG();
|
||||
|
||||
float d1 = static_cast<float>(rng.uniform(0.1, 10.0));
|
||||
float ah = static_cast<float>(rng.uniform(-fovx/2 * cov, fovx/2 * cov) * CV_PI / 180);
|
||||
float av = static_cast<float>(rng.uniform(-fovy/2 * cov, fovy/2 * cov) * CV_PI / 180);
|
||||
|
||||
Point3f p;
|
||||
p.z = cos(ah) * d1;
|
||||
p.x = sin(ah) * d1;
|
||||
p.y = p.z * tan(av);
|
||||
|
||||
Point3f pb1, pb2;
|
||||
generateBasis(pb1, pb2);
|
||||
|
||||
float cbHalfWidth = squareSize.width * patternSize.width * 0.5f;
|
||||
float cbHalfHeight = squareSize.height * patternSize.height * 0.5f;
|
||||
|
||||
float cbHalfWidthEx = cbHalfWidth * ( patternSize.width + 1) / patternSize.width;
|
||||
float cbHalfHeightEx = cbHalfHeight * (patternSize.height + 1) / patternSize.height;
|
||||
|
||||
vector<Point3f> pts3d(4);
|
||||
vector<Point2f> pts2d(4);
|
||||
for(;;)
|
||||
{
|
||||
pts3d[0] = p + pb1 * cbHalfWidthEx + cbHalfHeightEx * pb2;
|
||||
pts3d[1] = p + pb1 * cbHalfWidthEx - cbHalfHeightEx * pb2;
|
||||
pts3d[2] = p - pb1 * cbHalfWidthEx - cbHalfHeightEx * pb2;
|
||||
pts3d[3] = p - pb1 * cbHalfWidthEx + cbHalfHeightEx * pb2;
|
||||
|
||||
/* can remake with better perf */
|
||||
projectPoints(pts3d, rvec, tvec, camMat, distCoeffs, pts2d);
|
||||
|
||||
bool inrect1 = pts2d[0].x < bg.cols && pts2d[0].y < bg.rows && pts2d[0].x > 0 && pts2d[0].y > 0;
|
||||
bool inrect2 = pts2d[1].x < bg.cols && pts2d[1].y < bg.rows && pts2d[1].x > 0 && pts2d[1].y > 0;
|
||||
bool inrect3 = pts2d[2].x < bg.cols && pts2d[2].y < bg.rows && pts2d[2].x > 0 && pts2d[2].y > 0;
|
||||
bool inrect4 = pts2d[3].x < bg.cols && pts2d[3].y < bg.rows && pts2d[3].x > 0 && pts2d[3].y > 0;
|
||||
|
||||
if ( inrect1 && inrect2 && inrect3 && inrect4)
|
||||
break;
|
||||
|
||||
p.z *= 1.1f;
|
||||
}
|
||||
|
||||
Point3f zero = p - pb1 * cbHalfWidth - cbHalfHeight * pb2;
|
||||
|
||||
return generateChessBoard(bg, camMat, distCoeffs, zero, pb1, pb2,
|
||||
squareSize.width, squareSize.height, pts3d, corners);
|
||||
}
|
||||
|
||||
Mat ChessBoardGenerator::operator ()(const Mat& bg, const Mat& camMat, const Mat& distCoeffs,
|
||||
const Size2f& squareSize, const Point3f& pos, vector<Point2f>& corners) const
|
||||
{
|
||||
cov = std::min(cov, 0.8);
|
||||
Point3f p = pos;
|
||||
Point3f pb1, pb2;
|
||||
generateBasis(pb1, pb2);
|
||||
|
||||
float cbHalfWidth = squareSize.width * patternSize.width * 0.5f;
|
||||
float cbHalfHeight = squareSize.height * patternSize.height * 0.5f;
|
||||
|
||||
float cbHalfWidthEx = cbHalfWidth * ( patternSize.width + 1) / patternSize.width;
|
||||
float cbHalfHeightEx = cbHalfHeight * (patternSize.height + 1) / patternSize.height;
|
||||
|
||||
vector<Point3f> pts3d(4);
|
||||
vector<Point2f> pts2d(4);
|
||||
|
||||
pts3d[0] = p + pb1 * cbHalfWidthEx + cbHalfHeightEx * pb2;
|
||||
pts3d[1] = p + pb1 * cbHalfWidthEx - cbHalfHeightEx * pb2;
|
||||
pts3d[2] = p - pb1 * cbHalfWidthEx - cbHalfHeightEx * pb2;
|
||||
pts3d[3] = p - pb1 * cbHalfWidthEx + cbHalfHeightEx * pb2;
|
||||
|
||||
/* can remake with better perf */
|
||||
projectPoints(pts3d, rvec, tvec, camMat, distCoeffs, pts2d);
|
||||
|
||||
Point3f zero = p - pb1 * cbHalfWidth - cbHalfHeight * pb2;
|
||||
|
||||
return generateChessBoard(bg, camMat, distCoeffs, zero, pb1, pb2,
|
||||
squareSize.width, squareSize.height, pts3d, corners);
|
||||
}
|
||||
|
||||
} // namespace
|
||||
Reference in New Issue
Block a user