119 lines
3.2 KiB
C++
119 lines
3.2 KiB
C++
#ifndef CALIB_COMMON_HPP
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#define CALIB_COMMON_HPP
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#include <memory>
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#include <opencv2/core.hpp>
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#include <vector>
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#include <string>
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namespace calib
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{
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#define OVERLAY_DELAY 1000
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#define IMAGE_MAX_WIDTH 1280
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#define IMAGE_MAX_HEIGHT 960
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bool showOverlayMessage(const std::string& message);
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enum InputType { Video, Pictures };
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enum InputVideoSource { Camera, File };
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enum TemplateType { AcirclesGrid, Chessboard, chAruco, DoubleAcirclesGrid };
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static const std::string mainWindowName = "Calibration";
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static const std::string gridWindowName = "Board locations";
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static const std::string consoleHelp = "Hot keys:\nesc - exit application\n"
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"s - save current data to .xml file\n"
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"r - delete last frame\n"
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"u - enable/disable applying undistortion"
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"d - delete all frames\n"
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"v - switch visualization";
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static const double sigmaMult = 1.96;
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struct calibrationData
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{
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cv::Mat cameraMatrix;
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cv::Mat distCoeffs;
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cv::Mat stdDeviations;
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cv::Mat perViewErrors;
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std::vector<cv::Mat> rvecs;
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std::vector<cv::Mat> tvecs;
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double totalAvgErr;
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cv::Size imageSize;
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std::vector<std::vector<cv::Point2f> > imagePoints;
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std::vector< std::vector<cv::Point3f> > objectPoints;
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std::vector<cv::Mat> allCharucoCorners;
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std::vector<cv::Mat> allCharucoIds;
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cv::Mat undistMap1, undistMap2;
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calibrationData()
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{
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imageSize = cv::Size(IMAGE_MAX_WIDTH, IMAGE_MAX_HEIGHT);
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}
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};
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struct cameraParameters
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{
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cv::Mat cameraMatrix;
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cv::Mat distCoeffs;
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cv::Mat stdDeviations;
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double avgError;
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cameraParameters(){}
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cameraParameters(cv::Mat& _cameraMatrix, cv::Mat& _distCoeffs, cv::Mat& _stdDeviations, double _avgError = 0) :
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cameraMatrix(_cameraMatrix), distCoeffs(_distCoeffs), stdDeviations(_stdDeviations), avgError(_avgError)
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{}
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};
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struct captureParameters
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{
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InputType captureMethod;
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InputVideoSource source;
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TemplateType board;
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cv::Size boardSize;
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int charucoDictName;
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int calibrationStep;
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float charucoSquareLenght, charucoMarkerSize;
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float captureDelay;
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float squareSize;
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float templDst;
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std::string videoFileName;
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bool flipVertical;
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int camID;
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int fps;
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cv::Size cameraResolution;
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int maxFramesNum;
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int minFramesNum;
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captureParameters()
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{
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calibrationStep = 1;
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captureDelay = 500.f;
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maxFramesNum = 30;
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minFramesNum = 10;
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fps = 30;
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cameraResolution = cv::Size(IMAGE_MAX_WIDTH, IMAGE_MAX_HEIGHT);
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}
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};
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struct internalParameters
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{
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double solverEps;
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int solverMaxIters;
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bool fastSolving;
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double filterAlpha;
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internalParameters()
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{
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solverEps = 1e-7;
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solverMaxIters = 30;
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fastSolving = false;
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filterAlpha = 0.1;
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}
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};
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}
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#endif
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