thermalvis: thermalvis: calibration.hpp Source File

00001 
00005 #ifndef CALIBRATION_HPP
00006 #define CALIBRATION_HPP
00007 
00008 //#include "cv_utils.hpp"
00009 #include "improc.hpp"
00010 
00011 // =============================================
00012 // INCLUDES
00013 // =============================================
00014 
00015 //#include "cv_utils.hpp"
00016 //#include "im_proc.hpp"
00017 
00018 #include "opencv2/calib3d/calib3d.hpp"
00019 #include "opencv2/highgui/highgui.hpp"
00020 
00021 #include <sys/stat.h>
00022 #include <stdio.h>
00023 
00024 #ifdef _WIN32
00025 #include <ctime>
00026 #endif
00027 
00028 #define CHESSBOARD_FINDER_CODE          0
00029 #define MASK_FINDER_CODE                1
00030 #define HEATED_CHESSBOARD_FINDER_CODE   2
00031 
00032 #define ALL_PATTERNS_OPTIMIZATION_CODE              0
00033 #define RANDOM_SET_OPTIMIZATION_CODE                1
00034 #define FIRST_N_PATTERNS_OPTIMIZATION_CODE          2
00035 #define ENHANCED_MCM_OPTIMIZATION_CODE              3
00036 #define BEST_OF_RANDOM_PATTERNS_OPTIMIZATION_CODE   4
00037 #define EXHAUSTIVE_SEARCH_OPTIMIZATION_CODE         5
00038 #define RANDOM_SEED_OPTIMIZATION_CODE               6
00039 #define SCORE_BASED_OPTIMIZATION_CODE               7
00040 
00041 #define DEBUG_MODE 0
00042 
00043 #define PATTERN_FINDER_CV_CORNER_SUBPIX_FLAG 4
00044 
00045 #define TRACKING 0
00046 #define RADIAL_LENGTH 1000
00047 #define FOLD_COUNT 1
00048 
00049 #define PI 3.14159265
00050 
00051 #define MAX_CAMS 3
00052 #define MAX_SEARCH_DIST 3
00053 
00054 #define REGULAR_OPENCV_CHESSBOARD_FINDER    0
00055 #define MASK_FINDER                         3
00056 #define MASK_FINDER_INNERS                  8
00057 #define EXTENDED_CHESSBOARD_FINDER          5
00058 #define INVERTED_OPENCV_CHESSBOARD_FINDER   10
00059 
00060 #define MIN_DISTANCE_FROM_EDGE 2
00061 
00062 #define MAX_FRAMES_PER_INPUT    5000
00063 #define MAX_FRAMES_TO_LOAD      1000
00064 #define MAX_PATTERNS_TO_KEEP    500
00065 #define MAX_CANDIDATE_PATTERNS  100
00066 #define MAX_PATTERNS_PER_SET    10
00067 
00068 #define PATCH_CORRECTION_INTRINSICS_FLAGS CV_CALIB_RATIONAL_MODEL
00069 
00070 using namespace std;
00071 using namespace cv;
00072 
00074 class mserPatch
00075 {
00076 public:
00078     vector<Point> hull;
00080     Point centroid;
00082     Point2f centroid2f;
00084     Moments momentSet;
00086     double area;
00088     double meanIntensity;
00090     double varIntensity;
00091 
00093     mserPatch();
00094 
00096     mserPatch(vector<Point>& inputHull, const Mat& image);
00097 };
00098 
00100 void generateRandomIndexArray(int * randomArray, int maxElements, int maxVal);
00101 
00103 void prepForDisplay(const Mat& distributionMap, Mat& distributionDisplay);
00104 
00106 void addToRadialDistribution(double *radialDistribution, cv::vector<Point2f>& cornerSet, Size imSize);
00107 
00109 void addToBinMap(Mat& binMap, cv::vector<Point2f>& cornerSet, Size imSize);
00110 
00112 double obtainSetScore(Mat& distributionMap,
00113                       Mat& binMap,
00114                       Mat& gaussianMat,
00115                       cv::vector<Point2f>& cornerSet,
00116                       double *radialDistribution);
00117 
00119 bool verifyCorners(Size imSize, Size patternSize, vector<Point2f>& patternPoints, double minDist, double maxDist);
00120 
00122 void transferMserElement(vector<vector<Point> >& dst, vector<vector<Point> >& src, int index);
00124 void transferPatchElement(vector<mserPatch>& dst, vector<mserPatch>& src, int index);
00125 
00127 void clusterFilter(vector<mserPatch>& patches, vector<vector<Point> >& msers, int totalPatches);
00129 void reduceCluster(vector<mserPatch>& patches, vector<vector<Point> >& msers, int totalPatches);
00130 
00132 void enclosureFilter(vector<mserPatch>& patches, vector<vector<Point> >& msers);
00133 
00135 void varianceFilter(vector<mserPatch>& patches, vector<vector<Point> >& msers);
00136 
00138 void shapeFilter(vector<mserPatch>& patches, vector<vector<Point> >& msers);
00139 
00141 void addToDistributionMap(Mat& distributionMap, vector<Point2f>& corners);
00142 
00144 //void redistortPoints(const vector<Point2f>& src, vector<Point2f>& dst, const Mat& cameraMatrix, const Mat& distCoeffs, const Mat& newCamMat=Mat::eye(3,3,CV_64FC1));
00145 
00147 bool verifyPattern(Size imSize, Size patternSize, vector<Point2f>& patternPoints, double minDist, double maxDist);
00148 
00150 bool findPatternCentres(const Mat& image, Size patternSize, vector<Point2f>& centres, int mode);
00151 
00153 void sortPatches(Size imageSize, Size patternSize, vector<Point2f>& patchCentres, int mode);
00154 
00156 void reorderPatches(Size patternSize, int mode, int *XVec, int *YVec, vector<Point2f>& patchCentres);
00157 
00159 void interpolateCornerLocations2(const Mat& image, int mode, Size patternSize, vector<Point2f>& vCentres, vector<Point2f>& vCorners);
00160 
00162 void groupPointsInQuads(Size patternSize, vector<Point2f>& corners);
00163 
00165 void refineCornerPositions(const Mat& image, Size patternSize, vector<Point2f>& vCorners);
00166 
00168 void initialRefinementOfCorners(const Mat& imGrey, vector<Point2f>& src, Size patternSize);
00169 
00171 void sortCorners(Size imageSize, Size patternSize, vector<Point2f>& corners);
00172 
00174 int findBestCorners(const Mat& image, vector<Point2f>& src, vector<Point2f>& dst, Size patternSize, int detector, int searchDist = MAX_SEARCH_DIST);
00175 
00177 void debugDisplayPattern(const Mat& image, Size patternSize, Mat& corners, bool mode = true);
00178 
00180 bool verifyPatches(Size imSize, Size patternSize, vector<Point2f>& patchCentres, int mode, double minDist, double maxDist);
00181 
00183 bool correctPatchCentres(const Mat& image, Size patternSize, vector<Point2f>& patchCentres, int mode);
00184 
00186 bool findPatchCorners(const Mat& image, Size patternSize, Mat& homography, vector<Point2f>& corners, vector<Point2f>& patchCentres2f, int mode, int detector = 0);
00187 
00189 bool findMaskCorners_1(const Mat& image, Size patternSize, vector<Point2f>& corners, int detector = 0);
00190 
00191 //HGH
00192 bool findMaskCorners_2(const Mat& image, Size patternSize, vector<Point2f>& corners, int detector = 0, int mserDelta = 8, float max_var = 0.25, float min_div = 0.2, double area_threshold = 1.01);
00193 
00195 bool findPatternCorners(const Mat& image, Size patternSize, vector<Point2f>& corners, int mode, int detector = 0);
00196 
00197 //HGH
00198 bool findPatternCorners2(const Mat& image, Size patternSize, vector<Point2f>& corners, int mode, int detector = 0, int mserDelta = 8, float max_var = 0.25, float min_div = 0.2, double area_threshold = 1.01);
00199 
00201 void findAllPatches(const Mat& image, Size patternSize, vector<vector<Point> >& msers);
00202 
00203 //HGH
00204 void findAllPatches2(const Mat& image, Size patternSize, vector<vector<Point> >& msers, int mserDelta = 8, float max_var = 0.25, float min_div = 0.2, double area_threshold = 1.01);
00205 
00207 void findEdgePatches(Size patternSize, int mode, int *XVec, int *YVec, vector<Point2f>& patchCentres, vector<Point2f>& remainingPatches);
00208 
00210 void findInteriorPatches(Size patternSize, int mode, int *XVec, int *YVec, vector<Point2f>& patchCentres, vector<Point2f>& remainingPatches);
00211 
00213 void randomCulling(vector<std::string>& inputList, int maxSearch);
00214 
00216 void randomCulling(vector<std::string>& inputList, int maxSearch, vector<vector<Point2f> >& patterns);
00217 
00219 void randomCulling(vector<std::string>& inputList, int maxSearch, vector<vector<vector<Point2f> > >& patterns);
00220 
00222 bool checkAcutance();
00223 
00225 void determineFindablePatches(Size patternSize, int mode, int *XVec, int *YVec);
00226 
00228 void findCornerPatches(Size imageSize, Size patternSize, int mode, int *XVec, int *YVec, vector<Point2f>& patchCentres, vector<Point2f>& remainingPatches);
00229 
00231 void determinePatchDistribution(Size patternSize, int mode, int& rows, int& cols, int& quant);
00232 
00234 void debugDisplayPatches(const Mat& image, vector<vector<Point> >& msers);
00235 
00237 bool refinePatches(const Mat& image, Size patternSize, vector<vector<Point> >& msers, vector<Point2f>& patchCentres, int mode);
00238 
00240 bool patternInFrame(Size imSize, vector<Point2f>& patternPoints, int minBorder = 2);
00241 
00242 #endif