thermalvis: calibration.hpp Source File

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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 MIN_CORNER_SEPARATION 3
00033 #define MAX_CORNER_SEPARATION 100
00034 
00035 #define ALL_PATTERNS_OPTIMIZATION_CODE              0
00036 #define RANDOM_SET_OPTIMIZATION_CODE                1
00037 #define FIRST_N_PATTERNS_OPTIMIZATION_CODE          2
00038 #define ENHANCED_MCM_OPTIMIZATION_CODE              3
00039 #define BEST_OF_RANDOM_PATTERNS_OPTIMIZATION_CODE   4
00040 #define EXHAUSTIVE_SEARCH_OPTIMIZATION_CODE         5
00041 #define RANDOM_SEED_OPTIMIZATION_CODE               6
00042 #define SCORE_BASED_OPTIMIZATION_CODE               7
00043 
00044 #define DEBUG_MODE                                                                      0
00045 
00046 #define MINIMUM_CORRECTION_DISTANCE                             1
00047 
00048 #define PATTERN_FINDER_CV_CORNER_SUBPIX_FLAG 4
00049 
00050 #define TRACKING 0
00051 #define RADIAL_LENGTH 1000
00052 #define FOLD_COUNT 1
00053 
00054 #define PI 3.14159265
00055 
00056 #define MAX_CAMS 3
00057 #define MAX_SEARCH_DIST 3
00058 
00059 #define REGULAR_OPENCV_CHESSBOARD_FINDER    0
00060 #define MASK_FINDER                         3
00061 #define MASK_FINDER_INNERS                  8
00062 #define EXTENDED_CHESSBOARD_FINDER          5
00063 #define INVERTED_OPENCV_CHESSBOARD_FINDER   10
00064 
00065 #define MIN_DISTANCE_FROM_EDGE 2
00066 
00067 #define MAX_FRAMES_PER_INPUT    5000
00068 #define MAX_FRAMES_TO_LOAD      1000
00069 #define MAX_PATTERNS_TO_KEEP    500
00070 #define MAX_CANDIDATE_PATTERNS  100
00071 #define MAX_PATTERNS_PER_SET    10
00072 
00073 #define MINIMUM_MSER_AREA               50
00074 
00075 #define PATCH_CORRECTION_INTRINSICS_FLAGS CV_CALIB_RATIONAL_MODEL
00076 
00077 using namespace std;
00078 using namespace cv;
00079 
00081 class mserPatch
00082 {
00083 public:
00085     vector<Point> hull;
00087     Point centroid;
00089     Point2f centroid2f;
00091     Moments momentSet;
00093     double area;
00095     double meanIntensity;
00097     double varIntensity;
00098 
00100     mserPatch();
00101 
00103     mserPatch(vector<Point>& inputHull, const Mat& image);
00104 };
00105 
00107 void generateRandomIndexArray(int * randomArray, int maxElements, int maxVal);
00108 
00110 void prepForDisplay(const Mat& distributionMap, Mat& distributionDisplay);
00111 
00113 void addToRadialDistribution(double *radialDistribution, cv::vector<Point2f>& cornerSet, Size imSize);
00114 
00116 void addToBinMap(Mat& binMap, cv::vector<Point2f>& cornerSet, Size imSize);
00117 
00119 double obtainSetScore(Mat& distributionMap,
00120                       Mat& binMap,
00121                       Mat& gaussianMat,
00122                       cv::vector<Point2f>& cornerSet,
00123                       double *radialDistribution);
00124 
00126 bool verifyCorners(Size imSize, Size patternSize, vector<Point2f>& patternPoints, double minDist = MIN_CORNER_SEPARATION, double maxDist = MAX_CORNER_SEPARATION);
00127 
00129 void transferMserElement(vector<vector<Point> >& dst, vector<vector<Point> >& src, int index);
00131 void transferPatchElement(vector<mserPatch>& dst, vector<mserPatch>& src, int index);
00132 
00134 void clusterFilter(vector<mserPatch>& patches, vector<vector<Point> >& msers, int totalPatches);
00136 void reduceCluster(vector<mserPatch>& patches, vector<vector<Point> >& msers, int totalPatches);
00137 
00139 void enclosureFilter(vector<mserPatch>& patches, vector<vector<Point> >& msers);
00140 
00142 void varianceFilter(vector<mserPatch>& patches, vector<vector<Point> >& msers);
00143 
00145 void shapeFilter(vector<mserPatch>& patches, vector<vector<Point> >& msers);
00146 
00148 void addToDistributionMap(Mat& distributionMap, vector<Point2f>& corners);
00149 
00151 //void redistortPoints(const vector<Point2f>& src, vector<Point2f>& dst, const Mat& cameraMatrix, const Mat& distCoeffs, const Mat& newCamMat=Mat::eye(3,3,CV_64FC1));
00152 
00154 bool verifyPattern(Size imSize, Size patternSize, vector<Point2f>& patternPoints, double minDist, double maxDist);
00155 
00157 bool findPatternCentres(const Mat& image, Size patternSize, vector<Point2f>& centres, int mode);
00158 
00160 void sortPatches(Size imageSize, Size patternSize, vector<Point2f>& patchCentres, int mode);
00161 
00163 void reorderPatches(Size patternSize, int mode, int *XVec, int *YVec, vector<Point2f>& patchCentres);
00164 
00166 void interpolateCornerLocations2(const Mat& image, int mode, Size patternSize, vector<Point2f>& vCentres, vector<Point2f>& vCorners);
00167 
00169 void groupPointsInQuads(Size patternSize, vector<Point2f>& corners);
00170 
00172 void refineCornerPositions(const Mat& image, Size patternSize, vector<Point2f>& vCorners);
00173 
00175 void initialRefinementOfCorners(const Mat& imGrey, vector<Point2f>& src, Size patternSize);
00176 
00178 void sortCorners(Size imageSize, Size patternSize, vector<Point2f>& corners);
00179 
00181 int findBestCorners(const Mat& image, vector<Point2f>& src, vector<Point2f>& dst, Size patternSize, int detector, int searchDist = MAX_SEARCH_DIST);
00182 
00184 void debugDisplayPattern(const Mat& image, Size patternSize, Mat& corners, bool mode = true, double delay = 0.0);
00185 
00187 bool verifyPatches(Size imSize, Size patternSize, vector<Point2f>& patchCentres, int mode, double minDist, double maxDist);
00188 
00190 bool correctPatchCentres(const Mat& image, Size patternSize, vector<Point2f>& patchCentres, int mode);
00191 
00193 bool findPatchCorners(const Mat& image, Size patternSize, Mat& homography, vector<Point2f>& corners, vector<Point2f>& patchCentres2f, int mode, int detector = 0);
00194 
00196 bool findMaskCorners(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);
00197 
00199 bool findPatternCorners(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);
00200 
00202 void findAllPatches(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);
00203 
00204 
00206 void findEdgePatches(Size patternSize, int mode, int *XVec, int *YVec, vector<Point2f>& patchCentres, vector<Point2f>& remainingPatches);
00207 
00209 void findInteriorPatches(Size patternSize, int mode, int *XVec, int *YVec, vector<Point2f>& patchCentres, vector<Point2f>& remainingPatches);
00210 
00212 void randomCulling(vector<std::string>& inputList, int maxSearch);
00213 
00215 void randomCulling(vector<std::string>& inputList, int maxSearch, vector<vector<Point2f> >& patterns);
00216 
00218 void randomCulling(vector<std::string>& inputList, int maxSearch, vector<vector<vector<Point2f> > >& patterns);
00219 
00221 bool checkAcutance();
00222 
00224 void determineFindablePatches(Size patternSize, int mode, int *XVec, int *YVec);
00225 
00227 void findCornerPatches(Size imageSize, Size patternSize, int mode, int *XVec, int *YVec, vector<Point2f>& patchCentres, vector<Point2f>& remainingPatches);
00228 
00230 void determinePatchDistribution(Size patternSize, int mode, int& rows, int& cols, int& quant);
00231 
00233 void debugDisplayPatches(const Mat& image, vector<vector<Point> >& msers);
00234 
00236 bool refinePatches(const Mat& image, Size patternSize, vector<vector<Point> >& msers, vector<Point2f>& patchCentres, int mode);
00237 
00239 bool patternInFrame(Size imSize, vector<Point2f>& patternPoints, int minBorder = 2);
00240 
00241 #endif