OpenCV 4.5.3(日本語機械翻訳)
ccalib.hpp
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41
42 #ifndef __OPENCV_CCALIB_HPP__
43 #define __OPENCV_CCALIB_HPP__
44
45 #include <opencv2/core.hpp>
46 #include <opencv2/features2d.hpp>
47 #include <opencv2/imgproc.hpp>
48 #include <opencv2/calib3d.hpp>
49
50 #include <vector>
51
55 namespace cv{ namespace ccalib{
56
59
60 class CV_EXPORTS CustomPattern : public Algorithm
61{
62 public:
63 CustomPattern();
64 virtual ~CustomPattern();
65
66 bool create(InputArray pattern, const Size2f boardSize, OutputArray output = noArray());
67
68 bool findPattern(InputArray image, OutputArray matched_features, OutputArray pattern_points, const double ratio = 0.7,
69 const double proj_error = 8.0, const bool refine_position = false, OutputArray out = noArray(),
70 OutputArray H = noArray(), OutputArray pattern_corners = noArray());
71
72 bool isInitialized();
73
74 void getPatternPoints(std::vector<KeyPoint>& original_points);
78 double getPixelSize();
83 bool setFeatureDetector(Ptr<FeatureDetector> featureDetector);
84 bool setDescriptorExtractor(Ptr<DescriptorExtractor> extractor);
85 bool setDescriptorMatcher(Ptr<DescriptorMatcher> matcher);
86
87 Ptr<FeatureDetector> getFeatureDetector();
88 Ptr<DescriptorExtractor> getDescriptorExtractor();
89 Ptr<DescriptorMatcher> getDescriptorMatcher();
90
91 double calibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints,
92 Size imageSize, InputOutputArray cameraMatrix, InputOutputArray distCoeffs,
93 OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, int flags = 0,
94 TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 30, DBL_EPSILON));
99 bool findRt(InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs,
100 InputOutputArray rvec, InputOutputArray tvec, bool useExtrinsicGuess = false, int flags = SOLVEPNP_ITERATIVE);
101 bool findRt(InputArray image, InputArray cameraMatrix, InputArray distCoeffs,
102 InputOutputArray rvec, InputOutputArray tvec, bool useExtrinsicGuess = false, int flags = SOLVEPNP_ITERATIVE);
108 bool findRtRANSAC(InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs,
109 InputOutputArray rvec, InputOutputArray tvec, bool useExtrinsicGuess = false, int iterationsCount = 100,
110 float reprojectionError = 8.0, int minInliersCount = 100, OutputArray inliers = noArray(), int flags = SOLVEPNP_ITERATIVE);
111 bool findRtRANSAC(InputArray image, InputArray cameraMatrix, InputArray distCoeffs,
112 InputOutputArray rvec, InputOutputArray tvec, bool useExtrinsicGuess = false, int iterationsCount = 100,
113 float reprojectionError = 8.0, int minInliersCount = 100, OutputArray inliers = noArray(), int flags = SOLVEPNP_ITERATIVE);
118 void drawOrientation(InputOutputArray image, InputArray tvec, InputArray rvec, InputArray cameraMatrix,
119 InputArray distCoeffs, double axis_length = 3, int axis_width = 2);
124 private:
125
126 Mat img_roi;
127 std::vector<Point2f> obj_corners;
128 double pxSize;
129
130 bool initialized;
131
132 Ptr<FeatureDetector> detector;
133 Ptr<DescriptorExtractor> descriptorExtractor;
134 Ptr<DescriptorMatcher> descriptorMatcher;
135
136 std::vector<KeyPoint> keypoints;
137 std::vector<Point3f> points3d;
138 Mat descriptor;
139
140 bool init(Mat& image, const float pixel_size, OutputArray output = noArray());
141 bool findPatternPass(const Mat& image, std::vector<Point2f>& matched_features, std::vector<Point3f>& pattern_points,
142 Mat& H, std::vector<Point2f>& scene_corners, const double pratio, const double proj_error,
143 const bool refine_position = false, const Mat& mask = Mat(), OutputArray output = noArray());
144 void scaleFoundPoints(const double squareSize, const std::vector<KeyPoint>& corners, std::vector<Point3f>& pts3d);
145 void check_matches(std::vector<Point2f>& matched, const std::vector<Point2f>& pattern, std::vector<DMatch>& good, std::vector<Point3f>& pattern_3d, const Mat& H);
146
147 void keypoints2points(const std::vector<KeyPoint>& in, std::vector<Point2f>& out);
148 void updateKeypointsPos(std::vector<KeyPoint>& in, const std::vector<Point2f>& new_pos);
149 void refinePointsPos(const Mat& img, std::vector<Point2f>& p);
150 void refineKeypointsPos(const Mat& img, std::vector<KeyPoint>& kp);
151};
152
154
155}} // namespace ccalib, cv
156
157 #endif
cv::_InputOutputArray
Definition: mat.hpp:386
cv::_OutputArray
This type is very similar to InputArray except that it is used for input/output and output function p...
Definition: mat.hpp:295
cv::Algorithm
This is a base class for all more or less complex algorithms in OpenCV
Definition: core.hpp:3091
cv::Mat
n-dimensional dense array class
Definition: mat.hpp:802
cv::Size_< float >
cv::TermCriteria
The class defining termination criteria for iterative algorithms.
Definition: core/types.hpp:853
cv::TermCriteria::EPS
@ EPS
the desired accuracy or change in parameters at which the iterative algorithm stops
Definition: core/types.hpp:862
cv::TermCriteria::COUNT
@ COUNT
the maximum number of iterations or elements to compute
Definition: core/types.hpp:860
cv::ccalib::CustomPattern
Definition: ccalib.hpp:61
cv::ccalib::CustomPattern::calibrate
double calibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, Size imageSize, InputOutputArray cameraMatrix, InputOutputArray distCoeffs, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, int flags=0, TermCriteria criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, DBL_EPSILON))
cv::ccalib::CustomPattern::drawOrientation
void drawOrientation(InputOutputArray image, InputArray tvec, InputArray rvec, InputArray cameraMatrix, InputArray distCoeffs, double axis_length=3, int axis_width=2)
cv::ccalib::CustomPattern::getPatternPoints
void getPatternPoints(std::vector< KeyPoint > &original_points)
cv::ccalib::CustomPattern::findRtRANSAC
bool findRtRANSAC(InputArray image, InputArray cameraMatrix, InputArray distCoeffs, InputOutputArray rvec, InputOutputArray tvec, bool useExtrinsicGuess=false, int iterationsCount=100, float reprojectionError=8.0, int minInliersCount=100, OutputArray inliers=noArray(), int flags=SOLVEPNP_ITERATIVE)
cv::ccalib::CustomPattern::findRt
bool findRt(InputArray image, InputArray cameraMatrix, InputArray distCoeffs, InputOutputArray rvec, InputOutputArray tvec, bool useExtrinsicGuess=false, int flags=SOLVEPNP_ITERATIVE)
cv
"black box" representation of the file storage associated with a file on disk.
Definition: aruco.hpp:75
cv::Ptr
Definition: cvstd_wrapper.hpp:74
構築: doxygen 1.9.2