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/******************************************************************************
* Copyright (C) 2018 Alejandro Colomar Andrés *
* SPDX-License-Identifier: GPL-2.0-only *
******************************************************************************/
/******************************************************************************
******* headers **************************************************************
******************************************************************************/
#include "vision-artificial/image/calib3d.hpp"
#include <cstddef>
#include <cstdio>
#include <vector>
#include <opencv2/opencv.hpp>
#include <opencv2/calib3d/calib3d.hpp>
#include "vision-artificial/image/iface.hpp"
/******************************************************************************
******* macros ***************************************************************
******************************************************************************/
#define CORNERS_HOR (16)
#define CORNERS_VER (13)
/******************************************************************************
******* static functions *****************************************************
******************************************************************************/
static void img_calib3d_calibrate(class cv::Mat *imgptr, const void *data);
static void img_calib3d_undistort(class cv::Mat *imgptr, const void *data);
/******************************************************************************
******* main *****************************************************************
******************************************************************************/
void img_calib3d_act(class cv::Mat *imgptr, int action, const void *data)
{
switch (action) {
case IMG_CALIB3D_ACT_CALIBRATE:
img_calib3d_calibrate(imgptr, data);
break;
case IMG_CALIB3D_ACT_UNDISTORT:
img_calib3d_undistort(imgptr, data);
break;
}
}
/******************************************************************************
******* static functions *****************************************************
******************************************************************************/
static void img_calib3d_calibrate(class cv::Mat *imgptr, const void *data)
{
const struct Img_Iface_Data_Calibrate *data_cast;
class cv::Mat *intrinsic_mat;
class cv::Mat *dist_coefs;
class std::vector <class cv::Mat> *rvecs;
class std::vector <class cv::Mat> *tvecs;
class cv::Size_ <int> pattern_size;
class std::vector <class std::vector <class cv::Point3_ <float>>> object_points;
class std::vector <class std::vector <class cv::Point_ <float>>> image_points;
class std::vector <class cv::Point_ <float>> corners;
class std::vector <class cv::Point3_ <float>> obj;
bool found;
data_cast = (const struct Img_Iface_Data_Calibrate *)data;
intrinsic_mat = data_cast->intrinsic_mat;
dist_coefs = data_cast->dist_coefs;
rvecs = data_cast->rvecs;
tvecs = data_cast->tvecs;
pattern_size = cv::Size(CORNERS_HOR, CORNERS_VER);
*intrinsic_mat = cv::Mat(3, 3, CV_32FC1);
(*intrinsic_mat).ptr<float>(0)[0] = 1;
(*intrinsic_mat).ptr<float>(1)[1] = 1;
for (ptrdiff_t i = 0; i < CORNERS_HOR; i++) {
for (ptrdiff_t j = 0; j < CORNERS_VER; j++)
obj.push_back(cv::Point3f(i, j * 10.0, 0.0));
}
found = cv::findChessboardCorners(*imgptr, pattern_size, corners,
CV_CALIB_CB_ADAPTIVE_THRESH |
CV_CALIB_CB_FILTER_QUADS);
cv::cornerSubPix(*imgptr, corners, cv::Size(11, 11),
cv::Size(-1, -1),
cv::TermCriteria(CV_TERMCRIT_EPS |
CV_TERMCRIT_ITER, 30, 0.1));
cv::drawChessboardCorners(*imgptr, pattern_size, corners, found);
image_points.push_back(corners);
object_points.push_back(obj);
cv::calibrateCamera(object_points, image_points, imgptr->size(),
*intrinsic_mat, *dist_coefs, *rvecs, *tvecs);
}
static void img_calib3d_undistort(class cv::Mat *imgptr, const void *data)
{
class cv::Mat imgtmp;
const struct Img_Iface_Data_Undistort *data_cast;
const class cv::Mat *intrinsic_mat;
const class cv::Mat *dist_coefs;
data_cast = (const struct Img_Iface_Data_Undistort *)data;
intrinsic_mat = data_cast->intrinsic_mat;
dist_coefs = data_cast->dist_coefs;
cv::undistort(*imgptr, imgtmp, *intrinsic_mat, *dist_coefs);
imgptr->release();
imgtmp.copyTo(*imgptr);
}
/******************************************************************************
******* end of file **********************************************************
******************************************************************************/
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