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add charuco point detection method

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This commit is contained in:
uvos
2020-11-10 02:05:51 +01:00
parent 38680f029c
commit d4d7418cb2
8 changed files with 301 additions and 132 deletions
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41
main.cpp
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@ -9,6 +9,8 @@
#include "bgremoval.h"
#include "normalize.h"
#include "log.h"
#include "charuco.h"
#include "harris.h"
void cd_to_exe_dir( char *argv[] )
{
@ -37,7 +39,7 @@ std::vector<cv::Mat> loadImages(char** fileNames)
int main(int argc, char* argv[])
{
cv::ocl::setUseOpenCL(false);
std::cout<<"UVOS Optical lubricant thikness mapper "<<argp_program_version<<std::endl;
cd_to_exe_dir(argv);
Config config;
@ -45,6 +47,15 @@ int main(int argc, char* argv[])
Log::level = config.quiet ? Log::WARN : config.verbose ? Log::DEBUG : Log::INFO;
Log(Log::INFO)<<"UVOS Optical lubricant thikness mapper "<<argp_program_version;
if(!config.charuco.empty())
{
createCharucoBoard(config.size, config.charuco);
Log(Log::INFO)<<"exporting charuco map";
return 0;
}
std::vector<cv::Mat> inImages = loadImages(config.inFileNames);
if(inImages.empty())
@ -59,7 +70,6 @@ int main(int argc, char* argv[])
cv::resizeWindow("Viewer", 960, 500);
}
if(config.maps.empty())
{
cv::Mat mask;
@ -85,9 +95,26 @@ int main(int argc, char* argv[])
}
else Log(Log::WARN)<<"can not read background image from "<<config.bg;
}
createRemapMap(inImages[0], config.inFileNames[0], mask,
config.blockSize, config.apature, config.detectorParameter,
config.minSize, config.verbose);
std::vector<cv::Point2f > points;
std::vector<cv::Point2i> coordiantes;
if(config.harris)
{
points = harrisDetectPoints(inImages[0], mask);
}
else
{
points = detectCharucoPoints(inImages[0], &coordiantes);
}
Log(Log::INFO)<<"Found "<<points.size()<<" points";
if(points.size() < 8)
{
Log(Log::ERROR)<<"Error creating map, insufficant points detected";
return -1;
}
createRemapMap(inImages[0], points, coordiantes, config.inFileNames[0], config.verbose);
}
else
{
@ -110,7 +137,7 @@ int main(int argc, char* argv[])
{
Log(Log::WARN)<<"could not open normalize file " <<config.norm;
}
applyRemap(tmp, norm, xMat, yMat, 500);
applyRemap(tmp, norm, xMat, yMat, config.size);
if(config.verbose)
{
cv::imshow("Viewer", norm );
@ -126,7 +153,7 @@ int main(int argc, char* argv[])
cv::waitKey(0);
}
cv::Mat remaped;
applyRemap(image, remaped, xMat, yMat, 500);
applyRemap(image, remaped, xMat, yMat, config.size);
if(norm.data) normalize(remaped, norm);
cv::imshow( "Viewer", remaped );
cv::waitKey(0);