Merge pull request #7133 from sovrasov:interactive_calibration_update

apps/interactive-calibration/CMakeLists.txt

@@ -5,15 +5,6 @@ if(NOT OCV_DEPENDENCIES_FOUND)
   return()
 endif()
 
-find_package(LAPACK)
-if(LAPACK_FOUND)
-  find_file(LAPACK_HEADER "lapacke.h")
-  if(LAPACK_HEADER)
-    add_definitions(-DUSE_LAPACK)
-    link_libraries(${LAPACK_LIBRARIES})
-  endif()
-endif()
-
 project(interactive-calibration)
 set(the_target opencv_interactive-calibration)
 

apps/interactive-calibration/calibCommon.hpp

@@ -23,7 +23,7 @@ namespace calib
     static const std::string consoleHelp = "Hot keys:\nesc - exit application\n"
                               "s - save current data to .xml file\n"
                               "r - delete last frame\n"
-                              "u - enable/disable applying undistortion"
+                              "u - enable/disable applying undistortion\n"
                               "d - delete all frames\n"
                               "v - switch visualization";
 

apps/interactive-calibration/cvCalibrationFork.hpp

-#ifndef CV_CALIBRATION_FORK_HPP
-#define CV_CALIBRATION_FORK_HPP
-
-#include <opencv2/core.hpp>
-#include <opencv2/aruco/charuco.hpp>
-#include <opencv2/calib3d.hpp>
-#include <opencv2/calib3d/calib3d_c.h>
-
-namespace cvfork
-{
-using namespace cv;
-
-#define CV_CALIB_NINTRINSIC 18
-#define CALIB_USE_QR (1 << 18)
-
-double calibrateCamera(InputArrayOfArrays objectPoints,
-                                     InputArrayOfArrays imagePoints, Size imageSize,
-                                     InputOutputArray cameraMatrix, InputOutputArray distCoeffs,
-                                     OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, OutputArray stdDeviations,
-                                     OutputArray perViewErrors, int flags = 0, TermCriteria criteria = TermCriteria(
-                                        TermCriteria::COUNT + TermCriteria::EPS, 30, DBL_EPSILON) );
-
-double cvCalibrateCamera2( const CvMat* object_points,
-                                const CvMat* image_points,
-                                const CvMat* point_counts,
-                                CvSize image_size,
-                                CvMat* camera_matrix,
-                                CvMat* distortion_coeffs,
-                                CvMat* rotation_vectors CV_DEFAULT(NULL),
-                                CvMat* translation_vectors CV_DEFAULT(NULL),
-                                CvMat* stdDeviations_vector CV_DEFAULT(NULL),
-                                CvMat* perViewErrors_vector CV_DEFAULT(NULL),
-                                int flags CV_DEFAULT(0),
-                                CvTermCriteria term_crit CV_DEFAULT(cvTermCriteria(
-                                    CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,DBL_EPSILON)) );
-
-double calibrateCameraCharuco(InputArrayOfArrays _charucoCorners, InputArrayOfArrays _charucoIds,
-                              Ptr<aruco::CharucoBoard> &_board, Size imageSize,
-                              InputOutputArray _cameraMatrix, InputOutputArray _distCoeffs,
-                              OutputArrayOfArrays _rvecs, OutputArrayOfArrays _tvecs, OutputArray _stdDeviations, OutputArray _perViewErrors,
-                              int flags = 0, TermCriteria criteria = TermCriteria(
-                                    TermCriteria::COUNT + TermCriteria::EPS, 30, DBL_EPSILON) );
-
-class CvLevMarqFork : public CvLevMarq
-{
-public:
-    CvLevMarqFork( int nparams, int nerrs, CvTermCriteria criteria=
-              cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER,30,DBL_EPSILON),
-              bool completeSymmFlag=false );
-    bool updateAlt( const CvMat*& _param, CvMat*& _JtJ, CvMat*& _JtErr, double*& _errNorm );
-    void step();
-    ~CvLevMarqFork();
-};
-}
-
-#endif

apps/interactive-calibration/linalg.hpp

-#ifndef LINALG_HPP
-#define LINALG_HPP
-
-#include <opencv2/core.hpp>
-
-namespace cvfork {
-
-double invert( cv::InputArray _src, cv::OutputArray _dst, int method );
-bool solve(cv::InputArray _src, cv::InputArray _src2arg, cv::OutputArray _dst, int method );
-
-}
-
-#endif

apps/interactive-calibration/main.cpp

@@ -12,7 +12,6 @@
 #include "calibCommon.hpp"
 #include "calibPipeline.hpp"
 #include "frameProcessor.hpp"
-#include "cvCalibrationFork.hpp"
 #include "calibController.hpp"
 #include "parametersController.hpp"
 #include "rotationConverters.hpp"
@@ -106,7 +105,7 @@ int main(int argc, char** argv)
     if(!parser.has("v")) globalData->imageSize = capParams.cameraResolution;
 
     int calibrationFlags = 0;
-    if(intParams.fastSolving) calibrationFlags |= CALIB_USE_QR;
+    if(intParams.fastSolving) calibrationFlags |= cv::CALIB_USE_QR;
     cv::Ptr<calibController> controller(new calibController(globalData, calibrationFlags,
                                                          parser.get<bool>("ft"), capParams.minFramesNum));
     cv::Ptr<calibDataController> dataController(new calibDataController(globalData, capParams.maxFramesNum,
@@ -131,11 +130,16 @@ int main(int argc, char** argv)
     cv::namedWindow(mainWindowName);
     cv::moveWindow(mainWindowName, 10, 10);
 #ifdef HAVE_QT
-    cv::createButton("Delete last frame", deleteButton, &dataController, cv::QT_PUSH_BUTTON);
-    cv::createButton("Delete all frames", deleteAllButton, &dataController, cv::QT_PUSH_BUTTON);
-    cv::createButton("Undistort", undistortButton, &showProcessor, cv::QT_CHECKBOX, false);
-    cv::createButton("Save current parameters", saveCurrentParamsButton, &dataController, cv::QT_PUSH_BUTTON);
-    cv::createButton("Switch visualisation mode", switchVisualizationModeButton, &showProcessor, cv::QT_PUSH_BUTTON);
+    cv::createButton("Delete last frame", deleteButton, &dataController,
+                     cv::QT_PUSH_BUTTON | cv::QT_NEW_BUTTONBAR);
+    cv::createButton("Delete all frames", deleteAllButton, &dataController,
+                     cv::QT_PUSH_BUTTON | cv::QT_NEW_BUTTONBAR);
+    cv::createButton("Undistort", undistortButton, &showProcessor,
+                     cv::QT_CHECKBOX | cv::QT_NEW_BUTTONBAR, false);
+    cv::createButton("Save current parameters", saveCurrentParamsButton, &dataController,
+                     cv::QT_PUSH_BUTTON | cv::QT_NEW_BUTTONBAR);
+    cv::createButton("Switch visualisation mode", switchVisualizationModeButton, &showProcessor,
+                     cv::QT_PUSH_BUTTON | cv::QT_NEW_BUTTONBAR);
 #endif //HAVE_QT
     try {
         bool pipelineFinished = false;
@@ -156,10 +160,10 @@ int main(int argc, char** argv)
 
                 if(capParams.board != chAruco) {
                     globalData->totalAvgErr =
-                            cvfork::calibrateCamera(globalData->objectPoints, globalData->imagePoints,
+                            cv::calibrateCamera(globalData->objectPoints, globalData->imagePoints,
                                                     globalData->imageSize, globalData->cameraMatrix,
                                                     globalData->distCoeffs, cv::noArray(), cv::noArray(),
-                                                    globalData->stdDeviations, globalData->perViewErrors,
+                                                    globalData->stdDeviations, cv::noArray(), globalData->perViewErrors,
                                                     calibrationFlags, solverTermCrit);
                 }
                 else {
@@ -169,10 +173,10 @@ int main(int argc, char** argv)
                                 cv::aruco::CharucoBoard::create(capParams.boardSize.width, capParams.boardSize.height,
                                                                 capParams.charucoSquareLenght, capParams.charucoMarkerSize, dictionary);
                     globalData->totalAvgErr =
-                            cvfork::calibrateCameraCharuco(globalData->allCharucoCorners, globalData->allCharucoIds,
+                            cv::aruco::calibrateCameraCharuco(globalData->allCharucoCorners, globalData->allCharucoIds,
                                                            charucoboard, globalData->imageSize,
                                                            globalData->cameraMatrix, globalData->distCoeffs,
-                                                           cv::noArray(), cv::noArray(), globalData->stdDeviations,
+                                                           cv::noArray(), cv::noArray(), globalData->stdDeviations, cv::noArray(),
                                                            globalData->perViewErrors, calibrationFlags, solverTermCrit);
                 }
                 dataController->updateUndistortMap();