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calibrate.cpp
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calibrate.cpp
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#include <string.h>
#include <math.h>
#include <set>
#include <iostream>
#include <stdexcept>
#include "FireLog.h"
#include "FireSight.hpp"
#include "opencv2/features2d/features2d.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/calib3d/calib3d.hpp"
#include "jansson.h"
#include "jo_util.hpp"
#include "MatUtil.hpp"
#include "version.h"
using namespace cv;
using namespace std;
using namespace firesight;
json_t * json_matrix(const Mat &mat) {
json_t *jmat = json_array();
for (int r=0; r < mat.rows; r++) {
for (int c=0; c < mat.cols; c++) {
json_array_append(jmat, json_real(mat.at<double>(r,c)));
}
}
return jmat;
}
enum CalibrateOp {
CAL_TILE,
CAL_BEST,
CAL_I,
CAL_NONE,
CAL_PERSPECTIVE,
CAL_ELLIPSE,
CAL_CORNERS,
CAL_DIAMOND,
CAL_QUAD0,
CAL_QUAD1,
CAL_QUAD2,
CAL_QUAD3,
CAL_TILE1,
CAL_TILE2,
CAL_TILE3,
CAL_TILE4,
CAL_TILE5,
CAL_CELTIC_CROSS,
CAL_XYAXES,
CAL_XYORIGIN,
CAL_CROSS
};
enum CompareOp {
COMPARE_XY,
COMPARE_YX
};
typedef class ComparePoint2f {
private:
CompareOp op;
float tolerance;
public:
ComparePoint2f(CompareOp op=COMPARE_XY, float tolerance=10) {
this->op = op;
this->tolerance = tolerance;
}
public:
bool operator()(const Point2f &lhs, const Point2f &rhs) const {
assert(!isnan(lhs.x));
assert(!isnan(rhs.x));
int cmp;
switch (op) {
case COMPARE_XY:
cmp = lhs.x - rhs.x;
if (-tolerance <= cmp && cmp <= tolerance) {
cmp = lhs.y - rhs.y;
}
break;
case COMPARE_YX:
cmp = lhs.y - rhs.y;
if (-tolerance <= cmp && cmp <= tolerance) {
cmp = lhs.x - rhs.x;
}
break;
}
return cmp < 0;
}
} ComparePoint2f;
static void initCameraVectors(vector<double> &cmDefault, vector<double> &dcDefault,
Mat &image)
{
double focalLength = 1000; //
cmDefault.push_back(focalLength);
cmDefault.push_back(0.0);
cmDefault.push_back(image.cols/2);
cmDefault.push_back(0.0);
cmDefault.push_back(focalLength);
cmDefault.push_back(image.rows/2);
cmDefault.push_back(0.0);
cmDefault.push_back(0.0);
cmDefault.push_back(1.0);
dcDefault.push_back(0);
dcDefault.push_back(0);
dcDefault.push_back(0);
dcDefault.push_back(0);
}
typedef struct GridMatcher {
vector<Point2f> imagePts; // input image
vector<Point2f> calibrationPts; // image calibration points (post-perspective)
vector<Point3f> objectPts; //
Rect imgRect;
const ComparePoint2f cmpYX;
set<Point2f,ComparePoint2f> imgSet;
set<Point2f,ComparePoint2f> subImgSet;
vector<vector<Point2f> > vImagePts;
vector<vector<Point3f> > vObjectPts;
Point2f grid;
Size imgSize;
Mat perspective;
Point2f imgSep;
Point2f objSep;
Mat gridIndexes; // object grid matrix of imagePts/calibrationPts/objectPts vector indexes or -1
double tolerance;
GridMatcher(Size imgSize, Point2f objSep, double tolerance)
: cmpYX(ComparePoint2f(COMPARE_YX)),
imgSet(set<Point2f,ComparePoint2f>(cmpYX)),
subImgSet(set<Point2f,ComparePoint2f>(cmpYX)),
grid(FLT_MAX,FLT_MAX),
objSep(objSep),
tolerance(tolerance)
{
this->imgSize = imgSize;
this->imgRect = Rect(imgSize.width/2, imgSize.height/2, 0, 0);
}
vector<Point2f> create_gridImgPts(const vector<Point2f> &imgPts, string &errMsg) {
vector<Point2f> gridImgPts(imgPts.size());
int rows = gridIndexes.rows;
int cols = gridIndexes.cols;
int r2 = rows/2;
int c2 = cols/2;
int index00 = gridIndexes.at<short>(r2,c2);
Point2f center(imgPts[index00]);
LOGTRACE2("create_gridImgPts() r2:%d c2:%d", r2, c2);
LOGTRACE3("create_gridImgPts() index00:%d imgPt:(%g,%g)",
index00, imgPts[index00].x, imgPts[index00].y);
float dxTot = 0;
float dxCount = 0;
for (int r=0; r < rows; r++) {
int prevIndex = gridIndexes.at<short>(r,0);
int n = 0;
float yTot = 0;
for (int c=1; c < cols; c++) {
int index = gridIndexes.at<short>(r,c);
if (index >= 0 && prevIndex >= 0) {
dxTot += imgPts[index].x - imgPts[prevIndex].x;
yTot += imgPts[index].y;
n++;
}
prevIndex = index;
}
dxCount += n;
if (r == r2) {
center.y = yTot/n;
}
}
float dyTot = 0;
float dyCount = 0;
for (int c=0; c < cols; c++) {
int prevIndex = gridIndexes.at<short>(0,c);
int n = 0;
float xTot = 0;
for (int r=1; r < rows; r++) {
int index = gridIndexes.at<short>(r,c);
if (index >= 0 && prevIndex >= 0) {
dyTot += imgPts[index].y - imgPts[prevIndex].y;
xTot += imgPts[index].x;
n++;
}
prevIndex = index;
}
dyCount += n;
if (c == c2) {
center.x = xTot/n;
}
}
Point2f gridSep(dxTot/dxCount, dyTot/dyCount);
LOGTRACE2("create_gridImgPts() dxTot:%g dxCount:%g", dxTot, dxCount);
LOGTRACE2("create_gridImgPts() dyTot:%g dyCount:%g", dyTot, dyCount);
if (index00 < 0 || gridSep.x == 0 || gridSep.y == 0) {
const char * msg = "GridMatcher::create_gridImgPts() could not calculate grid separation. ";
LOGERROR1("%s", msg);
errMsg += msg;
} else {
int n = 0;
double totalSquaredError = 0;
LOGTRACE4("create_gridImgPts() center:(%g,%g) gridSep:(%g,%g)",
center.x, center.y, gridSep.x, gridSep.y);
if (gridSep.x > 0 && gridSep.y > 0) {
for (int r=0; r < rows; r++) {
for (int c=0; c < cols; c++) {
int index = gridIndexes.at<short>(r,c);
if (index >= 0) {
Point2f gridPt = Point2f((c-c2)*gridSep.x, (r-r2)*gridSep.y) + center;
gridImgPts[index] = gridPt;
}
}
}
}
}
return gridImgPts;
}
Point2f calcGridness(const vector<Point2f> &imgPts, string &errMsg) {
int rows = gridIndexes.rows;
int cols = gridIndexes.cols;
int n = 0;
Point2f totalSquaredError;
vector<Point2f> gridImgPts = create_gridImgPts(imgPts, errMsg);
if (gridImgPts.size() == 0) {
return Point2f(nanf(""),nanf(""));
}
for (int r=0; r < rows; r++) {
for (int c=0; c < cols; c++) {
int index = gridIndexes.at<short>(r,c);
if (index >= 0) {
Point2f diff = gridImgPts[index] - imgPts[index];
LOGTRACE4("calcGridness() r:%d c:%d diff:(%g,%g)", r, c, diff.x, diff.y);
totalSquaredError.x += diff.x*(double)diff.x;
totalSquaredError.y += diff.y*(double)diff.y;
n++;
}
}
}
return Point2f(sqrt(totalSquaredError.x/n),sqrt(totalSquaredError.y/n));
}
string identifyRows(json_t *pStageModel, vector<Point2f> &pointsXY, float &dyMedian, Point2f &dyTot1,
Point2f &dyTot2, int &dyCount1, int &dyCount2)
{
vector<float> dyList;
Point2f prevPt;
for (vector<Point2f>::iterator it=pointsXY.begin(); it!=pointsXY.end(); it++) {
if (it != pointsXY.begin()) {
float dy = prevPt.y - it->y;
dyList.push_back(dy);
}
prevPt = *it;
}
sort(dyList.begin(), dyList.end());
dyMedian = dyList[dyList.size()/2];
float maxTol = dyMedian < 0 ? 1-tolerance : 1+tolerance;
float minTol = dyMedian < 0 ? 1+tolerance : 1-tolerance;
float maxDy1 = dyMedian * maxTol;
float minDy1 = dyMedian * minTol;
float maxDy2 = 2*dyMedian * maxTol;
float minDy2 = 2*dyMedian * minTol;
Point2f prevPt1;
Point2f prevPt2;
int n = 0;
for (vector<Point2f>::iterator it=pointsXY.begin();
it!=pointsXY.end(); it++) {
const Point2f &curPt = *it;
if (n > 0) {
LOGDEBUG3("indentifyRows() pointsXY[%d] (%g,%g)", n, curPt.x, curPt.y);
float dy1 = prevPt1.y - curPt.y;
if (dy1 < minDy1) {
LOGTRACE2("identifyRows() reject dy1:%g < minDy1:%g", dy1, minDy1);
} else if (maxDy1 < dy1) {
LOGTRACE2("identifyRows() reject maxDy1:%g < dy1:%g", maxDy1, dy1);
} else {
dyTot1 = dyTot1 + (prevPt1 - curPt);
dyCount1++;
}
if (n > 1) {
int dy2 = prevPt2.y - curPt.y;
if (minDy2 <= dy2 && dy2 <= maxDy2) {
dyTot2 = dyTot2 + (prevPt2 - curPt);
dyCount2++;
}
}
}
prevPt2 = prevPt1;
prevPt1 = curPt;
n++;
}
string errMsg;
json_object_set(pStageModel, "dyMedian", json_real(dyMedian));
json_object_set(pStageModel, "dyCount1", json_integer(dyCount1));
json_object_set(pStageModel, "dyCount2", json_integer(dyCount2));
if (dyCount1 == 0) {
errMsg = "No grid points matched within tolerance (level 1) dyCount1:0";
} else if (dyCount2 == 0) {
json_object_set(pStageModel, "dxAvg1", json_real(dyTot1.x/dyCount1));
json_object_set(pStageModel, "dyAvg1", json_real(dyTot1.y/dyCount1));
errMsg = "No grid points matched within tolerance (level 2) dyCount2:0";
} else {
float dxAvg1 = dyTot1.x/dyCount1;
float dyAvg1 = dyTot1.y/dyCount1;
float dxAvg2 = dyTot2.x/dyCount2/2;
float dyAvg2 = dyTot2.y/dyCount2/2;
json_object_set(pStageModel, "dydxAvg1", json_real(dxAvg1));
json_object_set(pStageModel, "dydyAvg1", json_real(dyAvg1));
json_object_set(pStageModel, "dydxAvg2", json_real(dxAvg2));
json_object_set(pStageModel, "dydyAvg2", json_real(dyAvg2));
float normXY = sqrt(dxAvg2*dxAvg2 + dyAvg2*dyAvg2);
grid.y = normXY / objSep.y;
json_object_set(pStageModel, "grid.y", json_real(grid.y));
imgSep.y = grid.y*objSep.y;
}
return errMsg;
} // identifyRows
string identifyColumns(json_t *pStageModel, vector<Point2f> &pointsYX, float &dxMedian, Point2f &dxTot1,
Point2f &dxTot2, int &dxCount1, int &dxCount2)
{
vector<float> dxList;
Point2f prevPt;
for (vector<Point2f>::iterator it=pointsYX.begin(); it!=pointsYX.end(); it++) {
if (it != pointsYX.begin()) {
float dx = prevPt.x - it->x;
dxList.push_back(dx);
}
prevPt = *it;
}
sort(dxList.begin(), dxList.end());
dxMedian = dxList[dxList.size()/2];
float maxTol = dxMedian < 0 ? 1-tolerance : 1+tolerance;
float minTol = dxMedian < 0 ? 1+tolerance : 1-tolerance;
float maxDx1 = dxMedian * maxTol;
float minDx1 = dxMedian * minTol;
float maxDx2 = 2*dxMedian * maxTol;
float minDx2 = 2*dxMedian * minTol;
Point2f prevPt1;
Point2f prevPt2;
int n = 0;
for (vector<Point2f>::iterator it=pointsYX.begin();
it!=pointsYX.end(); it++) {
const Point2f &curPt = *it;
if (n > 0) {
LOGDEBUG3("identify_Columns() pointsYX[%d] (%g,%g)", n, curPt.x, curPt.y);
float dx1 = prevPt1.x - curPt.x;
if (dx1 < minDx1) {
LOGTRACE2("identifyColumns() reject dx1:%g < minDx1:%g", dx1, minDx1);
} else if (maxDx1 < dx1) {
LOGTRACE2("identifyColumns() reject maxDx1:%g < dx1:%g", maxDx1, dx1);
} else {
dxTot1 = dxTot1 + (prevPt1 - curPt);
dxCount1++;
}
if (n > 1) {
int dx2 = prevPt2.x - curPt.x;
if (minDx2 <= dx2 && dx2 <= maxDx2) {
dxTot2 = dxTot2 + (prevPt2 - curPt);
dxCount2++;
}
}
}
prevPt2 = prevPt1;
prevPt1 = curPt;
n++;
}
string errMsg;
json_object_set(pStageModel, "dxMedian", json_real(dxMedian));
json_object_set(pStageModel, "dxCount1", json_integer(dxCount1));
json_object_set(pStageModel, "dxCount2", json_integer(dxCount2));
if (dxCount1 == 0) {
errMsg = "No grid points matched within tolerance (level 1) dxCount1:0";
} else if (dxCount2 == 0) {
json_object_set(pStageModel, "dxAvg1", json_real(dxTot1.x/dxCount1));
json_object_set(pStageModel, "dyAvg1", json_real(dxTot1.y/dxCount1));
errMsg = "No grid points matched within tolerance (level 2) dxCount2:0";
} else {
float dxAvg1 = dxTot1.x/dxCount1;
float dyAvg1 = dxTot1.y/dxCount1;
float dxAvg2 = dxTot2.x/dxCount2/2;
float dyAvg2 = dxTot2.y/dxCount2/2;
json_object_set(pStageModel, "dxdxAvg1", json_real(dxAvg1));
json_object_set(pStageModel, "dxdyAvg1", json_real(dyAvg1));
json_object_set(pStageModel, "dxdxAvg2", json_real(dxAvg2));
json_object_set(pStageModel, "dxdyAvg2", json_real(dyAvg2));
float normXY = sqrt(dxAvg2*dxAvg2 + dyAvg2*dyAvg2);
grid.x = normXY / objSep.x;
json_object_set(pStageModel, "grid.x", json_real(grid.x));
imgSep.x = grid.x*objSep.x;
}
return errMsg;
} // identifyColumns
bool add(Point2f &ptImg, Point3f &ptObj) {
set<Point2f,ComparePoint2f>::iterator it = imgSet.find(ptImg);
if (it != imgSet.end()) {
return false;
}
objectPts.push_back(ptObj);
imagePts.push_back(ptImg);
imgSet.insert(ptImg);
return true;
}
void calcGridIndexes() {
int ny = imgSize.height/imgSep.y+1.5;
int nx = imgSize.width/imgSep.x+1.5;
gridIndexes = Mat(Size(nx,ny),CV_16S);
gridIndexes = -1;
LOGTRACE2("calcGridIndexes() [%d,%d]", ny, nx);
for (short i=0; i < objectPts.size(); i++) {
int r = objectPts[i].y;
int c = objectPts[i].x;
assert( 0 <= r && r < gridIndexes.rows);
assert( 0 <= c && c < gridIndexes.cols);
gridIndexes.at<short>(r,c) = i;
if (logLevel == FIRELOG_TRACE) {
char buf[255];
snprintf(buf, sizeof(buf), "r:%d c:%d objectPts[%d]:(%g,%g) imagePts[%d]:(%g,%g)",
r, c, i, objectPts[i].x, objectPts[i].y, i, imagePts[i].x, imagePts[i].y);
LOGTRACE1("calcGridIndexes() %s", buf);
}
}
}
Point3f calcObjPointDiff(const Point2f &curPt, const Point2f &prevPt, const Point2f &imgSep) {
float dObjX = (curPt.x-prevPt.x)/imgSep.x;
float dObjY = (curPt.y-prevPt.y)/imgSep.y;
dObjX += dObjX < 0 ? -0.5 : 0.5;
dObjY += dObjY < 0 ? -0.5 : 0.5;
return Point3f((int)(dObjX), (int) (dObjY), 0);
}
bool initPerspective(int r, int c, int dr, int dc, vector<Point2f> srcPts,
Point2f &perspectiveDst, Point2f &perspectiveSrc,
set<Point2f,ComparePoint2f> *pSubImgSet)
{
int found = 0;
int index;
Point2f pDst(0,0);
Point2f pSrc(0,0);
if (gridIndexes.at<short>(r,c) < 0) {
return false;
}
int n = 1;
for (int i=0; i <= n+dr; i++) {
for (int j=0; j <= n+dc; j++) {
if (0 <= r+i && r+i < gridIndexes.rows && 0 <= c+j && c+j < gridIndexes.cols) {
index = gridIndexes.at<short>(r+i,c+j);
if (0 <= index) {
if (pSubImgSet) { pSubImgSet->insert(imagePts[index]); }
pDst += imagePts[index];
pSrc += Point2f(srcPts[index].x, srcPts[index].y);
if (logLevel == FIRELOG_TRACE) {
char buf[255];
snprintf(buf, sizeof(buf), "r:%d c:%d index:%d dst:(%g,%g) src:(%g,%g)",
r+i, c+j, index, pDst.x, pDst.y, pSrc.x, pSrc.y);
LOGTRACE1("initPerspective() %s", buf);
}
found++;
}
}
}
}
if (!found) {
return false;
}
perspectiveDst = Point2f(pDst.x/found, pDst.y/found);
perspectiveSrc = Point2f(pSrc.x/found, pSrc.y/found);
LOGTRACE4("initPerspective() dst:(%g,%g) src:(%g,%g)",
perspectiveDst.x, perspectiveDst.y, perspectiveSrc.x, perspectiveSrc.y);
return true;
}
Mat calcPerspective(vector<Point2f> &srcPts, set<Point2f,ComparePoint2f> *pSubImgSet=NULL) {
Point2f perspectiveSrc[4];
Point2f perspectiveDst[4];
int rows = gridIndexes.rows;
int cols = gridIndexes.cols;
int r2 = rows/2;
int c2 = cols/2;
for (int r=0; r <= r2; r++ ) {
if (initPerspective(r,(r*c2)/r2, 1, 1, srcPts, perspectiveDst[0], perspectiveSrc[0], pSubImgSet)) {
break;
}
}
for (int r=0; r <= r2; r++ ) {
if (initPerspective(rows-r-1,(r*c2)/r2, -1, 1, srcPts, perspectiveDst[1], perspectiveSrc[1], pSubImgSet)) {
break;
}
}
for (int r=0; r <= r2; r++ ) {
if (initPerspective(r,cols-1-(r*c2)/r2, 1, -1, srcPts, perspectiveDst[2], perspectiveSrc[2], pSubImgSet)) {
break;
}
}
for (int r=0; r <= r2; r++ ) {
if (initPerspective(rows-r-1,cols-1-(r*c2)/r2, -1, -1, srcPts, perspectiveDst[3], perspectiveSrc[3], pSubImgSet)) {
break;
}
}
return getPerspectiveTransform(perspectiveDst, perspectiveSrc);
}
void matchPoints(Point2f dmedian, vector<Point2f> &pointsYX, vector<Point2f> &pointsXY) {
Point3f ptObj;
Point2f ptImg;
float maxDx1 = dmedian.x * (dmedian.x < 0 ? 1-tolerance : 1+tolerance);
float minDx1 = dmedian.x * (dmedian.x < 0 ? 1+tolerance : 1-tolerance);
vector<Point2f>::iterator itYX = pointsYX.begin();
for (Point2f ptImg0=(*itYX); ++itYX!=pointsYX.end(); ) {
const Point2f &ptImg1(*itYX);
float dx1 = ptImg0.x - ptImg1.x;
if (dx1 < minDx1) {
LOGTRACE2("matchPoints() reject dx1:%g < minDx1:%g", dx1, minDx1);
} else if (maxDx1 < dx1) {
LOGTRACE2("matchPoints() reject minDx1:%g < dx1:%g", maxDx1, dx1);
} else {
if (imagePts.size() == 0) {
ptImg = ptImg0;
ptObj.x = (int)(ptImg.x/imgSep.x + 0.5);
ptObj.y = (int)(ptImg.y/imgSep.y + 0.5);
add(ptImg, ptObj);
ptObj += calcObjPointDiff(ptImg1, ptImg, imgSep);
ptImg = ptImg1;
add(ptImg, ptObj);
} else {
if (ptImg != ptImg0) {
ptObj += calcObjPointDiff(ptImg0, ptImg, imgSep);
ptImg = ptImg0;
add(ptImg, ptObj);
}
ptObj += calcObjPointDiff(ptImg1, ptImg, imgSep);
ptImg = ptImg1;
add(ptImg, ptObj);
}
}
ptImg0 = ptImg1;
}
float maxDy1 = dmedian.y * (dmedian.y < 0 ? 1-tolerance : 1+tolerance);
float minDy1 = dmedian.y * (dmedian.y < 0 ? 1+tolerance : 1-tolerance);
vector<Point2f>::iterator itXY = pointsXY.begin();
for (Point2f ptImg0=(*itXY); ++itXY!=pointsXY.end(); ) {
const Point2f &ptImg1(*itXY);
float dy1 = ptImg0.y - ptImg1.y;
if (dy1 < minDy1) {
LOGTRACE2("matchPoints() reject dy1:%g < minDy1:%g", dy1, minDy1);
} else if (maxDy1 < dy1) {
LOGTRACE2("matchPoints() reject minDy1:%g < dy1:%g", maxDy1, dy1);
} else {
if (imagePts.size() == 0) {
ptImg = ptImg0;
ptObj.x = (int)(ptImg.x/imgSep.x + 0.5);
ptObj.y = (int)(ptImg.y/imgSep.y + 0.5);
add(ptImg, ptObj);
ptObj += calcObjPointDiff(ptImg1, ptImg, imgSep);
ptImg = ptImg1;
add(ptImg, ptObj);
} else {
if (ptImg != ptImg0) {
ptObj += calcObjPointDiff(ptImg0, ptImg, imgSep);
ptImg = ptImg0;
add(ptImg, ptObj);
}
ptObj += calcObjPointDiff(ptImg1, ptImg, imgSep);
ptImg = ptImg1;
add(ptImg, ptObj);
}
}
ptImg0 = ptImg1;
}
if (logLevel == FIRELOG_TRACE) {
for (int i=0; i < size(); i++) {
LOGTRACE4("apply_matchGrid() objectPt[%d] (%g,%g,%g)",
i, objectPts[i].x, objectPts[i].y, objectPts[i].z);
}
}
}
bool addSubImagePoint(int r, int c, Point2f objCenter, vector<Point2f> &subImgPts,
vector<Point3f> &subObjPts,
set<Point2f,ComparePoint2f> *pSubImgSet=NULL) {
short index = gridIndexes.at<short>(r, c);
bool added = false;
if (0 <= index) {
Point2f ptImg = calibrationPts[index];
Point3f ptObj = objectPts[index];
//Point3f subObjPt(objSep.x*(ptObj.x-objCenter.x), objSep.y*(ptObj.y-objCenter.y), 0);
Point3f subObjPt(ptObj);
added = true;
LOGTRACE4("addSubImagePoint(r:%d,c:%d,objCenter.x:%g,objCenter.y:%g)", r, c, objCenter.x, objCenter.y);
if (pSubImgSet) {
bool added = pSubImgSet->insert(ptImg).second;
(void) added;
}
subObjPts.push_back(subObjPt);
subImgPts.push_back(ptImg);
}
return added;
}
bool addSubImage(int row, int col, int rows, int cols, int minPts, bool combine=false) {
LOGDEBUG4("addSubImage(%d,%d,%d,%d)", row, col, rows, cols);
assert(row >= 0);
assert(col >= 0);
assert(row+rows <= gridIndexes.rows);
assert(col+cols <= gridIndexes.cols);
vector<Point2f> subImgPts;
vector<Point3f> subObjPts;
Point2f objCenter((rows-1)/2.0, (cols-1)/2.0);
float z = 0;
for (int r=0; r < rows; r++) {
for (int c=0; c < cols; c++) {
addSubImagePoint(r+row, c+col, objCenter, subImgPts, subObjPts);
}
}
if (!combine && subImgPts.size() < minPts) {
if (logLevel >= FIRELOG_TRACE) {
char buf[255];
snprintf(buf, sizeof(buf), "addSubImage(%d,%d,%d,%d) REJECT:%ld",
row, col, rows, cols, (long) subObjPts.size());
LOGTRACE1("%s", buf);
}
return false;
}
for (int i=0; i<subImgPts.size(); i++) {
Point2f ptImg = subImgPts[i];
if (subImgSet.insert(ptImg).second) {
LOGTRACE2("addSubImage() point:[%d,%d]", (int)ptImg.x, (int)ptImg.y);
}
}
if (logLevel >= FIRELOG_TRACE) {
char buf[255];
snprintf(buf, sizeof(buf), "addSubImage(%d,%d,%d,%d) ADD:%ld",
row, col, rows, cols, (long) subObjPts.size());
LOGTRACE1("%s", buf);
}
if (subObjPts.size()) {
if (!combine || vObjectPts.size()==0) {
vObjectPts.push_back(subObjPts);
vImagePts.push_back(subImgPts);
} else {
vector<Point3f> vObj0 = vObjectPts[0];
vObj0.insert(vObj0.end(), subObjPts.begin(), subObjPts.end());
vector<Point2f> vImg0 = vImagePts[0];
vImg0.insert(vImg0.end(), subImgPts.begin(), subImgPts.end());
}
}
return true;
}
int size() {
return objectPts.size();
}
void subImageCornersFactory(Point2f scale) {
int rows = gridIndexes.rows;
int cols = gridIndexes.cols;
int n2 = min(rows,cols)/2;
Point2f oc((cols-1)/2.0, (rows-1)/2.0);
int h = 2;
int w = 2;
int rlast = rows-h;
int clast = cols-w;
int minPts = 4;
for (int i = 0; i < n2; i++) {
if (addSubImage(i, i, h, w, minPts)) {
break;
}
}
for (int i = 0; i < n2; i++) {
if (addSubImage(i, clast-i, h, w, minPts)) {
break;
}
}
for (int i = 0; i < n2; i++) {
if (addSubImage(rlast-i, i, h, w, minPts)) {
break;
}
}
for (int i = 0; i < n2; i++) {
if (addSubImage(rlast-i, clast-i, h, w, minPts)) {
break;
}
}
}
void subImageIFactory(Point2f scale) {
int rows = gridIndexes.rows;
int cols = gridIndexes.cols;
Point2f oc((cols-1)/2.0, (rows-1)/2.0);
int xh = (int)(0.5+scale.y*rows/4.0);
int yw = (int)(0.5+scale.x*cols/4.0);
int c2 = (cols-yw)/2;
int minPts = 4;
addSubImage(0, 0, xh, cols, minPts);
addSubImage(rows-xh, 0, xh, cols, minPts);
addSubImage(0, c2, rows, yw, minPts);
}
bool subImageQuadrilateralFactory(Point2f scale, int extension, bool centerPoint=false) {
vector<Point2f> subImgPts;
vector<Point3f> subObjPts;
int rows = gridIndexes.rows;
int cols = gridIndexes.cols;
int rStart = max(0,min(rows-1,(int)(0.5+rows*(1-scale.y))));
int rLast = rows-rStart-1;
int cStart = max(0,min(cols-1,(int)(0.5+cols*(1-scale.x))));
int cLast = cols-cStart-1;
Point2f oc((cols-1)/2.0, (rows-1)/2.0);
LOGTRACE3("subImageQuadrilateralFactory(%d,%g,%g)", extension, scale.x, scale.y);
if (centerPoint) {
addSubImagePoint(oc.y, oc.x, oc, subImgPts, subObjPts, &subImgSet)
|| addSubImagePoint(oc.y+1, oc.x, oc, subImgPts, subObjPts, &subImgSet)
|| addSubImagePoint(oc.y, oc.x+1, oc, subImgPts, subObjPts, &subImgSet)
|| addSubImagePoint(oc.y+1, oc.x+1, oc, subImgPts, subObjPts, &subImgSet);
}
for (int r=rStart; r <= oc.y; r++) {
if (addSubImagePoint(r, r, oc, subImgPts, subObjPts, &subImgSet)) {
for (int i=1; i <= extension; i++) {
addSubImagePoint(r, r+i, oc, subImgPts, subObjPts, &subImgSet);
addSubImagePoint(r+i, r, oc, subImgPts, subObjPts, &subImgSet);
}
break;
}
}
for (int r=rStart; r <= oc.y; r++) {
if (addSubImagePoint(r, cLast-(r-rStart), oc, subImgPts, subObjPts, &subImgSet)) {
for (int i=1; i <= extension; i++) {
addSubImagePoint(r, cLast-(r-rStart)-i, oc, subImgPts, subObjPts, &subImgSet);
addSubImagePoint(r+i, cLast-(r-rStart), oc, subImgPts, subObjPts, &subImgSet);
}
break;
}
}
for (int r=rLast; oc.y < r; r--) {
if (addSubImagePoint(r, cStart+(rLast-r), oc, subImgPts, subObjPts, &subImgSet)) {
for (int i=1; i <= extension; i++) {
addSubImagePoint(r-i, cStart+(rLast-r), oc, subImgPts, subObjPts, &subImgSet);
addSubImagePoint(r, cStart+(rLast-r)+i, oc, subImgPts, subObjPts, &subImgSet);
}
break;
}
}
for (int r=rLast; oc.y < r; r--) {
if (addSubImagePoint(r, cLast-(rLast-r), oc, subImgPts, subObjPts, &subImgSet)) {
for (int i=1; i <= extension; i++) {
addSubImagePoint(r-i, cLast-(rLast-r), oc, subImgPts, subObjPts, &subImgSet);
addSubImagePoint(r, cLast-(rLast-r)-i, oc, subImgPts, subObjPts, &subImgSet);
}
break;
}
}
if (subObjPts.size() < 4) {
LOGERROR1("subImageQuadrilateralFactor() could not find 4 points to match (%d found)", (int)subObjPts.size());
return false;
}
vObjectPts.push_back(subObjPts);
vImagePts.push_back(subImgPts);
return true;
}
bool subImageDiamondFactory(Point2f scale) {
vector<Point2f> subImgPts;
vector<Point3f> subObjPts;
int rows = gridIndexes.rows;
int cols = gridIndexes.cols;
int rStart = max(0,min(rows-1,(int)(0.5+rows*(1-scale.y))));
int rLast = rows-rStart-1;
int cStart = max(0,min(cols-1,(int)(0.5+cols*(1-scale.x))));
int cLast = cols-cStart-1;
Point2f oc((cols-1)/2.0, (rows-1)/2.0);
LOGTRACE2("subImageDiamondFactory(%g,%g)", scale.x, scale.y);
for (int r=rStart; r <= oc.y; r++) {
if (addSubImagePoint(r, oc.x, oc, subImgPts, subObjPts, &subImgSet)) {
break;
}
}
for (int r=rLast; oc.y < r; r--) {
if (addSubImagePoint(r, oc.x, oc, subImgPts, subObjPts, &subImgSet)) {
break;
}
}
for (int c=cStart; c <= oc.x; c++) {
if (addSubImagePoint(oc.y, c, oc, subImgPts, subObjPts, &subImgSet)) {
break;
}
}
for (int c=cLast; oc.x < c; c--) {
if (addSubImagePoint(oc.y, c, oc, subImgPts, subObjPts, &subImgSet)) {
break;
}
}
if (subObjPts.size() < 4) {
LOGERROR1("subImageDiamondFactory() could not find 4 points to match (%d found)", (int)subObjPts.size());
return false;
}
vObjectPts.push_back(subObjPts);
vImagePts.push_back(subImgPts);
return true;
}
void subImageEllipseFactory(Point2f scale) {
vector<Point2f> subImgPts;
vector<Point3f> subObjPts;
int rows = gridIndexes.rows;
int cols = gridIndexes.cols;
Point2f oc((cols-1)/2.0, (rows-1)/2.0);
float ocy2 = oc.y * oc.y;
float ocx2 = oc.x * oc.x;
float nMax = ocy2 * ocx2 * scale.x * scale.x * scale.y * scale.y;
LOGTRACE2("subImageEllipseFactory(%g,%g)", scale.x, scale.y);
for (int r=0; r < rows; r++) {
float dr = r-oc.y;
for (int c=0; c <= cols; c++) {
float dc = c-oc.x;
float n = scale.x*scale.x*dr*dr*ocx2 + scale.y*scale.y*dc*dc*ocy2;
if (n <= nMax) {
addSubImagePoint(r, c, oc, subImgPts, subObjPts, &subImgSet);
}
}
}
vObjectPts.push_back(subObjPts);
vImagePts.push_back(subImgPts);
}
void subImageCelticCrossFactory() {
int minPts = 4;
int xh = max(3, gridIndexes.rows/4);
int yw = max(3, gridIndexes.cols/4);
int rows = gridIndexes.rows;
int cols = gridIndexes.cols;
int c2 = cols/2;
int r2 = rows/2;
LOGTRACE("subImageCelticCrossFactory()");
// origin cross
addSubImage(r2-xh/2, c2-c2/2, xh, c2, minPts);
addSubImage(r2-r2/2, c2-yw/2, r2, yw, minPts);
// xy axes
addSubImage(r2-xh/2, 0, xh, c2, minPts);
addSubImage(r2-xh/2, cols-c2, xh, c2, minPts);
addSubImage(0, c2-yw/2, r2, yw, minPts);
addSubImage(rows-r2, c2-yw/2, r2, yw, minPts);
// near quadrants
addSubImage(r2-xh-1, c2-yw-1, xh, yw, minPts);
addSubImage(r2+1, c2-yw-1, xh, yw, minPts);
addSubImage(r2-xh-1, c2+1, xh, yw, minPts);
addSubImage(r2+1, c2+1, xh, yw, minPts);
}
void subImageXYOriginFactory() {
int minPts = 4;
int rows = gridIndexes.rows;
int cols = gridIndexes.cols;
int xh = max(2, (rows)/5);
int yw = max(2, (cols)/5);
int c2 = cols/2;
int r2 = rows/2;
int cLast = cols - c2;
int rLast = rows - r2;
LOGTRACE("subImageXYOriginFactory()");
// Cross
addSubImage((rows-xh)/2, (cols-c2)/2, xh, c2, minPts);
addSubImage((rows-r2)/2, (cols-yw)/2, r2, yw, minPts);
// Axes
addSubImage((rows-xh)/2, 0, xh, c2, minPts);
addSubImage((rows-xh)/2, cLast, xh, c2, minPts);
addSubImage(0, (cols-yw)/2, r2, yw, minPts);
addSubImage(rLast, (cols-yw)/2, r2, yw, minPts);
}
void subImageXYAxesFactory() {
int minPts = 4;
int rows = gridIndexes.rows;
int cols = gridIndexes.cols;
int xh = max(2, (rows)/5);
int yw = max(2, (cols)/5);
int c2 = cols/2;
int r2 = rows/2;
int cLast = cols - c2;
int rLast = rows - r2;
LOGTRACE("subImageXYAxesFactory()");
addSubImage((rows-xh)/2, 0, xh, c2, minPts);
addSubImage((rows-xh)/2, cLast, xh, c2, minPts);
addSubImage(0, (cols-yw)/2, r2, yw, minPts);
addSubImage(rLast, (cols-yw)/2, r2, yw, minPts);
}
void subImageTileFactory(int n) {
int minPts = 4;
int rows = gridIndexes.rows;
int cols = gridIndexes.cols;
int w = (cols+n-1)/n;
int h = (rows+n-1)/n;
int n2 = n/2;
LOGTRACE1("subImageTileFactory(%d)", n);
if (n == 1) {
addSubImage(0, 0, rows, cols, minPts);
} else {
if (n % 2) {
int c2 = (cols-w)/2;
int r2 = (rows-h)/2;
addSubImage(r2, c2, h, w, minPts); // center
for (int i=0; i < n2; i++) {
addSubImage(r2, i*w, h, w, minPts);
addSubImage(r2, cols-(i+1)*w, h, w, minPts);
addSubImage(i*h, c2, h, w, minPts);
addSubImage(rows-(i+1)*h, c2, h, w, minPts);
}
}
for (int i=0; i < n2; i++) {
for (int j=0; j < n2; j++) {
addSubImage(i*h, j*w, h, w, minPts);
addSubImage(rows-i*h-h, j*w, h, w, minPts);
addSubImage(i*h, cols-j*w-w, h, w, minPts);
addSubImage(rows-i*h-h, cols-j*w-w, h, w, minPts);
}
}
}
}
void subImageCrossFactory() {
int minPts = 4;
int rows = gridIndexes.rows;
int cols = gridIndexes.cols;
int rowMajor = rows/2;
int rowMinor = rows % 2 ? 3 : 2;
int colMajor = cols/2;
int colMinor = cols % 2 ? 3 : 2;
int rLastMa = rows-rowMajor;
int rLastMi = rows-rowMinor;
int cLastMa = cols-colMajor;
int cLastMi = cols-colMinor;
LOGTRACE("subImageCrossFactory()");
addSubImage(rLastMi/2, cLastMa/2, rowMinor, colMajor, minPts);
addSubImage(rLastMa/2, cLastMi/2, rowMajor, colMinor, minPts);
addSubImage(rLastMi/2, max(0,cLastMa/2-1), rowMinor, colMajor, minPts);
addSubImage(rLastMi/2, min(cLastMa,cLastMa/2+1), rowMinor, colMajor, minPts);
addSubImage(max(0,rLastMa/2-1), cLastMi/2, rowMajor, colMinor, minPts);
addSubImage(min(rLastMa,rLastMa/2+1), cLastMi/2, rowMajor, colMinor, minPts);
addSubImage(rLastMi/2, max(0,cLastMa/2-2), rowMinor, colMajor, minPts);
addSubImage(rLastMi/2, min(cLastMa,cLastMa/2+2), rowMinor, colMajor, minPts);
addSubImage(max(0,rLastMa/2-2), cLastMi/2, rowMajor, colMinor, minPts);
addSubImage(min(rLastMa,rLastMa/2+2), cLastMi/2, rowMajor, colMinor, minPts);
addSubImage(rLastMi/2, max(0,cLastMa/2-3), rowMinor, colMajor, minPts);
addSubImage(rLastMi/2, min(cLastMa,cLastMa/2+3), rowMinor, colMajor, minPts);
addSubImage(max(0,rLastMa/2-3), cLastMi/2, rowMajor, colMinor, minPts);
addSubImage(min(rLastMa,rLastMa/2+3), cLastMi/2, rowMajor, colMinor, minPts);
}
CalibrateOp parseCalibrateOp(string opStr, string &errMsg) {
CalibrateOp op = CAL_NONE;
if (opStr.compare("none") == 0) {