Add interactive calibration app

apps/CMakeLists.txt

@@ -4,3 +4,4 @@ link_libraries(${OPENCV_LINKER_LIBS})
 add_subdirectory(traincascade)
 add_subdirectory(createsamples)
 add_subdirectory(annotation)
+add_subdirectory(interactive-calibration)

apps/interactive-calibration/CMakeLists.txt

@@ -0,0 +1,48 @@
+set(OPENCV_INTERACTIVECALIBRATION_DEPS opencv_core opencv_aruco opencv_highgui opencv_calib3d opencv_videoio)
+ocv_check_dependencies(${OPENCV_INTERACTIVECALIBRATION_DEPS})
+
+if(NOT OCV_DEPENDENCIES_FOUND)
+  return()
+endif()
+
+find_package(LAPACK)
+if(LAPACK_FOUND)
+  find_file(LAPACK_HEADER "lapacke.h")
+  if(LAPACK_HEADER)
+    add_definitions(-DUSE_LAPACK)
+    link_libraries(${LAPACK_LIBRARIES})
+  endif()
+endif()
+
+project(interactive-calibration)
+set(the_target opencv_interactive-calibration)
+
+ocv_target_include_directories(${the_target} PRIVATE "${CMAKE_CURRENT_SOURCE_DIR}" "${OpenCV_SOURCE_DIR}/include/opencv")
+ocv_target_include_modules_recurse(${the_target} ${OPENCV_INTERACTIVECALIBRATION_DEPS})
+
+file(GLOB SRCS *.cpp)
+file(GLOB HDRS *.h*)
+
+set(interactive-calibration_files ${SRCS} ${HDRS})
+
+ocv_add_executable(${the_target} ${interactive-calibration_files})
+ocv_target_link_libraries(${the_target} ${OPENCV_INTERACTIVECALIBRATION_DEPS})
+
+set_target_properties(${the_target} PROPERTIES
+                      DEBUG_POSTFIX "${OPENCV_DEBUG_POSTFIX}"
+                      ARCHIVE_OUTPUT_DIRECTORY ${LIBRARY_OUTPUT_PATH}
+                      RUNTIME_OUTPUT_DIRECTORY ${EXECUTABLE_OUTPUT_PATH}
+                      INSTALL_NAME_DIR lib
+                    OUTPUT_NAME "opencv_interactive-calibration")
+
+if(ENABLE_SOLUTION_FOLDERS)
+  set_target_properties(${the_target} PROPERTIES FOLDER "applications")
+endif()
+
+if(INSTALL_CREATE_DISTRIB)
+  if(BUILD_SHARED_LIBS)
+    install(TARGETS ${the_target} RUNTIME DESTINATION ${OPENCV_BIN_INSTALL_PATH} CONFIGURATIONS Release COMPONENT dev)
+  endif()
+else()
+  install(TARGETS ${the_target} OPTIONAL RUNTIME DESTINATION ${OPENCV_BIN_INSTALL_PATH} COMPONENT dev)
+endif()

apps/interactive-calibration/calibCommon.hpp

@@ -0,0 +1,118 @@
+#ifndef CALIB_COMMON_HPP
+#define CALIB_COMMON_HPP
+
+#include <memory>
+#include <opencv2/core.hpp>
+#include <vector>
+#include <string>
+
+namespace calib
+{
+    #define OVERLAY_DELAY 1000
+    #define IMAGE_MAX_WIDTH 1280
+    #define IMAGE_MAX_HEIGHT 960
+
+    bool showOverlayMessage(const std::string& message);
+
+    enum InputType { Video, Pictures };
+    enum InputVideoSource { Camera, File };
+    enum TemplateType { AcirclesGrid, Chessboard, chAruco, DoubleAcirclesGrid };
+
+    static const std::string mainWindowName = "Calibration";
+    static const std::string gridWindowName = "Board locations";
+    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"
+                              "d - delete all frames\n"
+                              "v - switch visualization";
+
+    static const double sigmaMult = 1.96;
+
+    struct calibrationData
+    {
+        cv::Mat cameraMatrix;
+        cv::Mat distCoeffs;
+        cv::Mat stdDeviations;
+        cv::Mat perViewErrors;
+        std::vector<cv::Mat> rvecs;
+        std::vector<cv::Mat> tvecs;
+        double totalAvgErr;
+        cv::Size imageSize;
+
+        std::vector<std::vector<cv::Point2f> > imagePoints;
+        std::vector< std::vector<cv::Point3f> > objectPoints;
+
+        std::vector<cv::Mat> allCharucoCorners;
+        std::vector<cv::Mat> allCharucoIds;
+
+        cv::Mat undistMap1, undistMap2;
+
+        calibrationData()
+        {
+            imageSize = cv::Size(IMAGE_MAX_WIDTH, IMAGE_MAX_HEIGHT);
+        }
+    };
+
+    struct cameraParameters
+    {
+        cv::Mat cameraMatrix;
+        cv::Mat distCoeffs;
+        cv::Mat stdDeviations;
+        double avgError;
+
+        cameraParameters(){}
+        cameraParameters(cv::Mat& _cameraMatrix, cv::Mat& _distCoeffs, cv::Mat& _stdDeviations, double _avgError = 0) :
+            cameraMatrix(_cameraMatrix), distCoeffs(_distCoeffs), stdDeviations(_stdDeviations), avgError(_avgError)
+        {}
+    };
+
+    struct captureParameters
+    {
+        InputType captureMethod;
+        InputVideoSource source;
+        TemplateType board;
+        cv::Size boardSize;
+        int charucoDictName;
+        int calibrationStep;
+        float charucoSquareLenght, charucoMarkerSize;
+        float captureDelay;
+        float squareSize;
+        float templDst;
+        std::string videoFileName;
+        bool flipVertical;
+        int camID;
+        int fps;
+        cv::Size cameraResolution;
+        int maxFramesNum;
+        int minFramesNum;
+
+        captureParameters()
+        {
+            calibrationStep = 1;
+            captureDelay = 500.f;
+            maxFramesNum = 30;
+            minFramesNum = 10;
+            fps = 30;
+            cameraResolution = cv::Size(IMAGE_MAX_WIDTH, IMAGE_MAX_HEIGHT);
+        }
+    };
+
+    struct internalParameters
+    {
+        double solverEps;
+        int solverMaxIters;
+        bool fastSolving;
+        double filterAlpha;
+
+        internalParameters()
+        {
+            solverEps = 1e-7;
+            solverMaxIters = 30;
+            fastSolving = false;
+            filterAlpha = 0.1;
+        }
+    };
+}
+
+#endif