| 1 | // This file is part of OpenCV project. |
|---|---|
| 2 | // It is subject to the license terms in the LICENSE file found in the top-level directory |
| 3 | // of this distribution and at http://opencv.org/license.html. |
| 4 | |
| 5 | #ifndef CALIB_CONTROLLER_HPP |
| 6 | #define CALIB_CONTROLLER_HPP |
| 7 | |
| 8 | #include "calibCommon.hpp" |
| 9 | |
| 10 | #include <stack> |
| 11 | #include <string> |
| 12 | #include <ostream> |
| 13 | |
| 14 | namespace calib { |
| 15 | |
| 16 | class calibController |
| 17 | { |
| 18 | protected: |
| 19 | cv::Ptr<calibrationData> mCalibData; |
| 20 | int mCalibFlags; |
| 21 | unsigned mMinFramesNum; |
| 22 | bool mNeedTuning; |
| 23 | bool mConfIntervalsState; |
| 24 | bool mCoverageQualityState; |
| 25 | |
| 26 | double estimateCoverageQuality(); |
| 27 | public: |
| 28 | calibController(); |
| 29 | calibController(cv::Ptr<calibrationData> data, int initialFlags, bool autoTuning, |
| 30 | int minFramesNum); |
| 31 | |
| 32 | void updateState(); |
| 33 | |
| 34 | bool getCommonCalibrationState() const; |
| 35 | |
| 36 | bool getFramesNumberState() const; |
| 37 | bool getConfidenceIntrervalsState() const; |
| 38 | bool getRMSState() const; |
| 39 | bool getPointsCoverageState() const; |
| 40 | int getNewFlags() const; |
| 41 | }; |
| 42 | |
| 43 | class calibDataController |
| 44 | { |
| 45 | protected: |
| 46 | cv::Ptr<calibrationData> mCalibData; |
| 47 | std::stack<cameraParameters> mParamsStack; |
| 48 | std::string mParamsFileName; |
| 49 | unsigned mMaxFramesNum; |
| 50 | double mAlpha; |
| 51 | |
| 52 | double estimateGridSubsetQuality(size_t excludedIndex); |
| 53 | public: |
| 54 | calibDataController(cv::Ptr<calibrationData> data, int maxFrames, double convParameter); |
| 55 | calibDataController(); |
| 56 | |
| 57 | void filterFrames(); |
| 58 | void setParametersFileName(const std::string& name); |
| 59 | void deleteLastFrame(); |
| 60 | void rememberCurrentParameters(); |
| 61 | void deleteAllData(); |
| 62 | bool saveCurrentCameraParameters() const; |
| 63 | void printParametersToConsole(std::ostream &output) const; |
| 64 | void updateUndistortMap(); |
| 65 | }; |
| 66 | |
| 67 | } |
| 68 | |
| 69 | #endif |
| 70 |