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SolARCornerRefinementOpencv.cpp
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77 lines (66 loc) · 2.68 KB
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/**
* @copyright Copyright (c) 2017 B-com http://www.b-com.com/
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include "SolARCornerRefinementOpencv.h"
#include "SolARImageConvertorOpencv.h"
#include "SolAROpenCVHelper.h"
#include "core/Log.h"
#include <opencv2/imgproc.hpp>
namespace xpcf = org::bcom::xpcf;
XPCF_DEFINE_FACTORY_CREATE_INSTANCE(SolAR::MODULES::OPENCV::SolARCornerRefinementOpencv)
namespace SolAR {
using namespace datastructure;
namespace MODULES {
namespace OPENCV {
SolARCornerRefinementOpencv::SolARCornerRefinementOpencv() :ConfigurableBase(xpcf::toUUID<SolARCornerRefinementOpencv>())
{
declareInterface<api::features::ICornerRefinement>(this);
declareProperty("nbMaxIters", m_nbMaxIters);
declareProperty("minAccuracy", m_minAccuracy);
declareProperty("winSize", m_winSize);
LOG_DEBUG(" SolARFiducialMarkerPoseEstimatorOpencv constructor")
}
xpcf::XPCFErrorCode SolARCornerRefinementOpencv::onConfigured()
{
m_termcrit = cv::TermCriteria(cv::TermCriteria::COUNT | cv::TermCriteria::EPS, m_nbMaxIters, m_minAccuracy);
m_subPixWinSize = cv::Size(m_winSize, m_winSize);
LOG_DEBUG(" SolARCornerRefinementOpencv configured");
return xpcf::XPCFErrorCode::_SUCCESS;
}
void SolARCornerRefinementOpencv::refine(const SRef<datastructure::Image> image, std::vector<datastructure::Point2Df>& corners)
{
// transform all SolAR data to openCv data
SRef<Image> convertedImage = image;
if (image->getImageLayout() != Image::ImageLayout::LAYOUT_GREY) {
// input Image not in grey levels : convert it !
SolARImageConvertorOpencv convertor;
convertedImage = xpcf::utils::make_shared<Image>(Image::ImageLayout::LAYOUT_GREY, Image::PixelOrder::INTERLEAVED, image->getDataType());
convertor.convert(image, convertedImage);
}
cv::Mat imageOpencv;
SolAROpenCVHelper::mapToOpenCV(convertedImage, imageOpencv);
std::vector<cv::Point2f> cornersOpencv;
for (const auto &cor : corners)
cornersOpencv.push_back(cv::Point2f(cor.getX(), cor.getY()));
// refine
cv::cornerSubPix(imageOpencv, cornersOpencv, m_subPixWinSize, cv::Size(-1, -1), m_termcrit);
// return output
corners.clear();
for (const auto &cor : cornersOpencv)
corners.push_back(datastructure::Point2Df(cor.x, cor.y));
}
}
}
}