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// This file is part of OpenCV project.
// It is subject to the license terms in the LICENSE file found in the top-level directory
// of this distribution and at http://opencv.org/license.html.
#ifndef FRAME_PROCESSOR_HPP
#define FRAME_PROCESSOR_HPP
#include <opencv2/core.hpp>
#include <opencv2/aruco/charuco.hpp>
#include <opencv2/calib3d.hpp>
#include "calibCommon.hpp"
#include "calibController.hpp"
namespace calib
{
class FrameProcessor
{
protected:
public:
virtual ~FrameProcessor();
virtual cv::Mat processFrame(const cv::Mat& frame) = 0;
virtual bool isProcessed() const = 0;
virtual void resetState() = 0;
};
class CalibProcessor : public FrameProcessor
{
protected:
cv::Ptr<calibrationData> mCalibData;
TemplateType mBoardType;
cv::Size mBoardSize;
std::vector<cv::Point2f> mTemplateLocations;
std::vector<cv::Point2f> mCurrentImagePoints;
cv::Mat mCurrentCharucoCorners;
cv::Mat mCurrentCharucoIds;
cv::Ptr<cv::SimpleBlobDetector> mBlobDetectorPtr;
cv::Ptr<cv::aruco::Dictionary> mArucoDictionary;
cv::Ptr<cv::aruco::CharucoBoard> mCharucoBoard;
int mNeededFramesNum;
unsigned mDelayBetweenCaptures;
int mCapuredFrames;
double mMaxTemplateOffset;
float mSquareSize;
float mTemplDist;
bool detectAndParseChessboard(const cv::Mat& frame);
bool detectAndParseChAruco(const cv::Mat& frame);
bool detectAndParseACircles(const cv::Mat& frame);
bool detectAndParseDualACircles(const cv::Mat& frame);
void saveFrameData();
void showCaptureMessage(const cv::Mat &frame, const std::string& message);
bool checkLastFrame();
public:
CalibProcessor(cv::Ptr<calibrationData> data, captureParameters& capParams);
virtual cv::Mat processFrame(const cv::Mat& frame);
virtual bool isProcessed() const;
virtual void resetState();
~CalibProcessor();
};
enum visualisationMode {Grid, Window};
class ShowProcessor : public FrameProcessor
{
protected:
cv::Ptr<calibrationData> mCalibdata;
cv::Ptr<calibController> mController;
TemplateType mBoardType;
visualisationMode mVisMode;
bool mNeedUndistort;
double mGridViewScale;
double mTextSize;
void drawBoard(cv::Mat& img, cv::InputArray points);
void drawGridPoints(const cv::Mat& frame);
public:
ShowProcessor(cv::Ptr<calibrationData> data, cv::Ptr<calibController> controller, TemplateType board);
virtual cv::Mat processFrame(const cv::Mat& frame);
virtual bool isProcessed() const;
virtual void resetState();
void setVisualizationMode(visualisationMode mode);
void switchVisualizationMode();
void clearBoardsView();
void updateBoardsView();
void switchUndistort();
void setUndistort(bool isEnabled);
~ShowProcessor();
};
}
#endif
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