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improving calibration GUI #171

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Merged
merged 1 commit into from
Apr 20, 2023
Merged

improving calibration GUI #171

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24 changes: 18 additions & 6 deletions cpp_tools/calibration/calibrate.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -125,6 +125,11 @@ class calibration_module : public RFModule {
bool updateModule() override
{
static cv::Mat black_img = cv::Mat(img_size, CV_8UC3);
static cv::Mat detected_img = cv::Mat(img_size, CV_8UC3, black);
static std::vector<int> bci = {0,
board_size.width-1,
board_size.area()-board_size.width,
board_size.area()-1};
black_img = ev::black;
ev::info stats = input.readSlidingWinT(0.033, false);
for (auto& v : input)
Expand All @@ -133,24 +138,31 @@ class calibration_module : public RFModule {
std::vector<cv::Point2f> corners;
bool found = cv::findChessboardCorners(black_img, board_size, corners);
cv::drawChessboardCorners(black_img, board_size, corners, found);


bool calibrated = !map1.empty() && !map2.empty();
if(found && !calibrated) {
image_points.push_back(corners);
cv::line(detected_img, corners[bci[0]], corners[bci[1]], violet);
cv::line(detected_img, corners[bci[0]], corners[bci[2]], violet);
cv::line(detected_img, corners[bci[3]], corners[bci[1]], violet);
cv::line(detected_img, corners[bci[3]], corners[bci[2]], violet);
}

black_img *= 0.5;
//blue green red
if(calibrated) {
remap(black_img, black_img, map1, map2, cv::INTER_LINEAR);
cv::rectangle(black_img, cv::Rect(0, 0, img_size.width, img_size.height), cv::Scalar(0, 255, 0), 10);
cv::putText(black_img, "ESC to finish", cv::Point(img_size.width*0.05, img_size.height*0.95), cv::FONT_HERSHEY_PLAIN, 1.0, cv::Scalar(255, 0, 0));
cv::rectangle(black_img, cv::Rect(0, 0, img_size.width, img_size.height), green*0.5, 10);
cv::putText(black_img, "ESC to finish", cv::Point(img_size.width*0.05, img_size.height*0.95), cv::FONT_HERSHEY_PLAIN, 1.0, white);
} else {
cv::rectangle(black_img, cv::Rect(0, 0, img_size.width, img_size.height), cv::Scalar(0, 0, 255), 10);
cv::putText(black_img, "press SPACE to calibrate", cv::Point(img_size.width*0.05, img_size.height*0.95), cv::FONT_HERSHEY_PLAIN, 1.0, cv::Scalar(255, 0, 0));
cv::putText(black_img, board_info, cv::Point(img_size.width*0.05, img_size.height*0.05), cv::FONT_HERSHEY_PLAIN, 1.0, cv::Scalar(255, 0, 0));
black_img += detected_img;
cv::rectangle(black_img, cv::Rect(0, 0, img_size.width, img_size.height), red*0.8, 10);
cv::putText(black_img, "Collecting images... press SPACE to perform calibration", cv::Point(img_size.width*0.05, img_size.height*0.95), cv::FONT_HERSHEY_PLAIN, 1.0, white);
cv::putText(black_img, board_info, cv::Point(img_size.width*0.05, img_size.height*0.05), cv::FONT_HERSHEY_PLAIN, 1.0, white);
str_maker.str("");
str_maker << image_points.size();
cv::putText(black_img, str_maker.str(), cv::Point(img_size.width*0.95, img_size.height*0.95), cv::FONT_HERSHEY_PLAIN, 1.0, cv::Scalar(255, 0, 0));
cv::putText(black_img, str_maker.str(), cv::Point(img_size.width*0.95, img_size.height*0.95), cv::FONT_HERSHEY_PLAIN, 1.0, white);
}
cv::imshow("", black_img);
char c = cv::waitKey(1);
Expand Down
2 changes: 2 additions & 0 deletions ev2/event-driven/vis/draw.h
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Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,8 @@ namespace ev {

static const cv::Vec3b aqua{151, 174, 6};
static const cv::Vec3b violet{180, 10, 155};
static const cv::Vec3b blue{255, 0, 0};
static const cv::Vec3b green{0, 255, 0};
static const cv::Vec3b orange{9, 111, 255};
static const cv::Vec3b lime{9, 250, 222};
static const cv::Vec3b white{255, 255, 255};
Expand Down