Merge pull request #393 from oddkiva/maint-move-calibration-code

MAINT: move chessboard detection and camera calibration to main source folder.
oddkiva · Jul 15, 2024 · 7d718a3 · 7d718a3
2 parents 3b07642 + be776d0
commit 7d718a3
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Showing 42 changed files with 62 additions and 81 deletions.
diff --git a/cpp/drafts/CMakeLists.txt b/cpp/drafts/CMakeLists.txt
@@ -9,8 +9,6 @@ if(SARA_BUILD_TESTS)
   add_definitions(-DBOOST_ALL_NO_LIB)
 endif()
 
-add_subdirectory(ChessboardDetection)
-add_subdirectory(Calibration)
 add_subdirectory(Compute)
 add_subdirectory(MatchPropagation)
 add_subdirectory(NuScenes)

diff --git a/cpp/examples/Sara/CMakeLists.txt b/cpp/examples/Sara/CMakeLists.txt
@@ -13,4 +13,5 @@ if (SARA_BUILD_VIDEOIO)
   add_subdirectory(VideoIO)
 endif ()
 
+add_subdirectory(ChessboardDetection)
 add_subdirectory(NeuralNetworks)
diff --git a/...essboardDetection/examples/CMakeLists.txt → ...s/Sara/ChessboardDetection/CMakeLists.txt b/...essboardDetection/examples/CMakeLists.txt → ...s/Sara/ChessboardDetection/CMakeLists.txt
diff --git a/...examples/Utilities/ImageOrVideoReader.cpp → ...etection/Utilities/ImageOrVideoReader.cpp b/...examples/Utilities/ImageOrVideoReader.cpp → ...etection/Utilities/ImageOrVideoReader.cpp
diff --git a/...examples/Utilities/ImageOrVideoReader.hpp → ...etection/Utilities/ImageOrVideoReader.hpp b/...examples/Utilities/ImageOrVideoReader.hpp → ...etection/Utilities/ImageOrVideoReader.hpp
diff --git a/...oardDetection/examples/detect_corners.cpp → ...ra/ChessboardDetection/detect_corners.cpp b/...oardDetection/examples/detect_corners.cpp → ...ra/ChessboardDetection/detect_corners.cpp
@@ -11,18 +11,16 @@
 
 //! @example
 
-#ifdef _OPENMP
-#include <omp.h>
-#endif
-
+#include <DO/Sara/ChessboardDetection/ChessboardDetector.hpp>
 #include <DO/Sara/Graphics.hpp>
-
 #include <DO/Sara/ImageProcessing/FastColorConversion.hpp>
 
-#include <drafts/ChessboardDetection/ChessboardDetector.hpp>
-
 #include "Utilities/ImageOrVideoReader.hpp"
 
+#ifdef _OPENMP
+#  include <omp.h>
+#endif
+
 #include <optional>
 
 

diff --git a/...tion/examples/find_chessboard_corners.cpp → ...oardDetection/find_chessboard_corners.cpp b/...tion/examples/find_chessboard_corners.cpp → ...oardDetection/find_chessboard_corners.cpp
@@ -17,10 +17,9 @@
 
 #include <DO/Sara/Graphics.hpp>
 
+#include <DO/Sara/ChessboardDetection/ChessboardDetector.hpp>
 #include <DO/Sara/ImageProcessing/FastColorConversion.hpp>
 
-#include <drafts/ChessboardDetection/ChessboardDetector.hpp>
-
 #include "Utilities/ImageOrVideoReader.hpp"
 
 #include <optional>

diff --git a/...on/examples/find_chessboard_corners_2.cpp → ...rdDetection/find_chessboard_corners_2.cpp b/...on/examples/find_chessboard_corners_2.cpp → ...rdDetection/find_chessboard_corners_2.cpp
@@ -13,13 +13,7 @@
 //! This partially implements OpenCV ideas used to detect the chessboard to draw
 //! some intuitions.
 
-#ifdef _OPENMP
-#  include <omp.h>
-#endif
-
-#include <map>
-#include <unordered_map>
-
+#include <DO/Sara/ChessboardDetection/Erode.hpp>
 #include <DO/Sara/Core/TicToc.hpp>
 #include <DO/Sara/FeatureDetectors.hpp>
 #include <DO/Sara/FeatureDetectors/EdgePostProcessing.hpp>
@@ -32,7 +26,13 @@
 #include <DO/Sara/ImageProcessing/FastColorConversion.hpp>
 #include <DO/Sara/VideoIO.hpp>
 
-#include <drafts/ChessboardDetection/Erode.hpp>
+
+#ifdef _OPENMP
+#  include <omp.h>
+#endif
+
+#include <map>
+#include <unordered_map>
 
 
 namespace sara = DO::Sara;

diff --git a/cpp/examples/Sara/ImageProcessing/find_chessboard_corners.cpp b/cpp/examples/Sara/ImageProcessing/find_chessboard_corners.cpp
@@ -24,9 +24,9 @@
 #include <DO/Sara/VideoIO.hpp>
 #include <DO/Sara/Visualization.hpp>
 
-#include "Chessboard/CircularProfileExtractor.hpp"
-#include "Chessboard/JunctionDetection.hpp"
-#include "Chessboard/NonMaximumSuppression.hpp"
+#include <DO/Sara/Chessboard/CircularProfileExtractor.hpp>
+#include <DO/Sara/Chessboard/JunctionDetection.hpp>
+#include <DO/Sara/Chessboard/NonMaximumSuppression.hpp>
 
 
 namespace sara = DO::Sara;

diff --git a/cpp/src/DO/Sara/CMakeLists.txt b/cpp/src/DO/Sara/CMakeLists.txt
@@ -32,4 +32,7 @@ include(UseDOSaraRANSAC)
 
 include(UseDOSaraVisualization)
 
+add_subdirectory(ChessboardDetection)
+add_subdirectory(Calibration)
+
 add_subdirectory(NeuralNetworks)
diff --git a/cpp/drafts/Calibration/CMakeLists.txt → cpp/src/DO/Sara/Calibration/CMakeLists.txt b/cpp/drafts/Calibration/CMakeLists.txt → cpp/src/DO/Sara/Calibration/CMakeLists.txt
@@ -5,5 +5,3 @@ add_library(
 target_link_libraries(DO_Sara_Calibration PUBLIC DO::Sara::Core
                                                  DO::Sara::Graphics)
 set_property(TARGET DO_Sara_Calibration PROPERTY FOLDER "Libraries/Sara")
-
-add_subdirectory(tool)
diff --git a/cpp/drafts/Calibration/Chessboard.cpp → cpp/src/DO/Sara/Calibration/Chessboard.cpp b/cpp/drafts/Calibration/Chessboard.cpp → cpp/src/DO/Sara/Calibration/Chessboard.cpp
@@ -11,7 +11,7 @@
 
 //! @file
 
-#include <drafts/Calibration/Chessboard.hpp>
+#include <DO/Sara/Calibration/Chessboard.hpp>
 
 
 namespace DO::Sara {

diff --git a/cpp/drafts/Calibration/Chessboard.hpp → cpp/src/DO/Sara/Calibration/Chessboard.hpp b/cpp/drafts/Calibration/Chessboard.hpp → cpp/src/DO/Sara/Calibration/Chessboard.hpp
@@ -13,7 +13,7 @@
 
 #pragma once
 
-#include <drafts/ChessboardDetection/ChessboardDetector.hpp>
+#include <DO/Sara/ChessboardDetection/ChessboardDetector.hpp>
 
 #include <optional>
 

diff --git a/cpp/drafts/Calibration/Utilities.hpp → cpp/src/DO/Sara/Calibration/Utilities.hpp b/cpp/drafts/Calibration/Utilities.hpp → cpp/src/DO/Sara/Calibration/Utilities.hpp
@@ -11,7 +11,7 @@
 
 #pragma once
 
-#include <drafts/Calibration/Chessboard.hpp>
+#include <DO/Sara/Calibration/Chessboard.hpp>
 
 #include <DO/Sara/Graphics.hpp>
 #include <DO/Sara/MultiViewGeometry/Camera/v2/OmnidirectionalCamera.hpp>

diff --git a/...drafts/ChessboardDetection/CMakeLists.txt → ...O/Sara/ChessboardDetection/CMakeLists.txt b/...drafts/ChessboardDetection/CMakeLists.txt → ...O/Sara/ChessboardDetection/CMakeLists.txt
@@ -28,5 +28,3 @@ target_link_libraries(
   DO_Sara_ChessboardDetection
   PUBLIC DO::Sara::ImageProcessing #
          DO::Sara::FeatureDetectors)
-
-add_subdirectory(examples)
diff --git a/...hessboardDetection/ChessboardDetector.cpp → ...hessboardDetection/ChessboardDetector.cpp b/...hessboardDetection/ChessboardDetector.cpp → ...hessboardDetection/ChessboardDetector.cpp
@@ -9,11 +9,11 @@
 // you can obtain one at http://mozilla.org/MPL/2.0/.
 // ========================================================================== //
 
-#include <drafts/ChessboardDetection/ChessboardDetector.hpp>
-#include <drafts/ChessboardDetection/LineReconstruction.hpp>
-#include <drafts/ChessboardDetection/NonMaximumSuppression.hpp>
-#include <drafts/ChessboardDetection/OrientationHistogram.hpp>
-#include <drafts/ChessboardDetection/SquareReconstruction.hpp>
+#include <DO/Sara/ChessboardDetection/ChessboardDetector.hpp>
+#include <DO/Sara/ChessboardDetection/LineReconstruction.hpp>
+#include <DO/Sara/ChessboardDetection/NonMaximumSuppression.hpp>
+#include <DO/Sara/ChessboardDetection/OrientationHistogram.hpp>
+#include <DO/Sara/ChessboardDetection/SquareReconstruction.hpp>
 
 #include <DO/Sara/FeatureDescriptors/Orientation.hpp>
 #include <DO/Sara/FeatureDetectors/EdgePostProcessing.hpp>

diff --git a/...hessboardDetection/ChessboardDetector.hpp → ...hessboardDetection/ChessboardDetector.hpp b/...hessboardDetection/ChessboardDetector.hpp → ...hessboardDetection/ChessboardDetector.hpp
@@ -18,10 +18,10 @@
 #include <DO/Sara/FeatureDetectors/EdgeDetector.hpp>
 #include <DO/Sara/ImageProcessing/EdgeShapeStatistics.hpp>
 
-#include <drafts/ChessboardDetection/CircularProfileExtractor.hpp>
-#include <drafts/ChessboardDetection/Corner.hpp>
-#include <drafts/ChessboardDetection/EdgeStatistics.hpp>
-#include <drafts/ChessboardDetection/SquareGraph.hpp>
+#include <DO/Sara/ChessboardDetection/CircularProfileExtractor.hpp>
+#include <DO/Sara/ChessboardDetection/Corner.hpp>
+#include <DO/Sara/ChessboardDetection/EdgeStatistics.hpp>
+#include <DO/Sara/ChessboardDetection/SquareGraph.hpp>
 
 
 namespace DO::Sara {

diff --git a/...ardDetection/CircularProfileExtractor.cpp → ...ardDetection/CircularProfileExtractor.cpp b/...ardDetection/CircularProfileExtractor.cpp → ...ardDetection/CircularProfileExtractor.cpp
@@ -9,7 +9,7 @@
 // you can obtain one at http://mozilla.org/MPL/2.0/.
 // ========================================================================== //
 
-#include "CircularProfileExtractor.hpp"
+#include <DO/Sara/ChessboardDetection/CircularProfileExtractor.hpp>
 
 #include <DO/Sara/ImageProcessing/Interpolation.hpp>
 

diff --git a/...ardDetection/CircularProfileExtractor.hpp → ...ardDetection/CircularProfileExtractor.hpp b/...ardDetection/CircularProfileExtractor.hpp → ...ardDetection/CircularProfileExtractor.hpp
diff --git a/cpp/drafts/ChessboardDetection/Corner.cpp → ...rc/DO/Sara/ChessboardDetection/Corner.cpp b/cpp/drafts/ChessboardDetection/Corner.cpp → ...rc/DO/Sara/ChessboardDetection/Corner.cpp
@@ -9,8 +9,8 @@
 // you can obtain one at http://mozilla.org/MPL/2.0/.
 // ========================================================================== //
 
-#include "Corner.hpp"
-#include "NonMaximumSuppression.hpp"
+#include <DO/Sara/ChessboardDetection/Corner.hpp>
+#include <DO/Sara/ChessboardDetection/NonMaximumSuppression.hpp>
 
 #include <DO/Sara/ImageProcessing/JunctionRefinement.hpp>
 

diff --git a/cpp/drafts/ChessboardDetection/Corner.hpp → ...rc/DO/Sara/ChessboardDetection/Corner.hpp b/cpp/drafts/ChessboardDetection/Corner.hpp → ...rc/DO/Sara/ChessboardDetection/Corner.hpp
diff --git a/...ts/ChessboardDetection/EdgeStatistics.cpp → ...ra/ChessboardDetection/EdgeStatistics.cpp b/...ts/ChessboardDetection/EdgeStatistics.cpp → ...ra/ChessboardDetection/EdgeStatistics.cpp
@@ -9,7 +9,7 @@
 // you can obtain one at http://mozilla.org/MPL/2.0/.
 // ========================================================================== //
 
-#include "EdgeStatistics.hpp"
+#include <DO/Sara/ChessboardDetection/EdgeStatistics.hpp>
 
 
 namespace DO::Sara {

diff --git a/...ts/ChessboardDetection/EdgeStatistics.hpp → ...ra/ChessboardDetection/EdgeStatistics.hpp b/...ts/ChessboardDetection/EdgeStatistics.hpp → ...ra/ChessboardDetection/EdgeStatistics.hpp
diff --git a/...ts/ChessboardDetection/EllipseFitting.cpp → ...ra/ChessboardDetection/EllipseFitting.cpp b/...ts/ChessboardDetection/EllipseFitting.cpp → ...ra/ChessboardDetection/EllipseFitting.cpp
diff --git a/...ts/ChessboardDetection/EllipseFitting.hpp → ...ra/ChessboardDetection/EllipseFitting.hpp b/...ts/ChessboardDetection/EllipseFitting.hpp → ...ra/ChessboardDetection/EllipseFitting.hpp
diff --git a/cpp/drafts/ChessboardDetection/Erode.hpp → ...src/DO/Sara/ChessboardDetection/Erode.hpp b/cpp/drafts/ChessboardDetection/Erode.hpp → ...src/DO/Sara/ChessboardDetection/Erode.hpp
diff --git a/...ChessboardDetection/JunctionDetection.cpp → ...ChessboardDetection/JunctionDetection.cpp b/...ChessboardDetection/JunctionDetection.cpp → ...ChessboardDetection/JunctionDetection.cpp
@@ -9,19 +9,18 @@
 // you can obtain one at http://mozilla.org/MPL/2.0/.
 // ========================================================================== //
 
+#include <DO/Sara/ChessboardDetection/JunctionDetection.hpp>
+
 #ifdef _OPENMP
-#include <omp.h>
+#  include <omp.h>
 #endif
 
-#include "JunctionDetection.hpp"
-
 
 namespace DO::Sara {
 
   auto junction_map(const ImageView<float>& image,
                     const ImageView<Eigen::Vector2f>& gradients,
-                    const float sigma)
-      -> Image<float>
+                    const float sigma) -> Image<float>
   {
     auto junction_map = Image<float>{image.sizes()};
     junction_map.flat_array().fill(0);

diff --git a/...ChessboardDetection/JunctionDetection.hpp → ...ChessboardDetection/JunctionDetection.hpp b/...ChessboardDetection/JunctionDetection.hpp → ...ChessboardDetection/JunctionDetection.hpp
diff --git a/...hessboardDetection/LineReconstruction.cpp → ...hessboardDetection/LineReconstruction.cpp b/...hessboardDetection/LineReconstruction.cpp → ...hessboardDetection/LineReconstruction.cpp
@@ -9,8 +9,8 @@
 // you can obtain one at http://mozilla.org/MPL/2.0/.
 // ========================================================================== //
 
-#include "LineReconstruction.hpp"
-#include "SquareReconstruction.hpp"
+#include <DO/Sara/ChessboardDetection/LineReconstruction.hpp>
+#include <DO/Sara/ChessboardDetection/SquareReconstruction.hpp>
 
 
 namespace DO::Sara {

diff --git a/...hessboardDetection/LineReconstruction.hpp → ...hessboardDetection/LineReconstruction.hpp b/...hessboardDetection/LineReconstruction.hpp → ...hessboardDetection/LineReconstruction.hpp
@@ -11,12 +11,10 @@
 
 #pragma once
 
-#include <unordered_set>
-
+#include <DO/Sara/ChessboardDetection/SquareReconstruction.hpp>
 #include <DO/Sara/ImageProcessing/EdgeShapeStatistics.hpp>
 
-#include "SquareReconstruction.hpp"
-
+#include <unordered_set>
 
 namespace DO::Sara {
 

diff --git a/...fts/ChessboardDetection/LineUtilities.hpp → ...ara/ChessboardDetection/LineUtilities.hpp b/...fts/ChessboardDetection/LineUtilities.hpp → ...ara/ChessboardDetection/LineUtilities.hpp
@@ -11,7 +11,7 @@
 
 #pragma once
 
-#include "ChessboardDetector.hpp"
+#include <DO/Sara/ChessboardDetection/ChessboardDetector.hpp>
 
 
 namespace DO::Sara {

diff --git a/...sboardDetection/NonMaximumSuppression.hpp → ...sboardDetection/NonMaximumSuppression.hpp b/...sboardDetection/NonMaximumSuppression.hpp → ...sboardDetection/NonMaximumSuppression.hpp
diff --git a/...ssboardDetection/OrientationHistogram.hpp → ...ssboardDetection/OrientationHistogram.hpp b/...ssboardDetection/OrientationHistogram.hpp → ...ssboardDetection/OrientationHistogram.hpp
diff --git a/...s/ChessboardDetection/ParabolaFitting.hpp → ...a/ChessboardDetection/ParabolaFitting.hpp b/...s/ChessboardDetection/ParabolaFitting.hpp → ...a/ChessboardDetection/ParabolaFitting.hpp
diff --git a/...rafts/ChessboardDetection/SquareGraph.hpp → .../Sara/ChessboardDetection/SquareGraph.hpp b/...rafts/ChessboardDetection/SquareGraph.hpp → .../Sara/ChessboardDetection/SquareGraph.hpp
@@ -11,8 +11,7 @@
 
 #pragma once
 
-#include "Corner.hpp"
-
+#include <DO/Sara/ChessboardDetection/Corner.hpp>
 #include <DO/Sara/Graphics.hpp>
 
 #include <cstdint>
@@ -297,9 +296,7 @@ namespace DO::Sara {
       for (auto x = 0; x < cols(cb); ++x)
       {
         new_row.push_back(ChessboardSquare{
-            -1,
-            Eigen::Vector2i{anchor.x() + x, curr_coords.y() - 1},
-            {}  //
+            -1, Eigen::Vector2i{anchor.x() + x, curr_coords.y() - 1}, {}  //
         });
       }
       cb.emplace_front(std::move(new_row));
@@ -312,9 +309,7 @@ namespace DO::Sara {
       for (auto x = 0; x < cols(cb); ++x)
       {
         new_row.push_back(ChessboardSquare{
-            -1,
-            Eigen::Vector2i{anchor.x() + x, curr_coords.y() + 1},
-            {}  //
+            -1, Eigen::Vector2i{anchor.x() + x, curr_coords.y() + 1}, {}  //
         });
       }
 
@@ -327,9 +322,7 @@ namespace DO::Sara {
       for (auto y = 0; y < rows(cb); ++y)
       {
         cb[y].push_front(ChessboardSquare{
-            -1,
-            Eigen::Vector2i{curr_coords.x() - 1, anchor.y() + y},
-            {}  //
+            -1, Eigen::Vector2i{curr_coords.x() - 1, anchor.y() + y}, {}  //
         });
       }
     }
@@ -339,9 +332,7 @@ namespace DO::Sara {
       for (auto y = 0; y < rows(cb); ++y)
       {
         cb[y].push_back(ChessboardSquare{
-            -1,
-            Eigen::Vector2i{curr_coords.x() + 1, anchor.y() + y},
-            {}  //
+            -1, Eigen::Vector2i{curr_coords.x() + 1, anchor.y() + y}, {}  //
         });
       }
     }

diff --git a/...ssboardDetection/SquareReconstruction.cpp → ...ssboardDetection/SquareReconstruction.cpp b/...ssboardDetection/SquareReconstruction.cpp → ...ssboardDetection/SquareReconstruction.cpp
@@ -9,7 +9,7 @@
 // you can obtain one at http://mozilla.org/MPL/2.0/.
 // ========================================================================== //
 
-#include "SquareReconstruction.hpp"
+#include <DO/Sara/ChessboardDetection/SquareReconstruction.hpp>
 
 
 namespace DO::Sara {

diff --git a/...ssboardDetection/SquareReconstruction.hpp → ...ssboardDetection/SquareReconstruction.hpp b/...ssboardDetection/SquareReconstruction.hpp → ...ssboardDetection/SquareReconstruction.hpp
@@ -11,11 +11,11 @@
 
 #pragma once
 
+#include <DO/Sara/ChessboardDetection/Corner.hpp>
+
 #include <optional>
 #include <unordered_set>
 
-#include "Corner.hpp"
-
 
 namespace DO::Sara {
 

diff --git a/cpp/drafts/ChessboardDetection/notes.md → cpp/src/DO/Sara/ChessboardDetection/notes.md b/cpp/drafts/ChessboardDetection/notes.md → cpp/src/DO/Sara/ChessboardDetection/notes.md
diff --git a/cpp/tools/CMakeLists.txt b/cpp/tools/CMakeLists.txt
@@ -1 +1,2 @@
+add_subdirectory(Calibration)
 add_subdirectory(ImageAnnotator)
diff --git a/cpp/drafts/Calibration/tool/CMakeLists.txt → cpp/tools/Calibration/CMakeLists.txt b/cpp/drafts/Calibration/tool/CMakeLists.txt → cpp/tools/Calibration/CMakeLists.txt
diff --git a/...ool/calibrate_omnidirectional_cameras.cpp → ...ion/calibrate_omnidirectional_cameras.cpp b/...ool/calibrate_omnidirectional_cameras.cpp → ...ion/calibrate_omnidirectional_cameras.cpp
@@ -11,15 +11,13 @@
 
 //! @file
 
-#include <drafts/Calibration/Chessboard.hpp>
-#include <drafts/Calibration/Utilities.hpp>
-
+#include <DO/Sara/Calibration/Chessboard.hpp>
+#include <DO/Sara/Calibration/Utilities.hpp>
 #include <DO/Sara/Core/TicToc.hpp>
 #include <DO/Sara/Graphics.hpp>
-#include <DO/Sara/VideoIO.hpp>
-
 #include <DO/Sara/ImageProcessing/FastColorConversion.hpp>
 #include <DO/Sara/MultiViewGeometry/Calibration/OmnidirectionalCameraReprojectionError.hpp>
+#include <DO/Sara/VideoIO.hpp>
 
 
 namespace sara = DO::Sara;

diff --git a/...bration/tool/calibrate_pinhole_camera.cpp → .../Calibration/calibrate_pinhole_camera.cpp b/...bration/tool/calibrate_pinhole_camera.cpp → .../Calibration/calibrate_pinhole_camera.cpp
@@ -11,17 +11,15 @@
 
 //! @file
 
-#include <drafts/Calibration/Utilities.hpp>
-
+#include <DO/Sara/Calibration/Utilities.hpp>
 #include <DO/Sara/Core/EigenFormatInterop.hpp>
 #include <DO/Sara/Core/TicToc.hpp>
 #include <DO/Sara/Graphics.hpp>
-#include <DO/Sara/VideoIO.hpp>
-
 #include <DO/Sara/ImageProcessing/FastColorConversion.hpp>
 #include <DO/Sara/MultiViewGeometry/Calibration/PinholeCameraReprojectionError.hpp>
 #include <DO/Sara/MultiViewGeometry/Camera/v2/PinholeCamera.hpp>
 #include <DO/Sara/MultiViewGeometry/PnP/LambdaTwist.hpp>
+#include <DO/Sara/VideoIO.hpp>
 
 
 namespace sara = DO::Sara;
@@ -33,7 +31,8 @@ class ChessboardCalibrationData
   static constexpr auto extrinsic_parameter_count =
       sara::PinholeCameraReprojectionError::extrinsic_parameter_count;
 
-  auto initialize_intrinsics(const sara::v2::PinholeCamera<double>& camera) -> void
+  auto initialize_intrinsics(const sara::v2::PinholeCamera<double>& camera)
+      -> void
   {
     // fx
     _intrinsics.fx() = camera.fx();