wip

main.jl

@@ -0,0 +1,35 @@
+using Revise, CameraCalibrations
+using ImageBase, ImageTransformations, Interpolations, ImageView, FileIO, StaticArrays, ImageDraw
+
+function get_img(n_corners)
+    ratio = 50
+    corners = SVector{2, Float64}.(reverse.(Tuple.(CartesianIndices(n_corners)))) .+ Ref(SVector(0.5, 0.5))
+    corners .*= ratio
+
+    img = Matrix{Gray{N0f8}}(undef, n_corners)
+    for ij in eachindex(IndexCartesian(), img)
+        i, j = Tuple(ij)
+        img[ij] = if isodd(i)
+            isodd(j) ? Gray(1) : Gray(0)
+        else
+            isodd(j) ? Gray(0) : Gray(1)
+        end
+    end
+    w, h = n_corners .+ 2
+    img2 = imresize(PaddedView(Gray(1), img, (w, h), (2, 2)); ratio, method = Constant())
+    return corners, img2
+end
+n_corners = (6, 9)
+corners, img = get_img(n_corners .+ 1)
+sz = size(img)
+file = "img.png"
+
+FileIO.save(file, img)
+
+_, xys = CameraCalibrations._detect_corners(file, n_corners, sz)
+
+imgc = RGB.(img)
+for xy in xys
+    draw!(imgc, Cross(Point(200,150), 50),
+
+

src/detect_fit.jl

@@ -24,17 +24,12 @@ end
 Wraps OpenCV function to fit a camera model to given object and image points.
 """
 function fit_model(sz, objpoints, imgpointss, n_corners,  with_distortion, aspect)
-
-
-    # imgpointss = [pop.(objpoints) for _ in imgpointss]
-
     nfiles = length(imgpointss)
 
     objectPoints = OpenCV.InputArray[Float32.(reshape(stack(objpoints), 3, 1, :)) for _ in 1:nfiles]
     imagePoints = OpenCV.InputArray[Float32.(reshape(stack(imgpoints), 2, 1, :)) for imgpoints in imgpointss]
     imageSize = OpenCV.Size{Int32}(sz...)
 
-
     cammat = collect(I(3))
     cammat[1,:] .= aspect
     cameraMatrix = OpenCV.Mat(Float32.(reshape(cammat, 1, 3, 3)))

src/io.jl

@@ -1,15 +1,7 @@
-const AM = AffineMap{SDiagonal{2, Float64}, SVector{2, Float64}}
-const AMext = AffineMap{RotationVec{Float64}, SVector{3, Float64}}
-const LM3 = LinearMap{SDiagonal{3, Float64}}
-
 # StructTypes.StructType(::Type{<:SVector}) = StructTypes.CustomStruct()
 # StructTypes.lower(x::SVector) = x.data
 # StructTypes.lowertype(::Type{SVector{N, T}}) where {N, T} = NTuple{N, T}
 
-# StructTypes.StructType(::Type{<:Diagonal}) = StructTypes.CustomStruct()
-# StructTypes.lower(x::Diagonal) = x.diag
-# StructTypes.lowertype(::Type{Diagonal{T, V}}) where {T, V} = V
-
 StructTypes.StructType(::Type{<:Diagonal}) = StructTypes.CustomStruct()
 StructTypes.lower(x::Diagonal) = x.diag
 StructTypes.lowertype(::Type{Diagonal{T, V}}) where {T, V} = V

src/meta.jl

@@ -1,7 +1,5 @@
-const AM = AffineMap{Diagonal{Float64, SVector{2, Float64}}, SVector{2, Float64}}
-
+const AM = AffineMap{SDiagonal{2, Float64}, SVector{2, Float64}}
 const AMext = AffineMap{RotationVec{Float64}, SVector{3, Float64}}
-
 const LM3 = LinearMap{SDiagonal{3, Float64}}
 
 """
@@ -26,8 +24,6 @@ struct Calibration
     image2real::Vector{ComposedFunction}
 end
 
-
-
 function Calibration(intrinsic, extrinsics, scale, k, files)
     distort(rc) = lens_distortion(rc, k)
     real2image = .∘(Ref(intrinsic), distort, Ref(PerspectiveMap()), extrinsics, Ref(scale))