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Undo multi dict functionality of refineDetectedMarkers method
This commit is contained in:
Benjamin Knecht
parent
1f9d6aa6cf
commit
364eedb87e
@ -1240,6 +1240,7 @@ void ArucoDetector::refineDetectedMarkers(InputArray _image, const Board& _board
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InputOutputArrayOfArrays _rejectedCorners, InputArray _cameraMatrix,
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InputArray _distCoeffs, OutputArray _recoveredIdxs) const {
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DetectorParameters& detectorParams = arucoDetectorImpl->detectorParams;
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const Dictionary& dictionary = arucoDetectorImpl->dictionaries.at(0);
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RefineParameters& refineParams = arucoDetectorImpl->refineParams;
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CV_Assert(refineParams.minRepDistance > 0);
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@ -1262,6 +1263,10 @@ void ArucoDetector::refineDetectedMarkers(InputArray _image, const Board& _board
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// list of missing markers indicating if they have been assigned to a candidate
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vector<bool > alreadyIdentified(_rejectedCorners.total(), false);
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// maximum bits that can be corrected
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int maxCorrectionRecalculated =
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int(double(dictionary.maxCorrectionBits) * refineParams.errorCorrectionRate);
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Mat grey;
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_convertToGrey(_image, grey);
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@ -1277,112 +1282,106 @@ void ArucoDetector::refineDetectedMarkers(InputArray _image, const Board& _board
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}
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vector<int> recoveredIdxs; // original indexes of accepted markers in _rejectedCorners
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for (const auto& dictionary : arucoDetectorImpl->dictionaries) {
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// maximum bits that can be corrected
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int maxCorrectionRecalculated =
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int(double(dictionary.maxCorrectionBits) * refineParams.errorCorrectionRate);
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// for each missing marker, try to find a correspondence
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for(unsigned int i = 0; i < undetectedMarkersIds.size(); i++) {
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// for each missing marker, try to find a correspondence
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for(unsigned int i = 0; i < undetectedMarkersIds.size(); i++) {
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// best match at the moment
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int closestCandidateIdx = -1;
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double closestCandidateDistance = refineParams.minRepDistance * refineParams.minRepDistance + 1;
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Mat closestRotatedMarker;
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// best match at the moment
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int closestCandidateIdx = -1;
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double closestCandidateDistance = refineParams.minRepDistance * refineParams.minRepDistance + 1;
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Mat closestRotatedMarker;
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for(unsigned int j = 0; j < _rejectedCorners.total(); j++) {
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if(alreadyIdentified[j]) continue;
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for(unsigned int j = 0; j < _rejectedCorners.total(); j++) {
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if(alreadyIdentified[j]) continue;
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// check distance
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double minDistance = closestCandidateDistance + 1;
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bool valid = false;
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int validRot = 0;
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for(int c = 0; c < 4; c++) { // first corner in rejected candidate
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double currentMaxDistance = 0;
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for(int k = 0; k < 4; k++) {
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Point2f rejCorner = _rejectedCorners.getMat(j).ptr<Point2f>()[(c + k) % 4];
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Point2f distVector = undetectedMarkersCorners[i][k] - rejCorner;
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double cornerDist = distVector.x * distVector.x + distVector.y * distVector.y;
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currentMaxDistance = max(currentMaxDistance, cornerDist);
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}
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// if distance is better than current best distance
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if(currentMaxDistance < closestCandidateDistance) {
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valid = true;
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validRot = c;
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minDistance = currentMaxDistance;
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}
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if(!refineParams.checkAllOrders) break;
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// check distance
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double minDistance = closestCandidateDistance + 1;
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bool valid = false;
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int validRot = 0;
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for(int c = 0; c < 4; c++) { // first corner in rejected candidate
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double currentMaxDistance = 0;
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for(int k = 0; k < 4; k++) {
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Point2f rejCorner = _rejectedCorners.getMat(j).ptr<Point2f>()[(c + k) % 4];
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Point2f distVector = undetectedMarkersCorners[i][k] - rejCorner;
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double cornerDist = distVector.x * distVector.x + distVector.y * distVector.y;
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currentMaxDistance = max(currentMaxDistance, cornerDist);
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}
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if(!valid) continue;
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// apply rotation
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Mat rotatedMarker;
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if(refineParams.checkAllOrders) {
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rotatedMarker = Mat(4, 1, CV_32FC2);
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for(int c = 0; c < 4; c++)
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rotatedMarker.ptr<Point2f>()[c] =
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_rejectedCorners.getMat(j).ptr<Point2f>()[(c + 4 + validRot) % 4];
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}
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else rotatedMarker = _rejectedCorners.getMat(j);
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// last filter, check if inner code is close enough to the assigned marker code
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int codeDistance = 0;
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// if errorCorrectionRate, dont check code
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if(refineParams.errorCorrectionRate >= 0) {
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// extract bits
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Mat bits = _extractBits(
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grey, rotatedMarker, dictionary.markerSize, detectorParams.markerBorderBits,
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detectorParams.perspectiveRemovePixelPerCell,
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detectorParams.perspectiveRemoveIgnoredMarginPerCell, detectorParams.minOtsuStdDev);
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Mat onlyBits =
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bits.rowRange(detectorParams.markerBorderBits, bits.rows - detectorParams.markerBorderBits)
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.colRange(detectorParams.markerBorderBits, bits.rows - detectorParams.markerBorderBits);
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codeDistance =
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dictionary.getDistanceToId(onlyBits, undetectedMarkersIds[i], false);
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}
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// if everythin is ok, assign values to current best match
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if(refineParams.errorCorrectionRate < 0 || codeDistance < maxCorrectionRecalculated) {
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closestCandidateIdx = j;
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closestCandidateDistance = minDistance;
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closestRotatedMarker = rotatedMarker;
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// if distance is better than current best distance
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if(currentMaxDistance < closestCandidateDistance) {
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valid = true;
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validRot = c;
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minDistance = currentMaxDistance;
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}
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if(!refineParams.checkAllOrders) break;
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}
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// if at least one good match, we have rescue the missing marker
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if(closestCandidateIdx >= 0) {
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if(!valid) continue;
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// subpixel refinement
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if(detectorParams.cornerRefinementMethod == (int)CORNER_REFINE_SUBPIX) {
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CV_Assert(detectorParams.cornerRefinementWinSize > 0 &&
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detectorParams.cornerRefinementMaxIterations > 0 &&
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detectorParams.cornerRefinementMinAccuracy > 0);
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std::vector<Point2f> marker(closestRotatedMarker.begin<Point2f>(), closestRotatedMarker.end<Point2f>());
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int cornerRefinementWinSize = std::max(1, cvRound(detectorParams.relativeCornerRefinmentWinSize*
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getAverageModuleSize(marker, dictionary.markerSize, detectorParams.markerBorderBits)));
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cornerRefinementWinSize = min(cornerRefinementWinSize, detectorParams.cornerRefinementWinSize);
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cornerSubPix(grey, closestRotatedMarker,
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Size(cornerRefinementWinSize, cornerRefinementWinSize),
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Size(-1, -1), TermCriteria(TermCriteria::MAX_ITER | TermCriteria::EPS,
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detectorParams.cornerRefinementMaxIterations,
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detectorParams.cornerRefinementMinAccuracy));
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}
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// remove from rejected
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alreadyIdentified[closestCandidateIdx] = true;
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// add to detected
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finalAcceptedCorners.push_back(closestRotatedMarker);
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finalAcceptedIds.push_back(undetectedMarkersIds[i]);
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// add the original index of the candidate
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recoveredIdxs.push_back(closestCandidateIdx);
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// apply rotation
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Mat rotatedMarker;
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if(refineParams.checkAllOrders) {
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rotatedMarker = Mat(4, 1, CV_32FC2);
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for(int c = 0; c < 4; c++)
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rotatedMarker.ptr<Point2f>()[c] =
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_rejectedCorners.getMat(j).ptr<Point2f>()[(c + 4 + validRot) % 4];
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}
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else rotatedMarker = _rejectedCorners.getMat(j);
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// last filter, check if inner code is close enough to the assigned marker code
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int codeDistance = 0;
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// if errorCorrectionRate, dont check code
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if(refineParams.errorCorrectionRate >= 0) {
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// extract bits
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Mat bits = _extractBits(
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grey, rotatedMarker, dictionary.markerSize, detectorParams.markerBorderBits,
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detectorParams.perspectiveRemovePixelPerCell,
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detectorParams.perspectiveRemoveIgnoredMarginPerCell, detectorParams.minOtsuStdDev);
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Mat onlyBits =
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bits.rowRange(detectorParams.markerBorderBits, bits.rows - detectorParams.markerBorderBits)
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.colRange(detectorParams.markerBorderBits, bits.rows - detectorParams.markerBorderBits);
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codeDistance =
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dictionary.getDistanceToId(onlyBits, undetectedMarkersIds[i], false);
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}
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// if everythin is ok, assign values to current best match
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if(refineParams.errorCorrectionRate < 0 || codeDistance < maxCorrectionRecalculated) {
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closestCandidateIdx = j;
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closestCandidateDistance = minDistance;
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closestRotatedMarker = rotatedMarker;
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}
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}
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// if at least one good match, we have rescue the missing marker
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if(closestCandidateIdx >= 0) {
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// subpixel refinement
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if(detectorParams.cornerRefinementMethod == (int)CORNER_REFINE_SUBPIX) {
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CV_Assert(detectorParams.cornerRefinementWinSize > 0 &&
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detectorParams.cornerRefinementMaxIterations > 0 &&
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detectorParams.cornerRefinementMinAccuracy > 0);
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std::vector<Point2f> marker(closestRotatedMarker.begin<Point2f>(), closestRotatedMarker.end<Point2f>());
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int cornerRefinementWinSize = std::max(1, cvRound(detectorParams.relativeCornerRefinmentWinSize*
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getAverageModuleSize(marker, dictionary.markerSize, detectorParams.markerBorderBits)));
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cornerRefinementWinSize = min(cornerRefinementWinSize, detectorParams.cornerRefinementWinSize);
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cornerSubPix(grey, closestRotatedMarker,
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Size(cornerRefinementWinSize, cornerRefinementWinSize),
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Size(-1, -1), TermCriteria(TermCriteria::MAX_ITER | TermCriteria::EPS,
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detectorParams.cornerRefinementMaxIterations,
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detectorParams.cornerRefinementMinAccuracy));
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}
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// remove from rejected
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alreadyIdentified[closestCandidateIdx] = true;
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// add to detected
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finalAcceptedCorners.push_back(closestRotatedMarker);
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finalAcceptedIds.push_back(undetectedMarkersIds[i]);
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// add the original index of the candidate
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recoveredIdxs.push_back(closestCandidateIdx);
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}
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}
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