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Use initial quads corners in ChessBoardDetector::findQuadNeighbors

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This commit is contained in:
MaximSmolskiy 2024-03-10 17:49:27 +03:00
parent 1eb061f89d
commit 7fe1664bbf
1 changed files with 11 additions and 9 deletions
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20
modules/calib3d/src/calibinit.cpp
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@ -1631,10 +1631,11 @@ void ChessBoardDetector::findQuadNeighbors()
continue; continue;
float min_dist = FLT_MAX; float min_dist = FLT_MAX;
int closest_neighbor_idx = -1;
int closest_corner_idx = -1; int closest_corner_idx = -1;
ChessBoardQuad *closest_quad = 0; ChessBoardQuad *closest_quad = 0;
cv::Point2f pt = cur_quad.corners[i]->pt; cv::Point2f pt = all_quads_pts[(idx << 2) + i];
// find the closest corner in all other quadrangles // find the closest corner in all other quadrangles
std::vector<float> query = Mat(pt); std::vector<float> query = Mat(pt);
@ -1654,7 +1655,7 @@ void ChessBoardDetector::findQuadNeighbors()
if (q_k.neighbors[j]) if (q_k.neighbors[j])
continue; continue;
const float dist = normL2Sqr<float>(pt - q_k.corners[j]->pt); const float dist = normL2Sqr<float>(pt - all_quads_pts[neighbor_idx]);
if (dist < min_dist && if (dist < min_dist &&
dist <= cur_quad.edge_len * thresh_scale && dist <= cur_quad.edge_len * thresh_scale &&
dist <= q_k.edge_len * thresh_scale) dist <= q_k.edge_len * thresh_scale)
@ -1669,6 +1670,7 @@ void ChessBoardDetector::findQuadNeighbors()
DPRINTF("Incompatible edge lengths"); DPRINTF("Incompatible edge lengths");
continue; continue;
} }
closest_neighbor_idx = neighbor_idx;
closest_corner_idx = j; closest_corner_idx = j;
closest_quad = &q_k; closest_quad = &q_k;
min_dist = dist; min_dist = dist;
@ -1676,7 +1678,7 @@ void ChessBoardDetector::findQuadNeighbors()
} }
// we found a matching corner point? // we found a matching corner point?
if (closest_corner_idx >= 0 && min_dist < FLT_MAX) if (closest_neighbor_idx >= 0 && closest_corner_idx >= 0 && min_dist < FLT_MAX)
{ {
CV_Assert(closest_quad); CV_Assert(closest_quad);
@ -1688,6 +1690,7 @@ void ChessBoardDetector::findQuadNeighbors()
// This is necessary to support small squares where otherwise the wrong // This is necessary to support small squares where otherwise the wrong
// corner will get matched to closest_quad; // corner will get matched to closest_quad;
ChessBoardCorner& closest_corner = *closest_quad->corners[closest_corner_idx]; ChessBoardCorner& closest_corner = *closest_quad->corners[closest_corner_idx];
cv::Point2f closest_corner_pt = all_quads_pts[closest_neighbor_idx];
int j = 0; int j = 0;
for (; j < 4; j++) for (; j < 4; j++)
@ -1695,7 +1698,7 @@ void ChessBoardDetector::findQuadNeighbors()
if (cur_quad.neighbors[j] == closest_quad) if (cur_quad.neighbors[j] == closest_quad)
break; break;
if (normL2Sqr<float>(closest_corner.pt - cur_quad.corners[j]->pt) < min_dist) if (normL2Sqr<float>(closest_corner_pt - all_quads_pts[(idx << 2) + j]) < min_dist)
break; break;
} }
if (j < 4) if (j < 4)
@ -1710,9 +1713,8 @@ void ChessBoardDetector::findQuadNeighbors()
if (j < 4) if (j < 4)
continue; continue;
// check whether the closest corner to closest_corner // check whether the closest corner to closest_corner is different from pt
// is different from cur_quad->corners[i]->pt query = Mat(closest_corner_pt);
query = Mat(closest_corner.pt);
radius = min_dist + 1; radius = min_dist + 1;
neighbors_count = all_quads_pts_index.radiusSearch(query, neighbors_indices, neighbors_dists, radius, search_params); neighbors_count = all_quads_pts_index.radiusSearch(query, neighbors_indices, neighbors_dists, radius, search_params);
@ -1730,14 +1732,14 @@ void ChessBoardDetector::findQuadNeighbors()
CV_DbgAssert(q); CV_DbgAssert(q);
if (!q->neighbors[k]) if (!q->neighbors[k])
{ {
if (normL2Sqr<float>(closest_corner.pt - q->corners[k]->pt) < min_dist) if (normL2Sqr<float>(closest_corner_pt - all_quads_pts[neighbor_idx]) < min_dist)
break; break;
} }
} }
if (neighbor_idx_idx < neighbors_count) if (neighbor_idx_idx < neighbors_count)
continue; continue;
closest_corner.pt = (pt + closest_corner.pt) * 0.5f; closest_corner.pt = (pt + closest_corner_pt) * 0.5f;
// We've found one more corner - remember it // We've found one more corner - remember it
cur_quad.count++; cur_quad.count++;