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Merge pull request #25090 from MaximSmolskiy:compensate-edge-length-in-ChessBoardDetector-generateQuads-attempt-2

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Compensate edge length in ChessBoardDetector::generateQuads (attempt 2) #25090

### Pull Request Readiness Checklist

New attempt for #24833, which was reverted as #25036.

Locally I fixed `Calib3d_StereoCalibrate_CPP.regression` test by corners refinement using `cornerSubPix` function

See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request

- [x] I agree to contribute to the project under Apache 2 License.
- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
- [x] The PR is proposed to the proper branch
- [x] There is a reference to the original bug report and related work
- [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
      Patch to opencv_extra has the same branch name.
- [ ] The feature is well documented and sample code can be built with the project CMake
This commit is contained in:
Maxim Smolskiy 2024-02-26 12:12:53 +03:00 committed by GitHub
parent 6f48cb78b6
commit 853f7ff904
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GPG Key ID: B5690EEEBB952194
2 changed files with 11 additions and 6 deletions
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11
modules/calib3d/src/calibinit.cpp
View File

@ -234,7 +234,7 @@ public:
all_quads_count = 0;
}
void generateQuads(const cv::Mat& image_, int flags);
void generateQuads(const cv::Mat& image_, int flags, int dilations);
bool processQuads(std::vector<cv::Point2f>& out_corners, int &prev_sqr_size);
@ -547,7 +547,7 @@ bool findChessboardCorners(InputArray image_, Size pattern_size,
rectangle( thresh_img_new, Point(0,0), Point(thresh_img_new.cols-1, thresh_img_new.rows-1), Scalar(255,255,255), 3, LINE_8);
detector.reset();
detector.generateQuads(thresh_img_new, flags);
detector.generateQuads(thresh_img_new, flags, dilations);
DPRINTF("Quad count: %d/%d", detector.all_quads_count, (pattern_size.width/2+1)*(pattern_size.height/2+1));
SHOW_QUADS("New quads", thresh_img_new, &detector.all_quads[0], detector.all_quads_count);
if (detector.processQuads(out_corners, prev_sqr_size))
@ -612,7 +612,7 @@ bool findChessboardCorners(InputArray image_, Size pattern_size,
rectangle( thresh_img, Point(0,0), Point(thresh_img.cols-1, thresh_img.rows-1), Scalar(255,255,255), 3, LINE_8);
detector.reset();
detector.generateQuads(thresh_img, flags);
detector.generateQuads(thresh_img, flags, dilations);
DPRINTF("Quad count: %d/%d", detector.all_quads_count, (pattern_size.width/2+1)*(pattern_size.height/2+1));
SHOW_QUADS("Old quads", thresh_img, &detector.all_quads[0], detector.all_quads_count);
if (detector.processQuads(out_corners, prev_sqr_size))
@ -1755,7 +1755,7 @@ void ChessBoardDetector::findQuadNeighbors()
// returns corners in clockwise order
// corners don't necessarily start at same position on quad (e.g.,
// top left corner)
void ChessBoardDetector::generateQuads(const cv::Mat& image_, int flags)
void ChessBoardDetector::generateQuads(const cv::Mat& image_, int flags, int dilations)
{
binarized_image = image_; // save for debug purposes
@ -1880,6 +1880,9 @@ void ChessBoardDetector::generateQuads(const cv::Mat& image_, int flags)
float d = normL2Sqr<float>(q.corners[i]->pt - q.corners[(i+1)&3]->pt);
q.edge_len = std::min(q.edge_len, d);
}
const int edge_len_compensation = 2 * dilations;
q.edge_len += 2 * sqrt(q.edge_len) * edge_len_compensation + edge_len_compensation * edge_len_compensation;
}
all_quads_count = quad_count;

6
modules/calib3d/test/test_cameracalibration.cpp
View File

@ -1388,8 +1388,8 @@ void CV_StereoCalibrationTest::run( int )
for( int i = 0; i < nframes; i++ )
{
Mat left = imread(imglist[i*2]);
Mat right = imread(imglist[i*2+1]);
Mat left = imread(imglist[i*2], IMREAD_GRAYSCALE);
Mat right = imread(imglist[i*2+1], IMREAD_GRAYSCALE);
if(left.empty() || right.empty())
{
ts->printf( cvtest::TS::LOG, "Can not load images %s and %s, testcase %d\n",
@ -1400,6 +1400,8 @@ void CV_StereoCalibrationTest::run( int )
imgsize = left.size();
bool found1 = findChessboardCorners(left, patternSize, imgpt1[i]);
bool found2 = findChessboardCorners(right, patternSize, imgpt2[i]);
cornerSubPix(left, imgpt1[i], Size(5, 5), Size(-1, -1), TermCriteria(TermCriteria::EPS | TermCriteria::MAX_ITER, 30, 0.1));
cornerSubPix(right, imgpt2[i], Size(5, 5), Size(-1, -1), TermCriteria(TermCriteria::EPS | TermCriteria::MAX_ITER, 30, 0.1));
if(!found1 || !found2)
{
ts->printf( cvtest::TS::LOG, "The function could not detect boards (%d x %d) on the images %s and %s, testcase %d\n",