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Added checks for incorrect results in the circles grid pattern detection.

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This commit is contained in:
Ilya Lysenkov 2011-04-15 17:24:07 +00:00
parent 37cd2b6f25
commit a811a08d0d
1 changed files with 16 additions and 0 deletions
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16
modules/calib3d/src/circlesgrid.cpp
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@ -107,6 +107,10 @@ void CirclesGridClusterFinder::hierarchicalClustering(const vector<Point2f> poin
void CirclesGridClusterFinder::findGrid(const std::vector<cv::Point2f> points, cv::Size patternSize, vector<Point2f>& centers) void CirclesGridClusterFinder::findGrid(const std::vector<cv::Point2f> points, cv::Size patternSize, vector<Point2f>& centers)
{ {
centers.clear(); centers.clear();
if(points.empty())
{
return;
}
vector<Point2f> patternPoints; vector<Point2f> patternPoints;
hierarchicalClustering(points, patternSize, patternPoints); hierarchicalClustering(points, patternSize, patternPoints);
@ -117,18 +121,30 @@ void CirclesGridClusterFinder::findGrid(const std::vector<cv::Point2f> points, c
vector<Point2f> hull2f; vector<Point2f> hull2f;
convexHull(Mat(patternPoints), hull2f, false); convexHull(Mat(patternPoints), hull2f, false);
const size_t cornersCount = 6;
if(hull2f.size() < cornersCount)
return;
vector<Point2f> corners; vector<Point2f> corners;
findCorners(hull2f, corners); findCorners(hull2f, corners);
if(corners.size() != cornersCount)
return;
vector<Point2f> outsideCorners; vector<Point2f> outsideCorners;
findOutsideCorners(corners, outsideCorners); findOutsideCorners(corners, outsideCorners);
const size_t outsideCornersCount = 2;
if(outsideCorners.size() != outsideCornersCount)
return;
vector<Point2f> sortedCorners; vector<Point2f> sortedCorners;
getSortedCorners(hull2f, corners, outsideCorners, sortedCorners); getSortedCorners(hull2f, corners, outsideCorners, sortedCorners);
if(sortedCorners.size() != cornersCount)
return;
vector<Point2f> rectifiedPatternPoints; vector<Point2f> rectifiedPatternPoints;
rectifyPatternPoints(patternSize, patternPoints, sortedCorners, rectifiedPatternPoints); rectifyPatternPoints(patternSize, patternPoints, sortedCorners, rectifiedPatternPoints);
if(patternPoints.size() != rectifiedPatternPoints.size())
return;
parsePatternPoints(patternSize, patternPoints, rectifiedPatternPoints, centers); parsePatternPoints(patternSize, patternPoints, rectifiedPatternPoints, centers);
} }