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Merge pull request #24833 from MaximSmolskiy:compensate-edge-length-in-ChessBoardDetector-generateQuads

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Compensate edge length in ChessBoardDetector::generateQuads
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Alexander Smorkalov 2024-02-15 13:22:13 +03:00 committed by GitHub
commit a9f15d7372
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1 changed files with 7 additions and 4 deletions
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11
modules/calib3d/src/calibinit.cpp
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@ -234,7 +234,7 @@ public:
all_quads_count = 0; 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); 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); 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.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)); 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); SHOW_QUADS("New quads", thresh_img_new, &detector.all_quads[0], detector.all_quads_count);
if (detector.processQuads(out_corners, prev_sqr_size)) 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); 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.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)); 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); SHOW_QUADS("Old quads", thresh_img, &detector.all_quads[0], detector.all_quads_count);
if (detector.processQuads(out_corners, prev_sqr_size)) if (detector.processQuads(out_corners, prev_sqr_size))
@ -1755,7 +1755,7 @@ void ChessBoardDetector::findQuadNeighbors()
// returns corners in clockwise order // returns corners in clockwise order
// corners don't necessarily start at same position on quad (e.g., // corners don't necessarily start at same position on quad (e.g.,
// top left corner) // 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 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); float d = normL2Sqr<float>(q.corners[i]->pt - q.corners[(i+1)&3]->pt);
q.edge_len = std::min(q.edge_len, d); 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; all_quads_count = quad_count;