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calib3d: chess board - properly detect/handle iCntMaxima=0 case

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This commit is contained in:
Alexander Alekhin 2018-05-25 15:09:36 +03:00
parent 0a6d190095
commit ad57750d25
1 changed files with 28 additions and 8 deletions
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36
modules/calib3d/src/calibinit.cpp
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@ -293,7 +293,7 @@ static bool icvBinarizationHistogramBased( Mat & img )
std::vector<int> piHistSmooth(iNumBins, 0);
std::vector<int> piHistGrad(iNumBins, 0);
std::vector<int> piAccumSum(iNumBins, 0);
std::vector<int> piMaxPos(20, 0);
std::vector<int> piMaxPos; piMaxPos.reserve(20);
int iThresh = 0;
int iIdx;
int iWidth = 1;
@ -319,7 +319,7 @@ static bool icvBinarizationHistogramBased( Mat & img )
{
if ( (piHistGrad[i-1] < 0) && (piHistGrad[i] > 0) )
{
piMaxPos[iCntMaxima] = i;
piMaxPos.push_back(i);
iCntMaxima++;
}
}
@ -332,15 +332,35 @@ static bool icvBinarizationHistogramBased( Mat & img )
iSumAroundMax = piHistSmooth[iIdx-1] + piHistSmooth[iIdx] + piHistSmooth[iIdx+1];
if ( iSumAroundMax < iMaxPix1 && iIdx < 64 )
{
for ( int j=i; j<iCntMaxima-1; j++ )
{
piMaxPos[j] = piMaxPos[j+1];
}
piMaxPos.erase(piMaxPos.begin() + i);
iCntMaxima--;
i--;
}
}
if ( iCntMaxima == 1)
CV_Assert((size_t)iCntMaxima == piMaxPos.size());
PRINTF("HIST: MAXIMA COUNT: %d (%d, %d, %d, ...)\n", iCntMaxima,
iCntMaxima > 0 ? piMaxPos[0] : -1,
iCntMaxima > 1 ? piMaxPos[1] : -1,
iCntMaxima > 2 ? piMaxPos[2] : -1);
if (iCntMaxima == 0)
{
// no any maxima inside (except 0 and 255 which are not handled above)
// Does image black-write already?
const int iMaxPix2 = iMaxPix / 2;
for (int sum = 0, i = 0; i < 256; ++i) // select mean intensity
{
sum += piHistIntensity[i];
if (sum > iMaxPix2)
{
iThresh = i;
break;
}
}
}
else if (iCntMaxima == 1)
{
iThresh = piMaxPos[0]/2;
}
@ -380,7 +400,7 @@ static bool icvBinarizationHistogramBased( Mat & img )
int iMaxVal = piHistIntensity[piMaxPos[iIdxBGMax]];
//IF TOO CLOSE TO 255, jump to next maximum
if ( piMaxPos[iIdxBGMax] >= 250 && iIdxBGMax < iCntMaxima )
if ( piMaxPos[iIdxBGMax] >= 250 && iIdxBGMax + 1 < iCntMaxima )
{
iIdxBGMax++;
iMaxVal = piHistIntensity[piMaxPos[iIdxBGMax]];