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Added detection of asymmetric circles' pattern
This commit is contained in:
Ilya Lysenkov
parent
885cef7660
commit
f8e9f65ea8
@ -543,10 +543,12 @@ CV_EXPORTS void drawChessboardCorners( Mat& image, Size patternSize,
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const vector<Point2f>& corners,
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bool patternWasFound );
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enum { CALIB_CB_SYMMETRIC_GRID = 1, CALIB_CB_ASYMMETRIC_GRID = 2 };
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//! finds circles' grid pattern of the specified size in the image
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CV_EXPORTS_W bool findCirclesGrid( const Mat& image, Size patternSize,
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CV_OUT vector<Point2f>& centers,
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int flags=0 );
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int flags=CALIB_CB_SYMMETRIC_GRID );
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enum
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{
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@ -1935,7 +1935,7 @@ void drawChessboardCorners( Mat& image, Size patternSize,
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}
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bool findCirclesGrid( const Mat& image, Size patternSize,
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vector<Point2f>& centers, int )
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vector<Point2f>& centers, int flags )
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{
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Ptr<SimpleBlobDetector> detector = new SimpleBlobDetector();
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//Ptr<FeatureDetector> detector = new MserFeatureDetector();
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@ -1944,7 +1944,7 @@ bool findCirclesGrid( const Mat& image, Size patternSize,
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vector<Point2f> points;
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for (size_t i = 0; i < keypoints.size(); i++)
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{
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points.push_back (keypoints[i].pt);
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points.push_back (keypoints[i].pt);
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}
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CirclesGridFinderParameters parameters;
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@ -1954,8 +1954,13 @@ bool findCirclesGrid( const Mat& image, Size patternSize,
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parameters.edgeGain = 1;
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parameters.edgePenalty = -0.6f;
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if(flags & CALIB_CB_ASYMMETRIC_GRID)
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parameters.gridType = CirclesGridFinderParameters::ASYMMETRIC_GRID;
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if(flags & CALIB_CB_SYMMETRIC_GRID)
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parameters.gridType = CirclesGridFinderParameters::SYMMETRIC_GRID;
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const int attempts = 2;
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const int minHomographyPoints = 4;
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const size_t minHomographyPoints = 4;
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Mat H;
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for (int i = 0; i < attempts; i++)
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{
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@ -1970,10 +1975,20 @@ bool findCirclesGrid( const Mat& image, Size patternSize,
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{
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}
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boxFinder.getHoles(centers);
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if (isFound)
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{
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switch(parameters.gridType)
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{
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case CirclesGridFinderParameters::SYMMETRIC_GRID:
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boxFinder.getHoles(centers);
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break;
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case CirclesGridFinderParameters::ASYMMETRIC_GRID:
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boxFinder.getAsymmetricHoles(centers);
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break;
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default:
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CV_Error(CV_StsBadArg, "Unkown pattern type");
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}
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if (i != 0)
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{
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Mat orgPointsMat;
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@ -1983,7 +1998,8 @@ bool findCirclesGrid( const Mat& image, Size patternSize,
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return true;
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}
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boxFinder.getHoles(centers);
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if (i != attempts - 1)
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{
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if (centers.size() < minHomographyPoints)
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@ -1,71 +1,72 @@
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/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include "circlesgrid.hpp"
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//#define DEBUG_CIRCLES
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using namespace cv;
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using namespace std;
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Graph::Graph(int n)
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Graph::Graph(size_t n)
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{
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for (int i = 0; i < n; i++)
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for (size_t i = 0; i < n; i++)
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{
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addVertex(i);
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}
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}
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bool Graph::doesVertexExist(int id) const
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bool Graph::doesVertexExist(size_t id) const
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{
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return (vertices.find(id) != vertices.end());
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}
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void Graph::addVertex(int id)
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void Graph::addVertex(size_t id)
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{
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assert( !doesVertexExist( id ) );
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vertices.insert(pair<int, Vertex> (id, Vertex()));
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vertices.insert(pair<size_t, Vertex> (id, Vertex()));
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}
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void Graph::addEdge(int id1, int id2)
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void Graph::addEdge(size_t id1, size_t id2)
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{
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assert( doesVertexExist( id1 ) );
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assert( doesVertexExist( id2 ) );
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@ -74,7 +75,16 @@ void Graph::addEdge(int id1, int id2)
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vertices[id2].neighbors.insert(id1);
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}
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bool Graph::areVerticesAdjacent(int id1, int id2) const
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void Graph::removeEdge(size_t id1, size_t id2)
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{
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assert( doesVertexExist( id1 ) );
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assert( doesVertexExist( id2 ) );
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vertices[id1].neighbors.erase(id2);
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vertices[id2].neighbors.erase(id1);
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}
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bool Graph::areVerticesAdjacent(size_t id1, size_t id2) const
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{
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assert( doesVertexExist( id1 ) );
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assert( doesVertexExist( id2 ) );
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@ -88,7 +98,7 @@ size_t Graph::getVerticesCount() const
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return vertices.size();
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}
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size_t Graph::getDegree(int id) const
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size_t Graph::getDegree(size_t id) const
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{
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assert( doesVertexExist(id) );
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@ -126,13 +136,28 @@ void Graph::floydWarshall(cv::Mat &distanceMatrix, int infinity) const
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== infinity)
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val2 = val1;
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else
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{
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val2 = distanceMatrix.at<int> (it2->first, it1->first) + distanceMatrix.at<int> (it1->first, it3->first);
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distanceMatrix.at<int> (it2->first, it3->first) = std::min(val1, val2);
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}
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distanceMatrix.at<int> (it2->first, it3->first) = (val1 == infinity) ? val2 : std::min(val1, val2);
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}
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}
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}
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}
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const Graph::Neighbors& Graph::getNeighbors(size_t id) const
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{
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assert( doesVertexExist(id) );
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Vertices::const_iterator it = vertices.find(id);
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return it->second.neighbors;
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}
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CirclesGridFinder::Segment::Segment(cv::Point2f _s, cv::Point2f _e) :
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s(_s), e(_e)
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{
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}
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void computeShortestPath(Mat &predecessorMatrix, int v1, int v2, vector<int> &path);
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void computePredecessorMatrix(const Mat &dm, int verticesCount, Mat &predecessorMatrix);
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@ -151,54 +176,210 @@ CirclesGridFinderParameters::CirclesGridFinderParameters()
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edgeGain = 1;
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edgePenalty = -5;
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existingVertexGain = 0;
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minRNGEdgeSwitchDist = 5.f;
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gridType = SYMMETRIC_GRID;
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}
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CirclesGridFinder::CirclesGridFinder(Size _patternSize, const vector<Point2f> &testKeypoints,
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const CirclesGridFinderParameters &_parameters) :
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patternSize(_patternSize)
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patternSize(static_cast<size_t> (_patternSize.width), static_cast<size_t> (_patternSize.height))
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{
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CV_Assert(_patternSize.height >= 0 && _patternSize.width >= 0);
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keypoints = testKeypoints;
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parameters = _parameters;
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largeHoles = 0;
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smallHoles = 0;
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}
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bool CirclesGridFinder::findHoles()
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{
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vector<Point2f> vectors, filteredVectors, basis;
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computeEdgeVectorsOfRNG(vectors);
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filterOutliersByDensity(vectors, filteredVectors);
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vector<Graph> basisGraphs;
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findBasis(filteredVectors, basis, basisGraphs);
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findMCS(basis, basisGraphs);
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switch (parameters.gridType)
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{
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case CirclesGridFinderParameters::SYMMETRIC_GRID:
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{
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vector<Point2f> vectors, filteredVectors, basis;
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Graph rng(0);
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computeRNG(rng, vectors);
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filterOutliersByDensity(vectors, filteredVectors);
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vector<Graph> basisGraphs;
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findBasis(filteredVectors, basis, basisGraphs);
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findMCS(basis, basisGraphs);
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break;
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}
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case CirclesGridFinderParameters::ASYMMETRIC_GRID:
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{
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vector<Point2f> vectors, tmpVectors, filteredVectors, basis;
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Graph rng(0);
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computeRNG(rng, tmpVectors);
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rng2gridGraph(rng, vectors);
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filterOutliersByDensity(vectors, filteredVectors);
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vector<Graph> basisGraphs;
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findBasis(filteredVectors, basis, basisGraphs);
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findMCS(basis, basisGraphs);
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eraseUsedGraph(basisGraphs);
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holes2 = holes;
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holes.clear();
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findMCS(basis, basisGraphs);
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break;
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}
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default:
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CV_Error(CV_StsBadArg, "Unkown pattern type");
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}
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return (isDetectionCorrect());
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//CV_Error( 0, "Detection is not correct" );
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}
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bool CirclesGridFinder::isDetectionCorrect()
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void CirclesGridFinder::rng2gridGraph(Graph &rng, std::vector<cv::Point2f> &vectors) const
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{
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if (holes.size() != patternSize.height)
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return false;
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set<int> vertices;
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for (size_t i = 0; i < holes.size(); i++)
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for (size_t i = 0; i < rng.getVerticesCount(); i++)
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{
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if (holes[i].size() != patternSize.width)
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return false;
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for (size_t j = 0; j < holes[i].size(); j++)
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Graph::Neighbors neighbors1 = rng.getNeighbors(i);
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for (Graph::Neighbors::iterator it1 = neighbors1.begin(); it1 != neighbors1.end(); it1++)
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{
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vertices.insert(holes[i][j]);
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Graph::Neighbors neighbors2 = rng.getNeighbors(*it1);
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for (Graph::Neighbors::iterator it2 = neighbors2.begin(); it2 != neighbors2.end(); it2++)
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{
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if (i < *it2)
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{
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Point2f vec1 = keypoints[i] - keypoints[*it1];
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Point2f vec2 = keypoints[*it1] - keypoints[*it2];
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if (norm(vec1 - vec2) < parameters.minRNGEdgeSwitchDist || norm(vec1 + vec2)
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< parameters.minRNGEdgeSwitchDist)
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continue;
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vectors.push_back(keypoints[i] - keypoints[*it2]);
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vectors.push_back(keypoints[*it2] - keypoints[i]);
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}
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}
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}
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}
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}
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return vertices.size() == patternSize.area();
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void CirclesGridFinder::eraseUsedGraph(vector<Graph> &basisGraphs) const
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{
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for (size_t i = 0; i < holes.size(); i++)
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{
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for (size_t j = 0; j < holes[i].size(); j++)
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{
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for (size_t k = 0; k < basisGraphs.size(); k++)
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{
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if (i != holes.size() - 1 && basisGraphs[k].areVerticesAdjacent(holes[i][j], holes[i + 1][j]))
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{
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basisGraphs[k].removeEdge(holes[i][j], holes[i + 1][j]);
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}
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if (j != holes[i].size() - 1 && basisGraphs[k].areVerticesAdjacent(holes[i][j], holes[i][j + 1]))
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{
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basisGraphs[k].removeEdge(holes[i][j], holes[i][j + 1]);
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}
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}
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}
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}
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}
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bool CirclesGridFinder::isDetectionCorrect()
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{
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switch (parameters.gridType)
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{
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case CirclesGridFinderParameters::SYMMETRIC_GRID:
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{
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if (holes.size() != patternSize.height)
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return false;
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set<size_t> vertices;
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for (size_t i = 0; i < holes.size(); i++)
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{
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if (holes[i].size() != patternSize.width)
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return false;
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for (size_t j = 0; j < holes[i].size(); j++)
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{
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vertices.insert(holes[i][j]);
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}
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}
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return vertices.size() == patternSize.area();
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}
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case CirclesGridFinderParameters::ASYMMETRIC_GRID:
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{
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if (holes.size() < holes2.size() || holes[0].size() < holes2[0].size())
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{
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largeHoles = &holes2;
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smallHoles = &holes;
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}
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else
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{
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largeHoles = &holes;
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smallHoles = &holes2;
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}
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size_t largeWidth = patternSize.width;
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size_t largeHeight = ceil(patternSize.height / 2.);
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size_t smallWidth = patternSize.width;
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size_t smallHeight = floor(patternSize.height / 2.);
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size_t sw = smallWidth, sh = smallHeight, lw = largeWidth, lh = largeHeight;
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if (largeHoles->size() != largeHeight)
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{
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std::swap(lh, lw);
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}
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if (smallHoles->size() != smallHeight)
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{
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std::swap(sh, sw);
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}
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if (largeHoles->size() != lh || smallHoles->size() != sh)
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{
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return false;
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}
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set<size_t> vertices;
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for (size_t i = 0; i < largeHoles->size(); i++)
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{
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if (largeHoles->at(i).size() != lw)
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{
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return false;
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}
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for (size_t j = 0; j < largeHoles->at(i).size(); j++)
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{
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vertices.insert(largeHoles->at(i)[j]);
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}
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if (i < smallHoles->size())
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{
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if (smallHoles->at(i).size() != sw)
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{
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return false;
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}
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for (size_t j = 0; j < smallHoles->at(i).size(); j++)
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{
|
||||
vertices.insert(smallHoles->at(i)[j]);
|
||||
}
|
||||
}
|
||||
}
|
||||
return (vertices.size() == largeHeight * largeWidth + smallHeight * smallWidth);
|
||||
}
|
||||
|
||||
default:
|
||||
CV_Error(0, "Unknown pattern type");
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
void CirclesGridFinder::findMCS(const vector<Point2f> &basis, vector<Graph> &basisGraphs)
|
||||
{
|
||||
holes.clear();
|
||||
Path longestPath;
|
||||
size_t bestGraphIdx = findLongestPath(basisGraphs, longestPath);
|
||||
vector<int> holesRow = longestPath.vertices;
|
||||
vector<size_t> holesRow = longestPath.vertices;
|
||||
|
||||
while (holesRow.size() > std::max(patternSize.width, patternSize.height))
|
||||
{
|
||||
@ -209,14 +390,14 @@ void CirclesGridFinder::findMCS(const vector<Point2f> &basis, vector<Graph> &bas
|
||||
if (bestGraphIdx == 0)
|
||||
{
|
||||
holes.push_back(holesRow);
|
||||
int w = holes[0].size();
|
||||
int h = holes.size();
|
||||
size_t w = holes[0].size();
|
||||
size_t h = holes.size();
|
||||
|
||||
//parameters.minGraphConfidence = holes[0].size() * parameters.vertexGain + (holes[0].size() - 1) * parameters.edgeGain;
|
||||
//parameters.minGraphConfidence = holes[0].size() * parameters.vertexGain + (holes[0].size() / 2) * parameters.edgeGain;
|
||||
//parameters.minGraphConfidence = holes[0].size() * parameters.existingVertexGain + (holes[0].size() / 2) * parameters.edgeGain;
|
||||
parameters.minGraphConfidence = holes[0].size() * parameters.existingVertexGain;
|
||||
for (int i = h; i < patternSize.height; i++)
|
||||
for (size_t i = h; i < patternSize.height; i++)
|
||||
{
|
||||
addHolesByGraph(basisGraphs, true, basis[1]);
|
||||
}
|
||||
@ -224,7 +405,7 @@ void CirclesGridFinder::findMCS(const vector<Point2f> &basis, vector<Graph> &bas
|
||||
//parameters.minGraphConfidence = holes.size() * parameters.existingVertexGain + (holes.size() / 2) * parameters.edgeGain;
|
||||
parameters.minGraphConfidence = holes.size() * parameters.existingVertexGain;
|
||||
|
||||
for (int i = w; i < patternSize.width; i++)
|
||||
for (size_t i = w; i < patternSize.width; i++)
|
||||
{
|
||||
addHolesByGraph(basisGraphs, false, basis[0]);
|
||||
}
|
||||
@ -235,17 +416,17 @@ void CirclesGridFinder::findMCS(const vector<Point2f> &basis, vector<Graph> &bas
|
||||
for (size_t i = 0; i < holesRow.size(); i++)
|
||||
holes[i].push_back(holesRow[i]);
|
||||
|
||||
int w = holes[0].size();
|
||||
int h = holes.size();
|
||||
size_t w = holes[0].size();
|
||||
size_t h = holes.size();
|
||||
|
||||
parameters.minGraphConfidence = holes.size() * parameters.existingVertexGain;
|
||||
for (int i = w; i < patternSize.width; i++)
|
||||
for (size_t i = w; i < patternSize.width; i++)
|
||||
{
|
||||
addHolesByGraph(basisGraphs, false, basis[0]);
|
||||
}
|
||||
|
||||
parameters.minGraphConfidence = holes[0].size() * parameters.existingVertexGain;
|
||||
for (int i = h; i < patternSize.height; i++)
|
||||
for (size_t i = h; i < patternSize.height; i++)
|
||||
{
|
||||
addHolesByGraph(basisGraphs, true, basis[1]);
|
||||
}
|
||||
@ -292,9 +473,9 @@ Mat CirclesGridFinder::rectifyGrid(Size detectedGridSize, const vector<Point2f>&
|
||||
return H;
|
||||
}
|
||||
|
||||
int CirclesGridFinder::findNearestKeypoint(Point2f pt) const
|
||||
size_t CirclesGridFinder::findNearestKeypoint(Point2f pt) const
|
||||
{
|
||||
int bestIdx = -1;
|
||||
size_t bestIdx = -1;
|
||||
double minDist = std::numeric_limits<double>::max();
|
||||
for (size_t i = 0; i < keypoints.size(); i++)
|
||||
{
|
||||
@ -308,9 +489,9 @@ int CirclesGridFinder::findNearestKeypoint(Point2f pt) const
|
||||
return bestIdx;
|
||||
}
|
||||
|
||||
void CirclesGridFinder::addPoint(Point2f pt, vector<int> &points)
|
||||
void CirclesGridFinder::addPoint(Point2f pt, vector<size_t> &points)
|
||||
{
|
||||
int ptIdx = findNearestKeypoint(pt);
|
||||
size_t ptIdx = findNearestKeypoint(pt);
|
||||
if (norm(keypoints[ptIdx] - pt) > parameters.minDistanceToAddKeypoint)
|
||||
{
|
||||
Point2f kpt = Point2f(pt);
|
||||
@ -323,8 +504,8 @@ void CirclesGridFinder::addPoint(Point2f pt, vector<int> &points)
|
||||
}
|
||||
}
|
||||
|
||||
void CirclesGridFinder::findCandidateLine(vector<int> &line, int seedLineIdx, bool addRow, Point2f basisVec,
|
||||
vector<int> &seeds)
|
||||
void CirclesGridFinder::findCandidateLine(vector<size_t> &line, size_t seedLineIdx, bool addRow, Point2f basisVec,
|
||||
vector<size_t> &seeds)
|
||||
{
|
||||
line.clear();
|
||||
seeds.clear();
|
||||
@ -351,8 +532,8 @@ void CirclesGridFinder::findCandidateLine(vector<int> &line, int seedLineIdx, bo
|
||||
assert( line.size() == seeds.size() );
|
||||
}
|
||||
|
||||
void CirclesGridFinder::findCandidateHoles(vector<int> &above, vector<int> &below, bool addRow, Point2f basisVec,
|
||||
vector<int> &aboveSeeds, vector<int> &belowSeeds)
|
||||
void CirclesGridFinder::findCandidateHoles(vector<size_t> &above, vector<size_t> &below, bool addRow, Point2f basisVec,
|
||||
vector<size_t> &aboveSeeds, vector<size_t> &belowSeeds)
|
||||
{
|
||||
above.clear();
|
||||
below.clear();
|
||||
@ -360,7 +541,7 @@ void CirclesGridFinder::findCandidateHoles(vector<int> &above, vector<int> &belo
|
||||
belowSeeds.clear();
|
||||
|
||||
findCandidateLine(above, 0, addRow, -basisVec, aboveSeeds);
|
||||
int lastIdx = addRow ? holes.size() - 1 : holes[0].size() - 1;
|
||||
size_t lastIdx = addRow ? holes.size() - 1 : holes[0].size() - 1;
|
||||
findCandidateLine(below, lastIdx, addRow, basisVec, belowSeeds);
|
||||
|
||||
assert( below.size() == above.size() );
|
||||
@ -368,7 +549,7 @@ void CirclesGridFinder::findCandidateHoles(vector<int> &above, vector<int> &belo
|
||||
assert( below.size() == belowSeeds.size() );
|
||||
}
|
||||
|
||||
bool CirclesGridFinder::areCentersNew(const vector<int> &newCenters, const vector<vector<int> > &holes)
|
||||
bool CirclesGridFinder::areCentersNew(const vector<size_t> &newCenters, const vector<vector<size_t> > &holes)
|
||||
{
|
||||
for (size_t i = 0; i < newCenters.size(); i++)
|
||||
{
|
||||
@ -385,7 +566,8 @@ bool CirclesGridFinder::areCentersNew(const vector<int> &newCenters, const vecto
|
||||
}
|
||||
|
||||
void CirclesGridFinder::insertWinner(float aboveConfidence, float belowConfidence, float minConfidence, bool addRow,
|
||||
const vector<int> &above, const vector<int> &below, vector<vector<int> > &holes)
|
||||
const vector<size_t> &above, const vector<size_t> &below,
|
||||
vector<vector<size_t> > &holes)
|
||||
{
|
||||
if (aboveConfidence < minConfidence && belowConfidence < minConfidence)
|
||||
return;
|
||||
@ -432,30 +614,12 @@ void CirclesGridFinder::insertWinner(float aboveConfidence, float belowConfidenc
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
bool CirclesGridFinder::areVerticesAdjacent(const Graph &graph, int vertex1, int vertex2)
|
||||
{
|
||||
property_map<Graph, vertex_index_t>::type index = get(vertex_index, graph);
|
||||
|
||||
bool areAdjacent = false;
|
||||
graph_traits<Graph>::adjacency_iterator ai;
|
||||
graph_traits<Graph>::adjacency_iterator ai_end;
|
||||
|
||||
for (tie(ai, ai_end) = adjacent_vertices(vertex1, graph); ai != ai_end; ++ai)
|
||||
{
|
||||
if (*ai == index[vertex2])
|
||||
areAdjacent = true;
|
||||
}
|
||||
|
||||
return areAdjacent;
|
||||
}*/
|
||||
|
||||
float CirclesGridFinder::computeGraphConfidence(const vector<Graph> &basisGraphs, bool addRow,
|
||||
const vector<int> &points, const vector<int> &seeds)
|
||||
const vector<size_t> &points, const vector<size_t> &seeds)
|
||||
{
|
||||
assert( points.size() == seeds.size() );
|
||||
float confidence = 0;
|
||||
const int vCount = basisGraphs[0].getVerticesCount();
|
||||
const size_t vCount = basisGraphs[0].getVerticesCount();
|
||||
assert( basisGraphs[0].getVerticesCount() == basisGraphs[1].getVerticesCount() );
|
||||
|
||||
for (size_t i = 0; i < seeds.size(); i++)
|
||||
@ -498,7 +662,7 @@ float CirclesGridFinder::computeGraphConfidence(const vector<Graph> &basisGraphs
|
||||
|
||||
void CirclesGridFinder::addHolesByGraph(const vector<Graph> &basisGraphs, bool addRow, Point2f basisVec)
|
||||
{
|
||||
vector<int> above, below, aboveSeeds, belowSeeds;
|
||||
vector<size_t> above, below, aboveSeeds, belowSeeds;
|
||||
findCandidateHoles(above, below, addRow, basisVec, aboveSeeds, belowSeeds);
|
||||
float aboveConfidence = computeGraphConfidence(basisGraphs, addRow, above, aboveSeeds);
|
||||
float belowConfidence = computeGraphConfidence(basisGraphs, addRow, below, belowSeeds);
|
||||
@ -537,7 +701,7 @@ void CirclesGridFinder::findBasis(const vector<Point2f> &samples, vector<Point2f
|
||||
Mat bestLabels;
|
||||
TermCriteria termCriteria;
|
||||
Mat centers;
|
||||
int clustersCount = 4;
|
||||
const int clustersCount = 4;
|
||||
kmeans(Mat(samples).reshape(1, 0), clustersCount, bestLabels, termCriteria, parameters.kmeansAttempts,
|
||||
KMEANS_RANDOM_CENTERS, ¢ers);
|
||||
assert( centers.type() == CV_32FC1 );
|
||||
@ -555,7 +719,7 @@ void CirclesGridFinder::findBasis(const vector<Point2f> &samples, vector<Point2f
|
||||
}
|
||||
}
|
||||
if (basis.size() != 2)
|
||||
CV_Error( 0, "Basis size is not 2");
|
||||
CV_Error(0, "Basis size is not 2");
|
||||
|
||||
if (basis[1].x > basis[0].x)
|
||||
{
|
||||
@ -565,7 +729,7 @@ void CirclesGridFinder::findBasis(const vector<Point2f> &samples, vector<Point2f
|
||||
|
||||
const float minBasisDif = 2;
|
||||
if (norm(basis[0] - basis[1]) < minBasisDif)
|
||||
CV_Error( 0, "degenerate basis" );
|
||||
CV_Error(0, "degenerate basis" );
|
||||
|
||||
vector<vector<Point2f> > clusters(2), hulls(2);
|
||||
for (size_t k = 0; k < samples.size(); k++)
|
||||
@ -605,10 +769,13 @@ void CirclesGridFinder::findBasis(const vector<Point2f> &samples, vector<Point2f
|
||||
}
|
||||
}
|
||||
}
|
||||
if (basisGraphs.size() != 2)
|
||||
CV_Error(0, "Number of basis graphs is not 2");
|
||||
}
|
||||
|
||||
void CirclesGridFinder::computeEdgeVectorsOfRNG(vector<Point2f> &vectors, Mat *drawImage) const
|
||||
void CirclesGridFinder::computeRNG(Graph &rng, std::vector<cv::Point2f> &vectors, Mat *drawImage) const
|
||||
{
|
||||
rng = Graph(keypoints.size());
|
||||
vectors.clear();
|
||||
|
||||
//TODO: use more fast algorithm instead of naive N^3
|
||||
@ -639,6 +806,7 @@ void CirclesGridFinder::computeEdgeVectorsOfRNG(vector<Point2f> &vectors, Mat *d
|
||||
|
||||
if (isNeighbors)
|
||||
{
|
||||
rng.addEdge(i, j);
|
||||
vectors.push_back(keypoints[i] - keypoints[j]);
|
||||
if (drawImage != 0)
|
||||
{
|
||||
@ -673,7 +841,7 @@ void computePredecessorMatrix(const Mat &dm, int verticesCount, Mat &predecessor
|
||||
}
|
||||
}
|
||||
|
||||
void computeShortestPath(Mat &predecessorMatrix, int v1, int v2, vector<int> &path)
|
||||
void computeShortestPath(Mat &predecessorMatrix, size_t v1, size_t v2, vector<size_t> &path)
|
||||
{
|
||||
if (predecessorMatrix.at<int> (v1, v2) < 0)
|
||||
{
|
||||
@ -714,7 +882,11 @@ size_t CirclesGridFinder::findLongestPath(vector<Graph> &basisGraphs, Path &best
|
||||
if (longestPaths.empty() || (maxVal == longestPaths[0].length && graphIdx == bestGraphIdx))
|
||||
{
|
||||
Path path = Path(maxLoc.x, maxLoc.y, cvRound(maxVal));
|
||||
computeShortestPath(predecessorMatrix, maxLoc.x, maxLoc.y, path.vertices);
|
||||
CV_Assert(maxLoc.x >= 0 && maxLoc.y >= 0)
|
||||
;
|
||||
size_t id1 = static_cast<size_t> (maxLoc.x);
|
||||
size_t id2 = static_cast<size_t> (maxLoc.y);
|
||||
computeShortestPath(predecessorMatrix, id1, id2, path.vertices);
|
||||
longestPaths.push_back(path);
|
||||
|
||||
int conf = 0;
|
||||
@ -848,3 +1020,190 @@ void CirclesGridFinder::getHoles(vector<Point2f> &outHoles) const
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
bool areIndicesCorrect(Point pos, vector<vector<size_t> > *points)
|
||||
{
|
||||
if (pos.y < 0 || pos.x < 0)
|
||||
return false;
|
||||
return (static_cast<size_t> (pos.y) < points->size() && static_cast<size_t> (pos.x) < points->at(pos.y).size());
|
||||
}
|
||||
|
||||
void CirclesGridFinder::getAsymmetricHoles(std::vector<cv::Point2f> &outHoles) const
|
||||
{
|
||||
outHoles.clear();
|
||||
|
||||
vector<Point> largeCornerIndices, smallCornerIndices;
|
||||
vector<Point> firstSteps, secondSteps;
|
||||
size_t cornerIdx = getFirstCorner(largeCornerIndices, smallCornerIndices, firstSteps, secondSteps);
|
||||
CV_Assert(largeHoles != 0 && smallHoles != 0)
|
||||
;
|
||||
|
||||
Point srcLargePos = largeCornerIndices[cornerIdx];
|
||||
Point srcSmallPos = smallCornerIndices[cornerIdx];
|
||||
|
||||
while (areIndicesCorrect(srcLargePos, largeHoles) || areIndicesCorrect(srcSmallPos, smallHoles))
|
||||
{
|
||||
Point largePos = srcLargePos;
|
||||
while (areIndicesCorrect(largePos, largeHoles))
|
||||
{
|
||||
outHoles.push_back(keypoints[largeHoles->at(largePos.y)[largePos.x]]);
|
||||
largePos += firstSteps[cornerIdx];
|
||||
}
|
||||
srcLargePos += secondSteps[cornerIdx];
|
||||
|
||||
Point smallPos = srcSmallPos;
|
||||
while (areIndicesCorrect(smallPos, smallHoles))
|
||||
{
|
||||
outHoles.push_back(keypoints[smallHoles->at(smallPos.y)[smallPos.x]]);
|
||||
smallPos += firstSteps[cornerIdx];
|
||||
}
|
||||
srcSmallPos += secondSteps[cornerIdx];
|
||||
}
|
||||
}
|
||||
|
||||
double CirclesGridFinder::getDirection(Point2f p1, Point2f p2, Point2f p3)
|
||||
{
|
||||
Point2f a = p3 - p1;
|
||||
Point2f b = p2 - p1;
|
||||
return a.x * b.y - a.y * b.x;
|
||||
}
|
||||
|
||||
bool CirclesGridFinder::areSegmentsIntersecting(Segment seg1, Segment seg2)
|
||||
{
|
||||
bool doesStraddle1 = (getDirection(seg2.s, seg2.e, seg1.s) * getDirection(seg2.s, seg2.e, seg1.e)) < 0;
|
||||
bool doesStraddle2 = (getDirection(seg1.s, seg1.e, seg2.s) * getDirection(seg1.s, seg1.e, seg2.e)) < 0;
|
||||
return doesStraddle1 && doesStraddle2;
|
||||
|
||||
/*
|
||||
Point2f t1 = e1-s1;
|
||||
Point2f n1(t1.y, -t1.x);
|
||||
double c1 = -n1.ddot(s1);
|
||||
|
||||
Point2f t2 = e2-s2;
|
||||
Point2f n2(t2.y, -t2.x);
|
||||
double c2 = -n2.ddot(s2);
|
||||
|
||||
bool seg1 = ((n1.ddot(s2) + c1) * (n1.ddot(e2) + c1)) <= 0;
|
||||
bool seg1 = ((n2.ddot(s1) + c2) * (n2.ddot(e1) + c2)) <= 0;
|
||||
|
||||
return seg1 && seg2;
|
||||
*/
|
||||
}
|
||||
|
||||
void CirclesGridFinder::getCornerSegments(const vector<vector<size_t> > &points, vector<vector<Segment> > &segments,
|
||||
vector<Point> &cornerIndices, vector<Point> &firstSteps,
|
||||
vector<Point> &secondSteps) const
|
||||
{
|
||||
segments.clear();
|
||||
cornerIndices.clear();
|
||||
firstSteps.clear();
|
||||
secondSteps.clear();
|
||||
size_t h = points.size();
|
||||
size_t w = points[0].size();
|
||||
CV_Assert(h >= 2 && w >= 2)
|
||||
;
|
||||
|
||||
//all 8 segments with one end in a corner
|
||||
vector<Segment> corner;
|
||||
corner.push_back(Segment(keypoints[points[1][0]], keypoints[points[0][0]]));
|
||||
corner.push_back(Segment(keypoints[points[0][0]], keypoints[points[0][1]]));
|
||||
segments.push_back(corner);
|
||||
cornerIndices.push_back(Point(0, 0));
|
||||
firstSteps.push_back(Point(1, 0));
|
||||
secondSteps.push_back(Point(0, 1));
|
||||
corner.clear();
|
||||
|
||||
corner.push_back(Segment(keypoints[points[0][w - 2]], keypoints[points[0][w - 1]]));
|
||||
corner.push_back(Segment(keypoints[points[0][w - 1]], keypoints[points[1][w - 1]]));
|
||||
segments.push_back(corner);
|
||||
cornerIndices.push_back(Point(w - 1, 0));
|
||||
firstSteps.push_back(Point(0, 1));
|
||||
secondSteps.push_back(Point(-1, 0));
|
||||
corner.clear();
|
||||
|
||||
corner.push_back(Segment(keypoints[points[h - 2][w - 1]], keypoints[points[h - 1][w - 1]]));
|
||||
corner.push_back(Segment(keypoints[points[h - 1][w - 1]], keypoints[points[h - 1][w - 2]]));
|
||||
segments.push_back(corner);
|
||||
cornerIndices.push_back(Point(w - 1, h - 1));
|
||||
firstSteps.push_back(Point(-1, 0));
|
||||
secondSteps.push_back(Point(0, -1));
|
||||
corner.clear();
|
||||
|
||||
corner.push_back(Segment(keypoints[points[h - 1][1]], keypoints[points[h - 1][0]]));
|
||||
corner.push_back(Segment(keypoints[points[h - 1][0]], keypoints[points[h - 2][0]]));
|
||||
cornerIndices.push_back(Point(0, h - 1));
|
||||
firstSteps.push_back(Point(0, -1));
|
||||
secondSteps.push_back(Point(1, 0));
|
||||
segments.push_back(corner);
|
||||
corner.clear();
|
||||
|
||||
//y axis is inverted in computer vision so we check < 0
|
||||
bool isClockwise =
|
||||
getDirection(keypoints[points[0][0]], keypoints[points[0][w - 1]], keypoints[points[h - 1][w - 1]]) < 0;
|
||||
if (!isClockwise)
|
||||
{
|
||||
#ifdef DEBUG_CIRCLES
|
||||
cout << "Corners are counterclockwise" << endl;
|
||||
#endif
|
||||
std::reverse(segments.begin(), segments.end());
|
||||
}
|
||||
}
|
||||
|
||||
bool CirclesGridFinder::doesIntersectionExist(const vector<Segment> &corner, const vector<vector<Segment> > &segments)
|
||||
{
|
||||
for (size_t i = 0; i < corner.size(); i++)
|
||||
{
|
||||
for (size_t j = 0; j < segments.size(); j++)
|
||||
{
|
||||
for (size_t k = 0; k < segments[j].size(); k++)
|
||||
{
|
||||
if (areSegmentsIntersecting(corner[i], segments[j][k]))
|
||||
return true;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
size_t CirclesGridFinder::getFirstCorner(vector<Point> &largeCornerIndices, vector<Point> &smallCornerIndices, vector<
|
||||
Point> &firstSteps, vector<Point> &secondSteps) const
|
||||
{
|
||||
vector<vector<Segment> > largeSegments;
|
||||
vector<vector<Segment> > smallSegments;
|
||||
|
||||
getCornerSegments(*largeHoles, largeSegments, largeCornerIndices, firstSteps, secondSteps);
|
||||
getCornerSegments(*smallHoles, smallSegments, smallCornerIndices, firstSteps, secondSteps);
|
||||
|
||||
const size_t cornersCount = 4;
|
||||
CV_Assert(largeSegments.size() == cornersCount)
|
||||
;
|
||||
|
||||
bool isInsider[cornersCount];
|
||||
|
||||
for (size_t i = 0; i < cornersCount; i++)
|
||||
{
|
||||
isInsider[i] = doesIntersectionExist(largeSegments[i], smallSegments);
|
||||
}
|
||||
|
||||
int cornerIdx = 0;
|
||||
bool waitOutsider = true;
|
||||
|
||||
while (true)
|
||||
{
|
||||
if (waitOutsider)
|
||||
{
|
||||
if (!isInsider[(cornerIdx + 1) % cornersCount])
|
||||
waitOutsider = false;
|
||||
}
|
||||
else
|
||||
{
|
||||
if (isInsider[(cornerIdx + 1) % cornersCount])
|
||||
break;
|
||||
}
|
||||
|
||||
cornerIdx = (cornerIdx + 1) % cornersCount;
|
||||
}
|
||||
|
||||
return cornerIdx;
|
||||
}
|
||||
|
||||
@ -1,44 +1,44 @@
|
||||
/*M///////////////////////////////////////////////////////////////////////////////////////
|
||||
//
|
||||
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
|
||||
//
|
||||
// By downloading, copying, installing or using the software you agree to this license.
|
||||
// If you do not agree to this license, do not download, install,
|
||||
// copy or use the software.
|
||||
//
|
||||
//
|
||||
// License Agreement
|
||||
// For Open Source Computer Vision Library
|
||||
//
|
||||
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
|
||||
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
|
||||
// Third party copyrights are property of their respective owners.
|
||||
//
|
||||
// Redistribution and use in source and binary forms, with or without modification,
|
||||
// are permitted provided that the following conditions are met:
|
||||
//
|
||||
// * Redistribution's of source code must retain the above copyright notice,
|
||||
// this list of conditions and the following disclaimer.
|
||||
//
|
||||
// * Redistribution's in binary form must reproduce the above copyright notice,
|
||||
// this list of conditions and the following disclaimer in the documentation
|
||||
// and/or other materials provided with the distribution.
|
||||
//
|
||||
// * The name of the copyright holders may not be used to endorse or promote products
|
||||
// derived from this software without specific prior written permission.
|
||||
//
|
||||
// This software is provided by the copyright holders and contributors "as is" and
|
||||
// any express or implied warranties, including, but not limited to, the implied
|
||||
// warranties of merchantability and fitness for a particular purpose are disclaimed.
|
||||
// In no event shall the Intel Corporation or contributors be liable for any direct,
|
||||
// indirect, incidental, special, exemplary, or consequential damages
|
||||
// (including, but not limited to, procurement of substitute goods or services;
|
||||
// loss of use, data, or profits; or business interruption) however caused
|
||||
// and on any theory of liability, whether in contract, strict liability,
|
||||
// or tort (including negligence or otherwise) arising in any way out of
|
||||
// the use of this software, even if advised of the possibility of such damage.
|
||||
//
|
||||
//M*/
|
||||
//
|
||||
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
|
||||
//
|
||||
// By downloading, copying, installing or using the software you agree to this license.
|
||||
// If you do not agree to this license, do not download, install,
|
||||
// copy or use the software.
|
||||
//
|
||||
//
|
||||
// License Agreement
|
||||
// For Open Source Computer Vision Library
|
||||
//
|
||||
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
|
||||
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
|
||||
// Third party copyrights are property of their respective owners.
|
||||
//
|
||||
// Redistribution and use in source and binary forms, with or without modification,
|
||||
// are permitted provided that the following conditions are met:
|
||||
//
|
||||
// * Redistribution's of source code must retain the above copyright notice,
|
||||
// this list of conditions and the following disclaimer.
|
||||
//
|
||||
// * Redistribution's in binary form must reproduce the above copyright notice,
|
||||
// this list of conditions and the following disclaimer in the documentation
|
||||
// and/or other materials provided with the distribution.
|
||||
//
|
||||
// * The name of the copyright holders may not be used to endorse or promote products
|
||||
// derived from this software without specific prior written permission.
|
||||
//
|
||||
// This software is provided by the copyright holders and contributors "as is" and
|
||||
// any express or implied warranties, including, but not limited to, the implied
|
||||
// warranties of merchantability and fitness for a particular purpose are disclaimed.
|
||||
// In no event shall the Intel Corporation or contributors be liable for any direct,
|
||||
// indirect, incidental, special, exemplary, or consequential damages
|
||||
// (including, but not limited to, procurement of substitute goods or services;
|
||||
// loss of use, data, or profits; or business interruption) however caused
|
||||
// and on any theory of liability, whether in contract, strict liability,
|
||||
// or tort (including negligence or otherwise) arising in any way out of
|
||||
// the use of this software, even if advised of the possibility of such damage.
|
||||
//
|
||||
//M*/
|
||||
|
||||
#ifndef CIRCLESGRID_HPP_
|
||||
#define CIRCLESGRID_HPP_
|
||||
@ -51,22 +51,23 @@
|
||||
class Graph
|
||||
{
|
||||
public:
|
||||
typedef std::set<int> Neighbors;
|
||||
typedef std::set<size_t> Neighbors;
|
||||
struct Vertex
|
||||
{
|
||||
Neighbors neighbors;
|
||||
};
|
||||
typedef std::map<int, Vertex> Vertices;
|
||||
typedef std::map<size_t, Vertex> Vertices;
|
||||
|
||||
Graph( int n);
|
||||
bool doesVertexExist( int id ) const;
|
||||
void addVertex( int id );
|
||||
void addEdge( int id1, int id2 );
|
||||
bool areVerticesAdjacent( int id1, int id2 ) const;
|
||||
Graph(size_t n);
|
||||
void addVertex(size_t id);
|
||||
void addEdge(size_t id1, size_t id2);
|
||||
void removeEdge(size_t id1, size_t id2);
|
||||
bool doesVertexExist(size_t id) const;
|
||||
bool areVerticesAdjacent(size_t id1, size_t id2) const;
|
||||
size_t getVerticesCount() const;
|
||||
size_t getDegree( int id ) const;
|
||||
size_t getDegree(size_t id) const;
|
||||
const Neighbors& getNeighbors(size_t id) const;
|
||||
void floydWarshall(cv::Mat &distanceMatrix, int infinity = -1) const;
|
||||
|
||||
private:
|
||||
Vertices vertices;
|
||||
};
|
||||
@ -77,7 +78,7 @@ struct Path
|
||||
int lastVertex;
|
||||
int length;
|
||||
|
||||
std::vector<int> vertices;
|
||||
std::vector<size_t> vertices;
|
||||
|
||||
Path(int first = -1, int last = -1, int len = -1)
|
||||
{
|
||||
@ -102,6 +103,13 @@ struct CirclesGridFinderParameters
|
||||
float edgeGain;
|
||||
float edgePenalty;
|
||||
float convexHullFactor;
|
||||
float minRNGEdgeSwitchDist;
|
||||
|
||||
enum GridType
|
||||
{
|
||||
SYMMETRIC_GRID, ASYMMETRIC_GRID
|
||||
};
|
||||
GridType gridType;
|
||||
};
|
||||
|
||||
class CirclesGridFinder
|
||||
@ -110,43 +118,68 @@ public:
|
||||
CirclesGridFinder(cv::Size patternSize, const std::vector<cv::Point2f> &testKeypoints,
|
||||
const CirclesGridFinderParameters ¶meters = CirclesGridFinderParameters());
|
||||
bool findHoles();
|
||||
static cv::Mat rectifyGrid(cv::Size detectedGridSize, const std::vector<cv::Point2f>& centers,
|
||||
const std::vector<cv::Point2f> &keypoint, std::vector<cv::Point2f> &warpedKeypoints);
|
||||
static cv::Mat rectifyGrid(cv::Size detectedGridSize, const std::vector<cv::Point2f>& centers, const std::vector<
|
||||
cv::Point2f> &keypoint, std::vector<cv::Point2f> &warpedKeypoints);
|
||||
|
||||
void getHoles(std::vector<cv::Point2f> &holes) const;
|
||||
void getAsymmetricHoles(std::vector<cv::Point2f> &holes) const;
|
||||
cv::Size getDetectedGridSize() const;
|
||||
|
||||
void drawBasis(const std::vector<cv::Point2f> &basis, cv::Point2f origin, cv::Mat &drawImg) const;
|
||||
void drawBasisGraphs(const std::vector<Graph> &basisGraphs, cv::Mat &drawImg, bool drawEdges = true, bool drawVertices =
|
||||
true) const;
|
||||
void drawBasisGraphs(const std::vector<Graph> &basisGraphs, cv::Mat &drawImg, bool drawEdges = true,
|
||||
bool drawVertices = true) const;
|
||||
void drawHoles(const cv::Mat &srcImage, cv::Mat &drawImage) const;
|
||||
private:
|
||||
void computeEdgeVectorsOfRNG(std::vector<cv::Point2f> &vectors, cv::Mat *drawImage = 0) const;
|
||||
void computeRNG(Graph &rng, std::vector<cv::Point2f> &vectors, cv::Mat *drawImage = 0) const;
|
||||
void rng2gridGraph(Graph &rng, std::vector<cv::Point2f> &vectors) const;
|
||||
void eraseUsedGraph(vector<Graph> &basisGraphs) const;
|
||||
void filterOutliersByDensity(const std::vector<cv::Point2f> &samples, std::vector<cv::Point2f> &filteredSamples);
|
||||
void findBasis(const std::vector<cv::Point2f> &samples, std::vector<cv::Point2f> &basis, std::vector<Graph> &basisGraphs);
|
||||
void findBasis(const std::vector<cv::Point2f> &samples, std::vector<cv::Point2f> &basis,
|
||||
std::vector<Graph> &basisGraphs);
|
||||
void findMCS(const std::vector<cv::Point2f> &basis, std::vector<Graph> &basisGraphs);
|
||||
size_t findLongestPath(std::vector<Graph> &basisGraphs, Path &bestPath);
|
||||
float computeGraphConfidence(const std::vector<Graph> &basisGraphs, bool addRow, const std::vector<int> &points, const std::vector<
|
||||
int> &seeds);
|
||||
float computeGraphConfidence(const std::vector<Graph> &basisGraphs, bool addRow, const std::vector<size_t> &points,
|
||||
const std::vector<size_t> &seeds);
|
||||
void addHolesByGraph(const std::vector<Graph> &basisGraphs, bool addRow, cv::Point2f basisVec);
|
||||
|
||||
int findNearestKeypoint(cv::Point2f pt) const;
|
||||
void addPoint(cv::Point2f pt, std::vector<int> &points);
|
||||
void findCandidateLine(std::vector<int> &line, int seedLineIdx, bool addRow, cv::Point2f basisVec, std::vector<int> &seeds);
|
||||
void findCandidateHoles(std::vector<int> &above, std::vector<int> &below, bool addRow, cv::Point2f basisVec,
|
||||
std::vector<int> &aboveSeeds, std::vector<int> &belowSeeds);
|
||||
static bool areCentersNew( const std::vector<int> &newCenters, const std::vector<std::vector<int> > &holes );
|
||||
size_t findNearestKeypoint(cv::Point2f pt) const;
|
||||
void addPoint(cv::Point2f pt, std::vector<size_t> &points);
|
||||
void findCandidateLine(std::vector<size_t> &line, size_t seedLineIdx, bool addRow, cv::Point2f basisVec, std::vector<
|
||||
size_t> &seeds);
|
||||
void findCandidateHoles(std::vector<size_t> &above, std::vector<size_t> &below, bool addRow, cv::Point2f basisVec,
|
||||
std::vector<size_t> &aboveSeeds, std::vector<size_t> &belowSeeds);
|
||||
static bool areCentersNew(const std::vector<size_t> &newCenters, const std::vector<std::vector<size_t> > &holes);
|
||||
bool isDetectionCorrect();
|
||||
|
||||
static void insertWinner(float aboveConfidence, float belowConfidence, float minConfidence,
|
||||
bool addRow,
|
||||
const std::vector<int> &above, const std::vector<int> &below, std::vector<std::vector<int> > &holes);
|
||||
static bool areVerticesAdjacent(const Graph &graph, int vertex1, int vertex2);
|
||||
static void insertWinner(float aboveConfidence, float belowConfidence, float minConfidence, bool addRow,
|
||||
const std::vector<size_t> &above, const std::vector<size_t> &below, std::vector<std::vector<
|
||||
size_t> > &holes);
|
||||
|
||||
struct Segment
|
||||
{
|
||||
cv::Point2f s;
|
||||
cv::Point2f e;
|
||||
Segment(cv::Point2f _s, cv::Point2f _e);
|
||||
};
|
||||
|
||||
//if endpoint is on a segment then function return false
|
||||
static bool areSegmentsIntersecting(Segment seg1, Segment seg2);
|
||||
static bool doesIntersectionExist(const vector<Segment> &corner, const vector<vector<Segment> > &segments);
|
||||
void getCornerSegments(const vector<vector<size_t> > &points, vector<vector<Segment> > &segments,
|
||||
vector<cv::Point> &cornerIndices, vector<cv::Point> &firstSteps,
|
||||
vector<cv::Point> &secondSteps) const;
|
||||
size_t getFirstCorner(vector<cv::Point> &largeCornerIndices, vector<cv::Point> &smallCornerIndices,
|
||||
vector<cv::Point> &firstSteps, vector<cv::Point> &secondSteps) const;
|
||||
static double getDirection(cv::Point2f p1, cv::Point2f p2, cv::Point2f p3);
|
||||
|
||||
std::vector<cv::Point2f> keypoints;
|
||||
|
||||
std::vector<std::vector<int> > holes;
|
||||
const cv::Size patternSize;
|
||||
std::vector<std::vector<size_t> > holes;
|
||||
std::vector<std::vector<size_t> > holes2;
|
||||
std::vector<std::vector<size_t> > *largeHoles;
|
||||
std::vector<std::vector<size_t> > *smallHoles;
|
||||
|
||||
const cv::Size_<size_t> patternSize;
|
||||
CirclesGridFinderParameters parameters;
|
||||
};
|
||||
|
||||
|
||||
@ -1,47 +1,53 @@
|
||||
/*M///////////////////////////////////////////////////////////////////////////////////////
|
||||
//
|
||||
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
|
||||
//
|
||||
// By downloading, copying, installing or using the software you agree to this license.
|
||||
// If you do not agree to this license, do not download, install,
|
||||
// copy or use the software.
|
||||
//
|
||||
//
|
||||
// License Agreement
|
||||
// For Open Source Computer Vision Library
|
||||
//
|
||||
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
|
||||
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
|
||||
// Third party copyrights are property of their respective owners.
|
||||
//
|
||||
// Redistribution and use in source and binary forms, with or without modification,
|
||||
// are permitted provided that the following conditions are met:
|
||||
//
|
||||
// * Redistribution's of source code must retain the above copyright notice,
|
||||
// this list of conditions and the following disclaimer.
|
||||
//
|
||||
// * Redistribution's in binary form must reproduce the above copyright notice,
|
||||
// this list of conditions and the following disclaimer in the documentation
|
||||
// and/or other materials provided with the distribution.
|
||||
//
|
||||
// * The name of the copyright holders may not be used to endorse or promote products
|
||||
// derived from this software without specific prior written permission.
|
||||
//
|
||||
// This software is provided by the copyright holders and contributors "as is" and
|
||||
// any express or implied warranties, including, but not limited to, the implied
|
||||
// warranties of merchantability and fitness for a particular purpose are disclaimed.
|
||||
// In no event shall the Intel Corporation or contributors be liable for any direct,
|
||||
// indirect, incidental, special, exemplary, or consequential damages
|
||||
// (including, but not limited to, procurement of substitute goods or services;
|
||||
// loss of use, data, or profits; or business interruption) however caused
|
||||
// and on any theory of liability, whether in contract, strict liability,
|
||||
// or tort (including negligence or otherwise) arising in any way out of
|
||||
// the use of this software, even if advised of the possibility of such damage.
|
||||
//
|
||||
//M*/
|
||||
//
|
||||
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
|
||||
//
|
||||
// By downloading, copying, installing or using the software you agree to this license.
|
||||
// If you do not agree to this license, do not download, install,
|
||||
// copy or use the software.
|
||||
//
|
||||
//
|
||||
// License Agreement
|
||||
// For Open Source Computer Vision Library
|
||||
//
|
||||
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
|
||||
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
|
||||
// Third party copyrights are property of their respective owners.
|
||||
//
|
||||
// Redistribution and use in source and binary forms, with or without modification,
|
||||
// are permitted provided that the following conditions are met:
|
||||
//
|
||||
// * Redistribution's of source code must retain the above copyright notice,
|
||||
// this list of conditions and the following disclaimer.
|
||||
//
|
||||
// * Redistribution's in binary form must reproduce the above copyright notice,
|
||||
// this list of conditions and the following disclaimer in the documentation
|
||||
// and/or other materials provided with the distribution.
|
||||
//
|
||||
// * The name of the copyright holders may not be used to endorse or promote products
|
||||
// derived from this software without specific prior written permission.
|
||||
//
|
||||
// This software is provided by the copyright holders and contributors "as is" and
|
||||
// any express or implied warranties, including, but not limited to, the implied
|
||||
// warranties of merchantability and fitness for a particular purpose are disclaimed.
|
||||
// In no event shall the Intel Corporation or contributors be liable for any direct,
|
||||
// indirect, incidental, special, exemplary, or consequential damages
|
||||
// (including, but not limited to, procurement of substitute goods or services;
|
||||
// loss of use, data, or profits; or business interruption) however caused
|
||||
// and on any theory of liability, whether in contract, strict liability,
|
||||
// or tort (including negligence or otherwise) arising in any way out of
|
||||
// the use of this software, even if advised of the possibility of such damage.
|
||||
//
|
||||
//M*/
|
||||
|
||||
#include "precomp.hpp"
|
||||
|
||||
//#define DEBUG_BLOB_DETECTOR
|
||||
|
||||
#ifdef DEBUG_BLOB_DETECTOR
|
||||
#include <opencv2/highgui/highgui.hpp>
|
||||
#endif
|
||||
|
||||
using namespace cv;
|
||||
|
||||
/*
|
||||
@ -116,17 +122,19 @@ void SimpleBlobDetector::findBlobs(const cv::Mat &image, const cv::Mat &binaryIm
|
||||
{
|
||||
centers.clear();
|
||||
|
||||
vector<vector<Point> > contours;
|
||||
vector < vector<Point> > contours;
|
||||
Mat tmpBinaryImage = binaryImage.clone();
|
||||
findContours(tmpBinaryImage, contours, CV_RETR_LIST, CV_CHAIN_APPROX_NONE);
|
||||
|
||||
//Mat keypointsImage;
|
||||
//cvtColor( binaryImage, keypointsImage, CV_GRAY2RGB );
|
||||
#ifdef DEBUG_BLOB_DETECTOR
|
||||
Mat keypointsImage;
|
||||
cvtColor( binaryImage, keypointsImage, CV_GRAY2RGB );
|
||||
|
||||
//Mat contoursImage;
|
||||
//cvtColor( binaryImage, contoursImage, CV_GRAY2RGB );
|
||||
//drawContours( contoursImage, contours, -1, Scalar(0,255,0) );
|
||||
//imshow("contours", contoursImage );
|
||||
Mat contoursImage;
|
||||
cvtColor( binaryImage, contoursImage, CV_GRAY2RGB );
|
||||
drawContours( contoursImage, contours, -1, Scalar(0,255,0) );
|
||||
imshow("contours", contoursImage );
|
||||
#endif
|
||||
|
||||
for (size_t contourIdx = 0; contourIdx < contours.size(); contourIdx++)
|
||||
{
|
||||
@ -178,7 +186,7 @@ void SimpleBlobDetector::findBlobs(const cv::Mat &image, const cv::Mat &binaryIm
|
||||
|
||||
if (params.filterByConvexity)
|
||||
{
|
||||
vector<Point> hull;
|
||||
vector < Point > hull;
|
||||
convexHull(Mat(contours[contourIdx]), hull);
|
||||
double area = contourArea(Mat(contours[contourIdx]));
|
||||
double hullArea = contourArea(Mat(hull));
|
||||
@ -212,14 +220,19 @@ void SimpleBlobDetector::findBlobs(const cv::Mat &image, const cv::Mat &binaryIm
|
||||
|
||||
centers.push_back(center);
|
||||
|
||||
//circle( keypointsImage, center.location, 1, Scalar(0,0,255), 1 );
|
||||
#ifdef DEBUG_BLOB_DETECTOR
|
||||
circle( keypointsImage, center.location, 1, Scalar(0,0,255), 1 );
|
||||
#endif
|
||||
}
|
||||
//imshow("bk", keypointsImage );
|
||||
//waitKey();
|
||||
#ifdef DEBUG_BLOB_DETECTOR
|
||||
imshow("bk", keypointsImage );
|
||||
waitKey();
|
||||
#endif
|
||||
}
|
||||
|
||||
void SimpleBlobDetector::detectImpl(const cv::Mat& image, std::vector<cv::KeyPoint>& keypoints, const cv::Mat& mask) const
|
||||
void SimpleBlobDetector::detectImpl(const cv::Mat& image, std::vector<cv::KeyPoint>& keypoints, const cv::Mat&) const
|
||||
{
|
||||
//TODO: support mask
|
||||
keypoints.clear();
|
||||
Mat grayscaleImage;
|
||||
if (image.channels() == 3)
|
||||
@ -227,7 +240,7 @@ void SimpleBlobDetector::detectImpl(const cv::Mat& image, std::vector<cv::KeyPoi
|
||||
else
|
||||
grayscaleImage = image;
|
||||
|
||||
vector<vector<Center> > centers;
|
||||
vector < vector<Center> > centers;
|
||||
for (double thresh = params.minThreshold; thresh < params.maxThreshold; thresh += params.thresholdStep)
|
||||
{
|
||||
Mat binarizedImage;
|
||||
@ -236,8 +249,9 @@ void SimpleBlobDetector::detectImpl(const cv::Mat& image, std::vector<cv::KeyPoi
|
||||
//Mat keypointsImage;
|
||||
//cvtColor( binarizedImage, keypointsImage, CV_GRAY2RGB );
|
||||
|
||||
vector<Center> curCenters;
|
||||
vector < Center > curCenters;
|
||||
findBlobs(grayscaleImage, binarizedImage, curCenters);
|
||||
vector < vector<Center> > newCenters;
|
||||
for (size_t i = 0; i < curCenters.size(); i++)
|
||||
{
|
||||
//circle(keypointsImage, curCenters[i].location, 1, Scalar(0,0,255),-1);
|
||||
@ -262,9 +276,12 @@ void SimpleBlobDetector::detectImpl(const cv::Mat& image, std::vector<cv::KeyPoi
|
||||
}
|
||||
if (isNew)
|
||||
{
|
||||
centers.push_back(vector<Center> (1, curCenters[i]));
|
||||
newCenters.push_back(vector<Center> (1, curCenters[i]));
|
||||
//centers.push_back(vector<Center> (1, curCenters[i]));
|
||||
}
|
||||
}
|
||||
std::copy(newCenters.begin(), newCenters.end(), std::back_inserter(centers));
|
||||
|
||||
//imshow("binarized", keypointsImage );
|
||||
//waitKey();
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user