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30bf4a5e34
During the cluster-based detection of circle grids, the detected circle pattern has to be mapped to 3D-points. When doing this the width (i.e. more circles) and height (i.e. less circles) of the pattern need to be identified in image coordinates. Until now this was done by assuming that the shorter side in image coordinates (length in pixels) corresponds to the height in 3D. This assumption does not hold if we look at the pattern from a perspective where the projection of the width is shorter than the projection of the height. This in turn lead to misdetections in although the circle pattern was clearly visible. Instead count how many circles have been detected along two edges of the projected quadrangle and use the one with more circles as width and the one with less as height.
197 lines
8.8 KiB
C++
197 lines
8.8 KiB
C++
/*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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#ifndef CIRCLESGRID_HPP_
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#define CIRCLESGRID_HPP_
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#include <fstream>
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#include <set>
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#include <list>
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#include <numeric>
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#include <map>
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#include "precomp.hpp"
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class CirclesGridClusterFinder
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{
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CirclesGridClusterFinder& operator=(const CirclesGridClusterFinder&);
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CirclesGridClusterFinder(const CirclesGridClusterFinder&);
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public:
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CirclesGridClusterFinder(const cv::CirclesGridFinderParameters2 ¶meters)
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{
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isAsymmetricGrid = parameters.gridType == cv::CirclesGridFinderParameters::ASYMMETRIC_GRID;
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squareSize = parameters.squareSize;
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maxRectifiedDistance = parameters.maxRectifiedDistance;
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}
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void findGrid(const std::vector<cv::Point2f> &points, cv::Size patternSize, std::vector<cv::Point2f>& centers);
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//cluster 2d points by geometric coordinates
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void hierarchicalClustering(const std::vector<cv::Point2f> &points, const cv::Size &patternSize, std::vector<cv::Point2f> &patternPoints);
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private:
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void findCorners(const std::vector<cv::Point2f> &hull2f, std::vector<cv::Point2f> &corners);
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void findOutsideCorners(const std::vector<cv::Point2f> &corners, std::vector<cv::Point2f> &outsideCorners);
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void getSortedCorners(const std::vector<cv::Point2f> &hull2f, const std::vector<cv::Point2f> &patternPoints, const std::vector<cv::Point2f> &corners, const std::vector<cv::Point2f> &outsideCorners, std::vector<cv::Point2f> &sortedCorners);
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void rectifyPatternPoints(const std::vector<cv::Point2f> &patternPoints, const std::vector<cv::Point2f> &sortedCorners, std::vector<cv::Point2f> &rectifiedPatternPoints);
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void parsePatternPoints(const std::vector<cv::Point2f> &patternPoints, const std::vector<cv::Point2f> &rectifiedPatternPoints, std::vector<cv::Point2f> ¢ers);
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float squareSize, maxRectifiedDistance;
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bool isAsymmetricGrid;
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cv::Size patternSize;
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};
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class Graph
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{
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public:
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typedef std::set<size_t> Neighbors;
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struct Vertex
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{
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Neighbors neighbors;
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};
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typedef std::map<size_t, Vertex> Vertices;
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Graph(size_t n);
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void addVertex(size_t id);
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void addEdge(size_t id1, size_t id2);
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void removeEdge(size_t id1, size_t id2);
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bool doesVertexExist(size_t id) const;
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bool areVerticesAdjacent(size_t id1, size_t id2) const;
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size_t getVerticesCount() const;
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size_t getDegree(size_t id) const;
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const Neighbors& getNeighbors(size_t id) const;
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void floydWarshall(cv::Mat &distanceMatrix, int infinity = -1) const;
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private:
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Vertices vertices;
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};
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struct Path
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{
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int firstVertex;
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int lastVertex;
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int length;
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std::vector<size_t> vertices;
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Path(int first = -1, int last = -1, int len = -1)
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{
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firstVertex = first;
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lastVertex = last;
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length = len;
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}
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};
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class CirclesGridFinder
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{
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public:
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CirclesGridFinder(cv::Size patternSize, const std::vector<cv::Point2f> &testKeypoints,
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const cv::CirclesGridFinderParameters ¶meters = cv::CirclesGridFinderParameters());
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bool findHoles();
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static cv::Mat rectifyGrid(cv::Size detectedGridSize, const std::vector<cv::Point2f>& centers, const std::vector<
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cv::Point2f> &keypoint, std::vector<cv::Point2f> &warpedKeypoints);
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void getHoles(std::vector<cv::Point2f> &holes) const;
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void getAsymmetricHoles(std::vector<cv::Point2f> &holes) const;
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cv::Size getDetectedGridSize() const;
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void drawBasis(const std::vector<cv::Point2f> &basis, cv::Point2f origin, cv::Mat &drawImg) const;
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void drawBasisGraphs(const std::vector<Graph> &basisGraphs, cv::Mat &drawImg, bool drawEdges = true,
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bool drawVertices = true) const;
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void drawHoles(const cv::Mat &srcImage, cv::Mat &drawImage) const;
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private:
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void computeRNG(Graph &rng, std::vector<cv::Point2f> &vectors, cv::Mat *drawImage = 0) const;
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void rng2gridGraph(Graph &rng, std::vector<cv::Point2f> &vectors) const;
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void eraseUsedGraph(std::vector<Graph> &basisGraphs) const;
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void filterOutliersByDensity(const std::vector<cv::Point2f> &samples, std::vector<cv::Point2f> &filteredSamples);
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void findBasis(const std::vector<cv::Point2f> &samples, std::vector<cv::Point2f> &basis,
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std::vector<Graph> &basisGraphs);
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void findMCS(const std::vector<cv::Point2f> &basis, std::vector<Graph> &basisGraphs);
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size_t findLongestPath(std::vector<Graph> &basisGraphs, Path &bestPath);
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float computeGraphConfidence(const std::vector<Graph> &basisGraphs, bool addRow, const std::vector<size_t> &points,
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const std::vector<size_t> &seeds);
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void addHolesByGraph(const std::vector<Graph> &basisGraphs, bool addRow, cv::Point2f basisVec);
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size_t findNearestKeypoint(cv::Point2f pt) const;
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void addPoint(cv::Point2f pt, std::vector<size_t> &points);
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void findCandidateLine(std::vector<size_t> &line, size_t seedLineIdx, bool addRow, cv::Point2f basisVec, std::vector<
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size_t> &seeds);
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void findCandidateHoles(std::vector<size_t> &above, std::vector<size_t> &below, bool addRow, cv::Point2f basisVec,
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std::vector<size_t> &aboveSeeds, std::vector<size_t> &belowSeeds);
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static bool areCentersNew(const std::vector<size_t> &newCenters, const std::vector<std::vector<size_t> > &holes);
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bool isDetectionCorrect();
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static void insertWinner(float aboveConfidence, float belowConfidence, float minConfidence, bool addRow,
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const std::vector<size_t> &above, const std::vector<size_t> &below, std::vector<std::vector<
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size_t> > &holes);
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struct Segment
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{
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cv::Point2f s;
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cv::Point2f e;
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Segment(cv::Point2f _s, cv::Point2f _e);
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};
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//if endpoint is on a segment then function return false
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static bool areSegmentsIntersecting(Segment seg1, Segment seg2);
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static bool doesIntersectionExist(const std::vector<Segment> &corner, const std::vector<std::vector<Segment> > &segments);
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void getCornerSegments(const std::vector<std::vector<size_t> > &points, std::vector<std::vector<Segment> > &segments,
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std::vector<cv::Point> &cornerIndices, std::vector<cv::Point> &firstSteps,
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std::vector<cv::Point> &secondSteps) const;
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size_t getFirstCorner(std::vector<cv::Point> &largeCornerIndices, std::vector<cv::Point> &smallCornerIndices,
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std::vector<cv::Point> &firstSteps, std::vector<cv::Point> &secondSteps) const;
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static double getDirection(cv::Point2f p1, cv::Point2f p2, cv::Point2f p3);
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std::vector<cv::Point2f> keypoints;
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std::vector<std::vector<size_t> > holes;
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std::vector<std::vector<size_t> > holes2;
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std::vector<std::vector<size_t> > *largeHoles;
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std::vector<std::vector<size_t> > *smallHoles;
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const cv::Size_<size_t> patternSize;
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cv::CirclesGridFinderParameters parameters;
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CirclesGridFinder& operator=(const CirclesGridFinder&);
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CirclesGridFinder(const CirclesGridFinder&);
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};
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#endif /* CIRCLESGRID_HPP_ */
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