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Increase neighbors search radius for corners in ChessBoardDetector:findQuadNeighbors #26014 I didn't do everything right the way I wanted at #25991. I forgot that `edge_len` is edge **squared** length as well as `thresh_scale` is threshold for **squared** scale. So, I wanted to increase scale by `sqrt(2)` times (idea is to use quad diagonal instead of quad side) and therefore `thresh_scale` should be equal to `sqrt(2)^2 = 2`. And refactor variables names to explicitly indicate that they are squared, so that no one else falls into this trap I tested this PR with benchmark ``` python3 objdetect_benchmark.py --configuration=generate_run --board_x=7 --path=res_chessboard --synthetic_object=chessboard ``` PR increases detected chessboards number by `1/2%`: ``` cell_img_size = 100 (default) before category detected chessboard total detected chessboard total chessboard average detected error chessboard all 0.941667 13560 14400 0.596726 Total detected time: 136.68963200000007 sec after category detected chessboard total detected chessboard total chessboard average detected error chessboard all 0.952083 13710 14400 0.595984 Total detected time: 136.55770600000014 sec ---------------------------------------------------------------------------------------------------------------------------------------------- cell_img_size = 10 before category detected chessboard total detected chessboard total chessboard average detected error chessboard all 0.579167 8340 14400 4.198448 Total detected time: 2.535998999999999 sec after category detected chessboard total detected chessboard total chessboard average detected error all 0.591389 8516 14400 4.155250 Total detected time: 2.700832999999997 sec ``` ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [x] I agree to contribute to the project under Apache 2 License. - [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV - [x] The PR is proposed to the proper branch - [x] There is a reference to the original bug report and related work - [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable Patch to opencv_extra has the same branch name. - [ ] The feature is well documented and sample code can be built with the project CMake |
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