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Speed up ChessBoardDetector::findQuadNeighbors #24605 ### Pull Request Readiness Checklist Replaced brute-force algorithm with O(N^2) time complexity with kd-tree with something like O(N * log N) time complexity (maybe only in average case). For example, on image from #23558 without quads filtering (by using `CALIB_CB_FILTER_QUADS` flag) finding chessboards corners took ~770 seconds on my laptop, of which finding quads neighbors took ~620 seconds. Now finding chessboards corners takes ~155-160 seconds, of which finding quads neighbors takes only ~5-10 seconds. 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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