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Commit 4a68cc16 authored by robertxwu's avatar robertxwu
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re-submit

parent 94cf5430
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Showing with 20 additions and 15 deletions
modules/calib3d/src/calibinit.cpp
View file @ 4a68cc16
......@@ -152,7 +152,7 @@ struct CvCBQuad
//static CvMat* debug_img = 0;
static int icvGenerateQuads( CvCBQuad **quads, CvCBCorner **corners,
CvMemStorage *storage, CvMat *image, int flags );
CvMemStorage *storage, CvMat *image, int flags, int *max_quad_buf_size);
/*static int
icvGenerateQuadsEx( CvCBQuad **out_quads, CvCBCorner **out_corners,
......@@ -172,7 +172,7 @@ static int icvCleanFoundConnectedQuads( int quad_count,
static int icvOrderFoundConnectedQuads( int quad_count, CvCBQuad **quads,
int *all_count, CvCBQuad **all_quads, CvCBCorner **corners,
CvSize pattern_size, CvMemStorage* storage );
CvSize pattern_size, int max_quad_buf_size, CvMemStorage* storage );
static void icvOrderQuad(CvCBQuad *quad, CvCBCorner *corner, int common);
......@@ -183,7 +183,7 @@ static int icvTrimRow(CvCBQuad **quads, int count, int row, int dir);
#endif
static int icvAddOuterQuad(CvCBQuad *quad, CvCBQuad **quads, int quad_count,
CvCBQuad **all_quads, int all_count, CvCBCorner **corners);
CvCBQuad **all_quads, int all_count, CvCBCorner **corners, int max_quad_buf_size);
static void icvRemoveQuadFromGroup(CvCBQuad **quads, int count, CvCBQuad *q0);
......@@ -313,6 +313,7 @@ int cvFindChessboardCorners( const void* arr, CvSize pattern_size,
// making it difficult to detect smaller squares.
for( k = 0; k < 6; k++ )
{
int max_quad_buf_size = 0;
for( dilations = min_dilations; dilations <= max_dilations; dilations++ )
{
if (found)
......@@ -368,7 +369,7 @@ int cvFindChessboardCorners( const void* arr, CvSize pattern_size,
cvRectangle( thresh_img, cvPoint(0,0), cvPoint(thresh_img->cols-1,
thresh_img->rows-1), CV_RGB(255,255,255), 3, 8);
quad_count = icvGenerateQuads( &quads, &corners, storage, thresh_img, flags );
quad_count = icvGenerateQuads( &quads, &corners, storage, thresh_img, flags, &max_quad_buf_size);
PRINTF("Quad count: %d/%d\n", quad_count, expected_corners_num);
}
......@@ -408,8 +409,8 @@ int cvFindChessboardCorners( const void* arr, CvSize pattern_size,
// allocate extra for adding in icvOrderFoundQuads
cvFree(&quad_group);
cvFree(&corner_group);
quad_group = (CvCBQuad**)cvAlloc( sizeof(quad_group[0]) * (quad_count+quad_count / 2));
corner_group = (CvCBCorner**)cvAlloc( sizeof(corner_group[0]) * (quad_count+quad_count / 2)*4 );
quad_group = (CvCBQuad**)cvAlloc( sizeof(quad_group[0]) * max_quad_buf_size);
corner_group = (CvCBCorner**)cvAlloc( sizeof(corner_group[0]) * max_quad_buf_size * 4 );
for( group_idx = 0; ; group_idx++ )
{
......@@ -424,7 +425,7 @@ int cvFindChessboardCorners( const void* arr, CvSize pattern_size,
// maybe delete or add some
PRINTF("Starting ordering of inner quads\n");
count = icvOrderFoundConnectedQuads(count, quad_group, &quad_count, &quads, &corners,
pattern_size, storage );
pattern_size, max_quad_buf_size, storage );
PRINTF("Orig count: %d After ordering: %d\n", icount, count);
......@@ -623,7 +624,7 @@ icvCheckBoardMonotony( CvPoint2D32f* corners, CvSize pattern_size )
static int
icvOrderFoundConnectedQuads( int quad_count, CvCBQuad **quads,
int *all_count, CvCBQuad **all_quads, CvCBCorner **corners,
CvSize pattern_size, CvMemStorage* storage )
CvSize pattern_size, int max_quad_buf_size, CvMemStorage* storage )
{
cv::Ptr<CvMemStorage> temp_storage = cvCreateChildMemStorage( storage );
CvSeq* stack = cvCreateSeq( 0, sizeof(*stack), sizeof(void*), temp_storage );
......@@ -803,15 +804,18 @@ icvOrderFoundConnectedQuads( int quad_count, CvCBQuad **quads,
if (found > 0)
{
PRINTF("Found %d inner quads not connected to outer quads, repairing\n", found);
for (int i=0; i<quad_count; i++)
for (int i=0; i<quad_count && *all_count < max_quad_buf_size; i++)
{
if (quads[i]->count < 4 && quads[i]->ordered)
{
int added = icvAddOuterQuad(quads[i],quads,quad_count,all_quads,*all_count,corners);
int added = icvAddOuterQuad(quads[i],quads,quad_count,all_quads,*all_count,corners, max_quad_buf_size);
*all_count += added;
quad_count += added;
}
}
if (*all_count >= max_quad_buf_size)
return 0;
}
......@@ -854,11 +858,11 @@ icvOrderFoundConnectedQuads( int quad_count, CvCBQuad **quads,
static int
icvAddOuterQuad( CvCBQuad *quad, CvCBQuad **quads, int quad_count,
CvCBQuad **all_quads, int all_count, CvCBCorner **corners )
CvCBQuad **all_quads, int all_count, CvCBCorner **corners, int max_quad_buf_size )
{
int added = 0;
for (int i=0; i<4; i++) // find no-neighbor corners
for (int i=0; i<4 && all_count < max_quad_buf_size; i++) // find no-neighbor corners
{
if (!quad->neighbors[i]) // ok, create and add neighbor
{
......@@ -1649,7 +1653,7 @@ static void icvFindQuadNeighbors( CvCBQuad *quads, int quad_count )
static int
icvGenerateQuads( CvCBQuad **out_quads, CvCBCorner **out_corners,
CvMemStorage *storage, CvMat *image, int flags )
CvMemStorage *storage, CvMat *image, int flags, int *max_quad_buf_size )
{
int quad_count = 0;
cv::Ptr<CvMemStorage> temp_storage;
......@@ -1754,8 +1758,9 @@ icvGenerateQuads( CvCBQuad **out_quads, CvCBCorner **out_corners,
cvEndFindContours( &scanner );
// allocate quad & corner buffers
*out_quads = (CvCBQuad*)cvAlloc((root->total+root->total / 2) * sizeof((*out_quads)[0]));
*out_corners = (CvCBCorner*)cvAlloc((root->total+root->total / 2) * 4 * sizeof((*out_corners)[0]));
*max_quad_buf_size = MAX(1, (root->total+root->total / 2)) * 2;
*out_quads = (CvCBQuad*)cvAlloc(*max_quad_buf_size * sizeof((*out_quads)[0]));
*out_corners = (CvCBCorner*)cvAlloc(*max_quad_buf_size * 4 * sizeof((*out_corners)[0]));
// Create array of quads structures
for( idx = 0; idx < root->total; idx++ )
......
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