Merge pull request #9596 from paroj:circle_board_params

modules/calib3d/include/opencv2/calib3d.hpp

@@ -783,6 +783,14 @@ struct CV_EXPORTS_W_SIMPLE CirclesGridFinderParameters
     GridType gridType;
 };
 
+struct CV_EXPORTS_W_SIMPLE CirclesGridFinderParameters2 : public CirclesGridFinderParameters
+{
+    CV_WRAP CirclesGridFinderParameters2();
+
+    CV_PROP_RW float squareSize; //!< Distance between two adjacent points. Used by CALIB_CB_CLUSTERING.
+    CV_PROP_RW float maxRectifiedDistance; //!< Max deviation from predicion. Used by CALIB_CB_CLUSTERING.
+};
+
 /** @brief Finds centers in the grid of circles.
 
 @param image grid view of input circles; it must be an 8-bit grayscale or color image.
@@ -820,6 +828,12 @@ CV_EXPORTS_W bool findCirclesGrid( InputArray image, Size patternSize,
                                    const Ptr<FeatureDetector> &blobDetector,
                                    CirclesGridFinderParameters parameters);
 
+/** @overload */
+CV_EXPORTS_W bool findCirclesGrid2( InputArray image, Size patternSize,
+                                   OutputArray centers, int flags,
+                                   const Ptr<FeatureDetector> &blobDetector,
+                                   CirclesGridFinderParameters2 parameters);
+
 /** @overload */
 CV_EXPORTS_W bool findCirclesGrid( InputArray image, Size patternSize,
                                    OutputArray centers, int flags = CALIB_CB_SYMMETRIC_GRID,

modules/calib3d/misc/java/gen_dict.json

 {
     "class_ignore_list": [
-        "CirclesGridFinderParameters"
+        "CirclesGridFinderParameters",
+        "CirclesGridFinderParameters2"
     ],
     "missing_consts" : {
         "Calib3d": {

modules/calib3d/src/calibinit.cpp

@@ -2094,9 +2094,19 @@ void cv::drawChessboardCorners( InputOutputArray _image, Size patternSize,
                              nelems, patternWasFound );
 }
 
-bool cv::findCirclesGrid( InputArray _image, Size patternSize,
+bool cv::findCirclesGrid( InputArray image, Size patternSize,
+                                   OutputArray centers, int flags,
+                                   const Ptr<FeatureDetector> &blobDetector,
+                                   CirclesGridFinderParameters parameters)
+{
+    CirclesGridFinderParameters2 parameters2;
+    *((CirclesGridFinderParameters*)&parameters2) = parameters;
+    return cv::findCirclesGrid2(image, patternSize, centers, flags, blobDetector, parameters2);
+}
+
+bool cv::findCirclesGrid2( InputArray _image, Size patternSize,
                           OutputArray _centers, int flags, const Ptr<FeatureDetector> &blobDetector,
-                          CirclesGridFinderParameters parameters)
+                          CirclesGridFinderParameters2 parameters)
 {
     CV_INSTRUMENT_REGION()
 
@@ -2115,19 +2125,19 @@ bool cv::findCirclesGrid( InputArray _image, Size patternSize,
       points.push_back (keypoints[i].pt);
     }
 
+    if(flags & CALIB_CB_ASYMMETRIC_GRID)
+      parameters.gridType = CirclesGridFinderParameters::ASYMMETRIC_GRID;
+    if(flags & CALIB_CB_SYMMETRIC_GRID)
+      parameters.gridType = CirclesGridFinderParameters::SYMMETRIC_GRID;
+
     if(flags & CALIB_CB_CLUSTERING)
     {
-      CirclesGridClusterFinder circlesGridClusterFinder(isAsymmetricGrid);
+      CirclesGridClusterFinder circlesGridClusterFinder(parameters);
       circlesGridClusterFinder.findGrid(points, patternSize, centers);
       Mat(centers).copyTo(_centers);
       return !centers.empty();
     }
 
-    if(flags & CALIB_CB_ASYMMETRIC_GRID)
-      parameters.gridType = CirclesGridFinderParameters::ASYMMETRIC_GRID;
-    if(flags & CALIB_CB_SYMMETRIC_GRID)
-      parameters.gridType = CirclesGridFinderParameters::SYMMETRIC_GRID;
-
     const int attempts = 2;
     const size_t minHomographyPoints = 4;
     Mat H;
@@ -2191,7 +2201,7 @@ bool cv::findCirclesGrid( InputArray _image, Size patternSize,
 bool cv::findCirclesGrid( InputArray _image, Size patternSize,
                           OutputArray _centers, int flags, const Ptr<FeatureDetector> &blobDetector)
 {
-    return cv::findCirclesGrid(_image, patternSize, _centers, flags, blobDetector, CirclesGridFinderParameters());
+    return cv::findCirclesGrid2(_image, patternSize, _centers, flags, blobDetector, CirclesGridFinderParameters2());
 }
 
 /* End of file. */

modules/calib3d/src/circlesgrid.cpp

@@ -559,6 +559,13 @@ CirclesGridFinderParameters::CirclesGridFinderParameters()
   gridType = SYMMETRIC_GRID;
 }
 
+CirclesGridFinderParameters2::CirclesGridFinderParameters2()
+: CirclesGridFinderParameters()
+{
+    squareSize = 1.0f;
+    maxRectifiedDistance = squareSize/2.0f;
+}
+
 CirclesGridFinder::CirclesGridFinder(Size _patternSize, const std::vector<Point2f> &testKeypoints,
                                      const CirclesGridFinderParameters &_parameters) :
   patternSize(static_cast<size_t> (_patternSize.width), static_cast<size_t> (_patternSize.height))

modules/calib3d/src/circlesgrid.hpp

@@ -56,11 +56,11 @@ class CirclesGridClusterFinder
     CirclesGridClusterFinder& operator=(const CirclesGridClusterFinder&);
     CirclesGridClusterFinder(const CirclesGridClusterFinder&);
 public:
-  CirclesGridClusterFinder(bool _isAsymmetricGrid)
+  CirclesGridClusterFinder(const cv::CirclesGridFinderParameters2 &parameters)
   {
-    isAsymmetricGrid = _isAsymmetricGrid;
-    squareSize = 1.0f;
-    maxRectifiedDistance = (float)(squareSize / 2.0);
+    isAsymmetricGrid = parameters.gridType == cv::CirclesGridFinderParameters::ASYMMETRIC_GRID;
+    squareSize = parameters.squareSize;
+    maxRectifiedDistance = parameters.maxRectifiedDistance;
   }
   void findGrid(const std::vector<cv::Point2f> &points, cv::Size patternSize, std::vector<cv::Point2f>& centers);