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Commit f8e9f65e authored by Ilya Lysenkov's avatar Ilya Lysenkov
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Added detection of asymmetric circles' pattern

parent 885cef76
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Showing with 97 additions and 62 deletions
modules/calib3d/include/opencv2/calib3d/calib3d.hpp
View file @ f8e9f65e
......@@ -543,10 +543,12 @@ CV_EXPORTS void drawChessboardCorners( Mat& image, Size patternSize,
const vector<Point2f>& corners,
bool patternWasFound );
enum { CALIB_CB_SYMMETRIC_GRID = 1, CALIB_CB_ASYMMETRIC_GRID = 2 };
//! finds circles' grid pattern of the specified size in the image
CV_EXPORTS_W bool findCirclesGrid( const Mat& image, Size patternSize,
CV_OUT vector<Point2f>& centers,
int flags=0 );
int flags=CALIB_CB_SYMMETRIC_GRID );
enum
{
......
modules/calib3d/src/calibinit.cpp
View file @ f8e9f65e
......@@ -1935,7 +1935,7 @@ void drawChessboardCorners( Mat& image, Size patternSize,
}
bool findCirclesGrid( const Mat& image, Size patternSize,
vector<Point2f>& centers, int )
vector<Point2f>& centers, int flags )
{
Ptr<SimpleBlobDetector> detector = new SimpleBlobDetector();
//Ptr<FeatureDetector> detector = new MserFeatureDetector();
......@@ -1944,7 +1944,7 @@ bool findCirclesGrid( const Mat& image, Size patternSize,
vector<Point2f> points;
for (size_t i = 0; i < keypoints.size(); i++)
{
points.push_back (keypoints[i].pt);
points.push_back (keypoints[i].pt);
}
CirclesGridFinderParameters parameters;
......@@ -1954,8 +1954,13 @@ bool findCirclesGrid( const Mat& image, Size patternSize,
parameters.edgeGain = 1;
parameters.edgePenalty = -0.6f;
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 int minHomographyPoints = 4;
const size_t minHomographyPoints = 4;
Mat H;
for (int i = 0; i < attempts; i++)
{
......@@ -1970,10 +1975,20 @@ bool findCirclesGrid( const Mat& image, Size patternSize,
{
}
boxFinder.getHoles(centers);
if (isFound)
{
switch(parameters.gridType)
{
case CirclesGridFinderParameters::SYMMETRIC_GRID:
boxFinder.getHoles(centers);
break;
case CirclesGridFinderParameters::ASYMMETRIC_GRID:
boxFinder.getAsymmetricHoles(centers);
break;
default:
CV_Error(CV_StsBadArg, "Unkown pattern type");
}
if (i != 0)
{
Mat orgPointsMat;
......@@ -1983,7 +1998,8 @@ bool findCirclesGrid( const Mat& image, Size patternSize,
return true;
}
boxFinder.getHoles(centers);
if (i != attempts - 1)
{
if (centers.size() < minHomographyPoints)
......
modules/calib3d/src/circlesgrid.cpp
View file @ f8e9f65e
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modules/calib3d/src/circlesgrid.hpp
View file @ f8e9f65e
This diff is collapsed.
modules/features2d/src/blobdetector.cpp
View file @ f8e9f65e
/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#include "precomp.hpp"
//#define DEBUG_BLOB_DETECTOR
#ifdef DEBUG_BLOB_DETECTOR
#include <opencv2/highgui/highgui.hpp>
#endif
using namespace cv;
/*
......@@ -116,17 +122,19 @@ void SimpleBlobDetector::findBlobs(const cv::Mat &image, const cv::Mat &binaryIm
{
centers.clear();
vector<vector<Point> > contours;
vector < vector<Point> > contours;
Mat tmpBinaryImage = binaryImage.clone();
findContours(tmpBinaryImage, contours, CV_RETR_LIST, CV_CHAIN_APPROX_NONE);
//Mat keypointsImage;
//cvtColor( binaryImage, keypointsImage, CV_GRAY2RGB );
#ifdef DEBUG_BLOB_DETECTOR
Mat keypointsImage;
cvtColor( binaryImage, keypointsImage, CV_GRAY2RGB );
//Mat contoursImage;
//cvtColor( binaryImage, contoursImage, CV_GRAY2RGB );
//drawContours( contoursImage, contours, -1, Scalar(0,255,0) );
//imshow("contours", contoursImage );
Mat contoursImage;
cvtColor( binaryImage, contoursImage, CV_GRAY2RGB );
drawContours( contoursImage, contours, -1, Scalar(0,255,0) );
imshow("contours", contoursImage );
#endif
for (size_t contourIdx = 0; contourIdx < contours.size(); contourIdx++)
{
......@@ -178,7 +186,7 @@ void SimpleBlobDetector::findBlobs(const cv::Mat &image, const cv::Mat &binaryIm
if (params.filterByConvexity)
{
vector<Point> hull;
vector < Point > hull;
convexHull(Mat(contours[contourIdx]), hull);
double area = contourArea(Mat(contours[contourIdx]));
double hullArea = contourArea(Mat(hull));
......@@ -212,14 +220,19 @@ void SimpleBlobDetector::findBlobs(const cv::Mat &image, const cv::Mat &binaryIm
centers.push_back(center);
//circle( keypointsImage, center.location, 1, Scalar(0,0,255), 1 );
#ifdef DEBUG_BLOB_DETECTOR
circle( keypointsImage, center.location, 1, Scalar(0,0,255), 1 );
#endif
}
//imshow("bk", keypointsImage );
//waitKey();
#ifdef DEBUG_BLOB_DETECTOR
imshow("bk", keypointsImage );
waitKey();
#endif
}
void SimpleBlobDetector::detectImpl(const cv::Mat& image, std::vector<cv::KeyPoint>& keypoints, const cv::Mat& mask) const
void SimpleBlobDetector::detectImpl(const cv::Mat& image, std::vector<cv::KeyPoint>& keypoints, const cv::Mat&) const
{
//TODO: support mask
keypoints.clear();
Mat grayscaleImage;
if (image.channels() == 3)
......@@ -227,7 +240,7 @@ void SimpleBlobDetector::detectImpl(const cv::Mat& image, std::vector<cv::KeyPoi
else
grayscaleImage = image;
vector<vector<Center> > centers;
vector < vector<Center> > centers;
for (double thresh = params.minThreshold; thresh < params.maxThreshold; thresh += params.thresholdStep)
{
Mat binarizedImage;
......@@ -236,8 +249,9 @@ void SimpleBlobDetector::detectImpl(const cv::Mat& image, std::vector<cv::KeyPoi
//Mat keypointsImage;
//cvtColor( binarizedImage, keypointsImage, CV_GRAY2RGB );
vector<Center> curCenters;
vector < Center > curCenters;
findBlobs(grayscaleImage, binarizedImage, curCenters);
vector < vector<Center> > newCenters;
for (size_t i = 0; i < curCenters.size(); i++)
{
//circle(keypointsImage, curCenters[i].location, 1, Scalar(0,0,255),-1);
......@@ -262,9 +276,12 @@ void SimpleBlobDetector::detectImpl(const cv::Mat& image, std::vector<cv::KeyPoi
}
if (isNew)
{
centers.push_back(vector<Center> (1, curCenters[i]));
newCenters.push_back(vector<Center> (1, curCenters[i]));
//centers.push_back(vector<Center> (1, curCenters[i]));
}
}
std::copy(newCenters.begin(), newCenters.end(), std::back_inserter(centers));
//imshow("binarized", keypointsImage );
//waitKey();
}
......
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