Open Source Computer Vision Library https://opencv.org/
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#include "test_precomp.hpp"
#include "test_chessboardgenerator.hpp"
#include <functional>
namespace opencv_test { namespace {
#define _L2_ERR
//#define DEBUG_CHESSBOARD
#ifdef DEBUG_CHESSBOARD
void show_points( const Mat& gray, const Mat& expected, const vector<Point2f>& actual, bool was_found )
{
Mat rgb( gray.size(), CV_8U);
merge(vector<Mat>(3, gray), rgb);
for(size_t i = 0; i < actual.size(); i++ )
circle( rgb, actual[i], 5, Scalar(0, 0, 200), 1, LINE_AA);
if( !expected.empty() )
{
const Point2f* u_data = expected.ptr<Point2f>();
size_t count = expected.cols * expected.rows;
for(size_t i = 0; i < count; i++ )
circle(rgb, u_data[i], 4, Scalar(0, 240, 0), 1, LINE_AA);
}
putText(rgb, was_found ? "FOUND !!!" : "NOT FOUND", Point(5, 20), FONT_HERSHEY_PLAIN, 1, Scalar(0, 240, 0));
imshow( "test", rgb ); while ((uchar)waitKey(0) != 'q') {};
}
#else
#define show_points(...)
#endif
enum Pattern { CHESSBOARD, CHESSBOARD_SB, CHESSBOARD_PLAIN, CIRCLES_GRID, ASYMMETRIC_CIRCLES_GRID};
class CV_ChessboardDetectorTest : public cvtest::BaseTest
{
public:
CV_ChessboardDetectorTest( Pattern pattern, int algorithmFlags = 0 );
protected:
void run(int);
void run_batch(const string& filename);
bool checkByGenerator();
Merge pull request #12147 from D-Alex:master * add new chessboard detector The chessboar detector is based on the paper. Accurate Detection and Localization of Checkerboard Corners for Calibration Alexander Duda, Udo Frese British Machine Vision Conference, o.A., 2018. It utilizes point symmetry of checkerboard corners in combination with a localized Radon transform approximated by box filters to achieve high performance even on large images. Here, tests have shown that the ability to localize checkerboard corners is close to the theoretical limit of 1/100 of a pixel while being considerably less sensitive to image noise than standard methods. * chessboard: add reference to bibtex file * chessboard: add dependency to opencv_flann * fix: test chesscorners. It is valid to return an empty list In case no chessboard was detected it should be valid for the detector to return an empty list. For simplifcation, it should be allowed to return any number of corners if they are flagged as not found. * fix: opencv.bib remove empty lines * fix: doc findChessboardCorners replace cvSize with cv::Size * chessboard tests: factor out logic selecting detector * chessboard: add unit test for findChessboardCorners2 This is includes a new chessboard generator which supports subpix corners with high accuracy by wrapping an optimal chessboard using wrapPerspective. * fix: chessboard unit test - overwrite of default parameter flag of findCirclesGrid * chessboard: remove trailing whitespace * chessboard: fix debug drawing * chessboard: fix some issues during code review * chessboard: normalize asymmetric chessboard * chessboard: fix float double warning * remove trailing whitespace * chessboards: fix compiler warnings * chessboards: fix compiler warnings * checkerboard: some performance improvements * chessboard: remove NULL macros for language bindinges from internal headers * chessboard: shorten license terms * chessboard: remove unused internal method * chessboard: set helper functions to static * chessboard: fix normalizePoints1D using unshifted points * chessboard: remove wrongly copied text * chessboard: use CV_CheckTypeEQ macro * chessboard: comment all NaN checks * chessboard: use consistent color conversion * chessboard: use CheckChannelEQ macro * chessboard: assume gray color image for internal methods * chessboard: use std::swap * chessboard: use Mat.dataend * chessboard: fix compiler warnings * chessboard: replace some checks witch CV_CHECK macro * chessboard: fix comparison function for partial sort * chessboard: small cleanup * chessboard: use short license header * chessboard: rename findChessboard2 to findChessboardSB * chessboard: fix type in unit test
6 years ago
bool checkByGeneratorHighAccuracy();
// wraps calls based on the given pattern
bool findChessboardCornersWrapper(InputArray image, Size patternSize, OutputArray corners,int flags);
Pattern pattern;
int algorithmFlags;
};
CV_ChessboardDetectorTest::CV_ChessboardDetectorTest( Pattern _pattern, int _algorithmFlags )
{
pattern = _pattern;
algorithmFlags = _algorithmFlags;
}
double calcError(const vector<Point2f>& v, const Mat& u)
{
int count_exp = u.cols * u.rows;
const Point2f* u_data = u.ptr<Point2f>();
double err = std::numeric_limits<double>::max();
for( int k = 0; k < 2; ++k )
{
double err1 = 0;
for( int j = 0; j < count_exp; ++j )
{
int j1 = k == 0 ? j : count_exp - j - 1;
double dx = fabs( v[j].x - u_data[j1].x );
double dy = fabs( v[j].y - u_data[j1].y );
#if defined(_L2_ERR)
err1 += dx*dx + dy*dy;
#else
dx = MAX( dx, dy );
if( dx > err1 )
err1 = dx;
#endif //_L2_ERR
//printf("dx = %f\n", dx);
}
//printf("\n");
err = min(err, err1);
}
#if defined(_L2_ERR)
err = sqrt(err/count_exp);
#endif //_L2_ERR
return err;
}
const double rough_success_error_level = 2.5;
const double precise_success_error_level = 2;
/* ///////////////////// chess_corner_test ///////////////////////// */
void CV_ChessboardDetectorTest::run( int /*start_from */)
{
ts->set_failed_test_info( cvtest::TS::OK );
/*if (!checkByGenerator())
return;*/
switch( pattern )
{
Merge pull request #12147 from D-Alex:master * add new chessboard detector The chessboar detector is based on the paper. Accurate Detection and Localization of Checkerboard Corners for Calibration Alexander Duda, Udo Frese British Machine Vision Conference, o.A., 2018. It utilizes point symmetry of checkerboard corners in combination with a localized Radon transform approximated by box filters to achieve high performance even on large images. Here, tests have shown that the ability to localize checkerboard corners is close to the theoretical limit of 1/100 of a pixel while being considerably less sensitive to image noise than standard methods. * chessboard: add reference to bibtex file * chessboard: add dependency to opencv_flann * fix: test chesscorners. It is valid to return an empty list In case no chessboard was detected it should be valid for the detector to return an empty list. For simplifcation, it should be allowed to return any number of corners if they are flagged as not found. * fix: opencv.bib remove empty lines * fix: doc findChessboardCorners replace cvSize with cv::Size * chessboard tests: factor out logic selecting detector * chessboard: add unit test for findChessboardCorners2 This is includes a new chessboard generator which supports subpix corners with high accuracy by wrapping an optimal chessboard using wrapPerspective. * fix: chessboard unit test - overwrite of default parameter flag of findCirclesGrid * chessboard: remove trailing whitespace * chessboard: fix debug drawing * chessboard: fix some issues during code review * chessboard: normalize asymmetric chessboard * chessboard: fix float double warning * remove trailing whitespace * chessboards: fix compiler warnings * chessboards: fix compiler warnings * checkerboard: some performance improvements * chessboard: remove NULL macros for language bindinges from internal headers * chessboard: shorten license terms * chessboard: remove unused internal method * chessboard: set helper functions to static * chessboard: fix normalizePoints1D using unshifted points * chessboard: remove wrongly copied text * chessboard: use CV_CheckTypeEQ macro * chessboard: comment all NaN checks * chessboard: use consistent color conversion * chessboard: use CheckChannelEQ macro * chessboard: assume gray color image for internal methods * chessboard: use std::swap * chessboard: use Mat.dataend * chessboard: fix compiler warnings * chessboard: replace some checks witch CV_CHECK macro * chessboard: fix comparison function for partial sort * chessboard: small cleanup * chessboard: use short license header * chessboard: rename findChessboard2 to findChessboardSB * chessboard: fix type in unit test
6 years ago
case CHESSBOARD_SB:
checkByGeneratorHighAccuracy(); // not supported by CHESSBOARD
/* fallthrough */
case CHESSBOARD_PLAIN:
checkByGenerator();
if (ts->get_err_code() != cvtest::TS::OK)
{
break;
}
run_batch("negative_list.dat");
if (ts->get_err_code() != cvtest::TS::OK)
{
break;
}
run_batch("chessboard_list.dat");
if (ts->get_err_code() != cvtest::TS::OK)
{
break;
}
break;
case CHESSBOARD:
checkByGenerator();
if (ts->get_err_code() != cvtest::TS::OK)
{
break;
}
run_batch("negative_list.dat");
if (ts->get_err_code() != cvtest::TS::OK)
{
break;
}
run_batch("chessboard_list.dat");
if (ts->get_err_code() != cvtest::TS::OK)
{
break;
}
run_batch("chessboard_list_subpixel.dat");
break;
case CIRCLES_GRID:
run_batch("circles_list.dat");
break;
case ASYMMETRIC_CIRCLES_GRID:
run_batch("acircles_list.dat");
break;
}
}
void CV_ChessboardDetectorTest::run_batch( const string& filename )
{
ts->printf(cvtest::TS::LOG, "\nRunning batch %s\n", filename.c_str());
//#define WRITE_POINTS 1
#ifndef WRITE_POINTS
double max_rough_error = 0, max_precise_error = 0;
#endif
string folder;
switch( pattern )
{
case CHESSBOARD:
Merge pull request #12147 from D-Alex:master * add new chessboard detector The chessboar detector is based on the paper. Accurate Detection and Localization of Checkerboard Corners for Calibration Alexander Duda, Udo Frese British Machine Vision Conference, o.A., 2018. It utilizes point symmetry of checkerboard corners in combination with a localized Radon transform approximated by box filters to achieve high performance even on large images. Here, tests have shown that the ability to localize checkerboard corners is close to the theoretical limit of 1/100 of a pixel while being considerably less sensitive to image noise than standard methods. * chessboard: add reference to bibtex file * chessboard: add dependency to opencv_flann * fix: test chesscorners. It is valid to return an empty list In case no chessboard was detected it should be valid for the detector to return an empty list. For simplifcation, it should be allowed to return any number of corners if they are flagged as not found. * fix: opencv.bib remove empty lines * fix: doc findChessboardCorners replace cvSize with cv::Size * chessboard tests: factor out logic selecting detector * chessboard: add unit test for findChessboardCorners2 This is includes a new chessboard generator which supports subpix corners with high accuracy by wrapping an optimal chessboard using wrapPerspective. * fix: chessboard unit test - overwrite of default parameter flag of findCirclesGrid * chessboard: remove trailing whitespace * chessboard: fix debug drawing * chessboard: fix some issues during code review * chessboard: normalize asymmetric chessboard * chessboard: fix float double warning * remove trailing whitespace * chessboards: fix compiler warnings * chessboards: fix compiler warnings * checkerboard: some performance improvements * chessboard: remove NULL macros for language bindinges from internal headers * chessboard: shorten license terms * chessboard: remove unused internal method * chessboard: set helper functions to static * chessboard: fix normalizePoints1D using unshifted points * chessboard: remove wrongly copied text * chessboard: use CV_CheckTypeEQ macro * chessboard: comment all NaN checks * chessboard: use consistent color conversion * chessboard: use CheckChannelEQ macro * chessboard: assume gray color image for internal methods * chessboard: use std::swap * chessboard: use Mat.dataend * chessboard: fix compiler warnings * chessboard: replace some checks witch CV_CHECK macro * chessboard: fix comparison function for partial sort * chessboard: small cleanup * chessboard: use short license header * chessboard: rename findChessboard2 to findChessboardSB * chessboard: fix type in unit test
6 years ago
case CHESSBOARD_SB:
case CHESSBOARD_PLAIN:
folder = string(ts->get_data_path()) + "cv/cameracalibration/";
break;
case CIRCLES_GRID:
folder = string(ts->get_data_path()) + "cv/cameracalibration/circles/";
break;
case ASYMMETRIC_CIRCLES_GRID:
folder = string(ts->get_data_path()) + "cv/cameracalibration/asymmetric_circles/";
break;
}
FileStorage fs( folder + filename, FileStorage::READ );
FileNode board_list = fs["boards"];
if( !fs.isOpened() || board_list.empty() || !board_list.isSeq() || board_list.size() % 2 != 0 )
{
ts->printf( cvtest::TS::LOG, "%s can not be read or is not valid\n", (folder + filename).c_str() );
ts->printf( cvtest::TS::LOG, "fs.isOpened=%d, board_list.empty=%d, board_list.isSeq=%d,board_list.size()%2=%d\n",
fs.isOpened(), (int)board_list.empty(), board_list.isSeq(), board_list.size()%2);
ts->set_failed_test_info( cvtest::TS::FAIL_MISSING_TEST_DATA );
return;
}
int progress = 0;
11 years ago
int max_idx = (int)board_list.size()/2;
if(filename.compare("chessboard_list.dat") == 0 && pattern == CHESSBOARD_PLAIN)
max_idx = 7;
double sum_error = 0.0;
int count = 0;
for(int idx = 0; idx < max_idx; ++idx )
{
ts->update_context( this, idx, true );
/* read the image */
String img_file = board_list[idx * 2];
Mat gray = imread( folder + img_file, IMREAD_GRAYSCALE);
if( gray.empty() )
{
ts->printf( cvtest::TS::LOG, "one of chessboard images can't be read: %s\n", img_file.c_str() );
ts->set_failed_test_info( cvtest::TS::FAIL_MISSING_TEST_DATA );
return;
}
String _filename = folder + (String)board_list[idx * 2 + 1];
bool doesContatinChessboard;
float sharpness;
Mat expected;
{
FileStorage fs1(_filename, FileStorage::READ);
fs1["corners"] >> expected;
fs1["isFound"] >> doesContatinChessboard;
fs1["sharpness"] >> sharpness ;
fs1.release();
}
size_t count_exp = static_cast<size_t>(expected.cols * expected.rows);
Size pattern_size = expected.size();
Mat ori;
vector<Point2f> v;
Merge pull request #12147 from D-Alex:master * add new chessboard detector The chessboar detector is based on the paper. Accurate Detection and Localization of Checkerboard Corners for Calibration Alexander Duda, Udo Frese British Machine Vision Conference, o.A., 2018. It utilizes point symmetry of checkerboard corners in combination with a localized Radon transform approximated by box filters to achieve high performance even on large images. Here, tests have shown that the ability to localize checkerboard corners is close to the theoretical limit of 1/100 of a pixel while being considerably less sensitive to image noise than standard methods. * chessboard: add reference to bibtex file * chessboard: add dependency to opencv_flann * fix: test chesscorners. It is valid to return an empty list In case no chessboard was detected it should be valid for the detector to return an empty list. For simplifcation, it should be allowed to return any number of corners if they are flagged as not found. * fix: opencv.bib remove empty lines * fix: doc findChessboardCorners replace cvSize with cv::Size * chessboard tests: factor out logic selecting detector * chessboard: add unit test for findChessboardCorners2 This is includes a new chessboard generator which supports subpix corners with high accuracy by wrapping an optimal chessboard using wrapPerspective. * fix: chessboard unit test - overwrite of default parameter flag of findCirclesGrid * chessboard: remove trailing whitespace * chessboard: fix debug drawing * chessboard: fix some issues during code review * chessboard: normalize asymmetric chessboard * chessboard: fix float double warning * remove trailing whitespace * chessboards: fix compiler warnings * chessboards: fix compiler warnings * checkerboard: some performance improvements * chessboard: remove NULL macros for language bindinges from internal headers * chessboard: shorten license terms * chessboard: remove unused internal method * chessboard: set helper functions to static * chessboard: fix normalizePoints1D using unshifted points * chessboard: remove wrongly copied text * chessboard: use CV_CheckTypeEQ macro * chessboard: comment all NaN checks * chessboard: use consistent color conversion * chessboard: use CheckChannelEQ macro * chessboard: assume gray color image for internal methods * chessboard: use std::swap * chessboard: use Mat.dataend * chessboard: fix compiler warnings * chessboard: replace some checks witch CV_CHECK macro * chessboard: fix comparison function for partial sort * chessboard: small cleanup * chessboard: use short license header * chessboard: rename findChessboard2 to findChessboardSB * chessboard: fix type in unit test
6 years ago
int flags = 0;
switch( pattern )
{
case CHESSBOARD:
Merge pull request #12147 from D-Alex:master * add new chessboard detector The chessboar detector is based on the paper. Accurate Detection and Localization of Checkerboard Corners for Calibration Alexander Duda, Udo Frese British Machine Vision Conference, o.A., 2018. It utilizes point symmetry of checkerboard corners in combination with a localized Radon transform approximated by box filters to achieve high performance even on large images. Here, tests have shown that the ability to localize checkerboard corners is close to the theoretical limit of 1/100 of a pixel while being considerably less sensitive to image noise than standard methods. * chessboard: add reference to bibtex file * chessboard: add dependency to opencv_flann * fix: test chesscorners. It is valid to return an empty list In case no chessboard was detected it should be valid for the detector to return an empty list. For simplifcation, it should be allowed to return any number of corners if they are flagged as not found. * fix: opencv.bib remove empty lines * fix: doc findChessboardCorners replace cvSize with cv::Size * chessboard tests: factor out logic selecting detector * chessboard: add unit test for findChessboardCorners2 This is includes a new chessboard generator which supports subpix corners with high accuracy by wrapping an optimal chessboard using wrapPerspective. * fix: chessboard unit test - overwrite of default parameter flag of findCirclesGrid * chessboard: remove trailing whitespace * chessboard: fix debug drawing * chessboard: fix some issues during code review * chessboard: normalize asymmetric chessboard * chessboard: fix float double warning * remove trailing whitespace * chessboards: fix compiler warnings * chessboards: fix compiler warnings * checkerboard: some performance improvements * chessboard: remove NULL macros for language bindinges from internal headers * chessboard: shorten license terms * chessboard: remove unused internal method * chessboard: set helper functions to static * chessboard: fix normalizePoints1D using unshifted points * chessboard: remove wrongly copied text * chessboard: use CV_CheckTypeEQ macro * chessboard: comment all NaN checks * chessboard: use consistent color conversion * chessboard: use CheckChannelEQ macro * chessboard: assume gray color image for internal methods * chessboard: use std::swap * chessboard: use Mat.dataend * chessboard: fix compiler warnings * chessboard: replace some checks witch CV_CHECK macro * chessboard: fix comparison function for partial sort * chessboard: small cleanup * chessboard: use short license header * chessboard: rename findChessboard2 to findChessboardSB * chessboard: fix type in unit test
6 years ago
flags = CALIB_CB_ADAPTIVE_THRESH | CALIB_CB_NORMALIZE_IMAGE;
break;
case CHESSBOARD_PLAIN: {
flags = CALIB_CB_PLAIN;
ori = gray.clone();
int min_size = cvRound((gray.cols * gray.rows * 0.05) / ((pattern_size.width+1) * (pattern_size.height+1)));
if(min_size%2==0) min_size += 1;
adaptiveThreshold(gray, gray, 255, ADAPTIVE_THRESH_MEAN_C, THRESH_BINARY, min_size, 0);
dilate(gray, gray, Mat(), Point(-1, -1), 1);
break;
}
case CIRCLES_GRID:
Merge pull request #12147 from D-Alex:master * add new chessboard detector The chessboar detector is based on the paper. Accurate Detection and Localization of Checkerboard Corners for Calibration Alexander Duda, Udo Frese British Machine Vision Conference, o.A., 2018. It utilizes point symmetry of checkerboard corners in combination with a localized Radon transform approximated by box filters to achieve high performance even on large images. Here, tests have shown that the ability to localize checkerboard corners is close to the theoretical limit of 1/100 of a pixel while being considerably less sensitive to image noise than standard methods. * chessboard: add reference to bibtex file * chessboard: add dependency to opencv_flann * fix: test chesscorners. It is valid to return an empty list In case no chessboard was detected it should be valid for the detector to return an empty list. For simplifcation, it should be allowed to return any number of corners if they are flagged as not found. * fix: opencv.bib remove empty lines * fix: doc findChessboardCorners replace cvSize with cv::Size * chessboard tests: factor out logic selecting detector * chessboard: add unit test for findChessboardCorners2 This is includes a new chessboard generator which supports subpix corners with high accuracy by wrapping an optimal chessboard using wrapPerspective. * fix: chessboard unit test - overwrite of default parameter flag of findCirclesGrid * chessboard: remove trailing whitespace * chessboard: fix debug drawing * chessboard: fix some issues during code review * chessboard: normalize asymmetric chessboard * chessboard: fix float double warning * remove trailing whitespace * chessboards: fix compiler warnings * chessboards: fix compiler warnings * checkerboard: some performance improvements * chessboard: remove NULL macros for language bindinges from internal headers * chessboard: shorten license terms * chessboard: remove unused internal method * chessboard: set helper functions to static * chessboard: fix normalizePoints1D using unshifted points * chessboard: remove wrongly copied text * chessboard: use CV_CheckTypeEQ macro * chessboard: comment all NaN checks * chessboard: use consistent color conversion * chessboard: use CheckChannelEQ macro * chessboard: assume gray color image for internal methods * chessboard: use std::swap * chessboard: use Mat.dataend * chessboard: fix compiler warnings * chessboard: replace some checks witch CV_CHECK macro * chessboard: fix comparison function for partial sort * chessboard: small cleanup * chessboard: use short license header * chessboard: rename findChessboard2 to findChessboardSB * chessboard: fix type in unit test
6 years ago
case CHESSBOARD_SB:
case ASYMMETRIC_CIRCLES_GRID:
Merge pull request #12147 from D-Alex:master * add new chessboard detector The chessboar detector is based on the paper. Accurate Detection and Localization of Checkerboard Corners for Calibration Alexander Duda, Udo Frese British Machine Vision Conference, o.A., 2018. It utilizes point symmetry of checkerboard corners in combination with a localized Radon transform approximated by box filters to achieve high performance even on large images. Here, tests have shown that the ability to localize checkerboard corners is close to the theoretical limit of 1/100 of a pixel while being considerably less sensitive to image noise than standard methods. * chessboard: add reference to bibtex file * chessboard: add dependency to opencv_flann * fix: test chesscorners. It is valid to return an empty list In case no chessboard was detected it should be valid for the detector to return an empty list. For simplifcation, it should be allowed to return any number of corners if they are flagged as not found. * fix: opencv.bib remove empty lines * fix: doc findChessboardCorners replace cvSize with cv::Size * chessboard tests: factor out logic selecting detector * chessboard: add unit test for findChessboardCorners2 This is includes a new chessboard generator which supports subpix corners with high accuracy by wrapping an optimal chessboard using wrapPerspective. * fix: chessboard unit test - overwrite of default parameter flag of findCirclesGrid * chessboard: remove trailing whitespace * chessboard: fix debug drawing * chessboard: fix some issues during code review * chessboard: normalize asymmetric chessboard * chessboard: fix float double warning * remove trailing whitespace * chessboards: fix compiler warnings * chessboards: fix compiler warnings * checkerboard: some performance improvements * chessboard: remove NULL macros for language bindinges from internal headers * chessboard: shorten license terms * chessboard: remove unused internal method * chessboard: set helper functions to static * chessboard: fix normalizePoints1D using unshifted points * chessboard: remove wrongly copied text * chessboard: use CV_CheckTypeEQ macro * chessboard: comment all NaN checks * chessboard: use consistent color conversion * chessboard: use CheckChannelEQ macro * chessboard: assume gray color image for internal methods * chessboard: use std::swap * chessboard: use Mat.dataend * chessboard: fix compiler warnings * chessboard: replace some checks witch CV_CHECK macro * chessboard: fix comparison function for partial sort * chessboard: small cleanup * chessboard: use short license header * chessboard: rename findChessboard2 to findChessboardSB * chessboard: fix type in unit test
6 years ago
default:
flags = 0;
}
Merge pull request #12147 from D-Alex:master * add new chessboard detector The chessboar detector is based on the paper. Accurate Detection and Localization of Checkerboard Corners for Calibration Alexander Duda, Udo Frese British Machine Vision Conference, o.A., 2018. It utilizes point symmetry of checkerboard corners in combination with a localized Radon transform approximated by box filters to achieve high performance even on large images. Here, tests have shown that the ability to localize checkerboard corners is close to the theoretical limit of 1/100 of a pixel while being considerably less sensitive to image noise than standard methods. * chessboard: add reference to bibtex file * chessboard: add dependency to opencv_flann * fix: test chesscorners. It is valid to return an empty list In case no chessboard was detected it should be valid for the detector to return an empty list. For simplifcation, it should be allowed to return any number of corners if they are flagged as not found. * fix: opencv.bib remove empty lines * fix: doc findChessboardCorners replace cvSize with cv::Size * chessboard tests: factor out logic selecting detector * chessboard: add unit test for findChessboardCorners2 This is includes a new chessboard generator which supports subpix corners with high accuracy by wrapping an optimal chessboard using wrapPerspective. * fix: chessboard unit test - overwrite of default parameter flag of findCirclesGrid * chessboard: remove trailing whitespace * chessboard: fix debug drawing * chessboard: fix some issues during code review * chessboard: normalize asymmetric chessboard * chessboard: fix float double warning * remove trailing whitespace * chessboards: fix compiler warnings * chessboards: fix compiler warnings * checkerboard: some performance improvements * chessboard: remove NULL macros for language bindinges from internal headers * chessboard: shorten license terms * chessboard: remove unused internal method * chessboard: set helper functions to static * chessboard: fix normalizePoints1D using unshifted points * chessboard: remove wrongly copied text * chessboard: use CV_CheckTypeEQ macro * chessboard: comment all NaN checks * chessboard: use consistent color conversion * chessboard: use CheckChannelEQ macro * chessboard: assume gray color image for internal methods * chessboard: use std::swap * chessboard: use Mat.dataend * chessboard: fix compiler warnings * chessboard: replace some checks witch CV_CHECK macro * chessboard: fix comparison function for partial sort * chessboard: small cleanup * chessboard: use short license header * chessboard: rename findChessboard2 to findChessboardSB * chessboard: fix type in unit test
6 years ago
bool result = findChessboardCornersWrapper(gray, pattern_size,v,flags);
if(result && pattern == CHESSBOARD_PLAIN) {
gray = ori;
cornerSubPix(gray, v, Size(6,6), Size(-1,-1), TermCriteria(TermCriteria::EPS + TermCriteria::COUNT, 30, 0.1));
}
if(result && sharpness && (pattern == CHESSBOARD_SB || pattern == CHESSBOARD || pattern == CHESSBOARD_PLAIN))
{
Scalar s= estimateChessboardSharpness(gray,pattern_size,v);
if(fabs(s[0] - sharpness) > 0.1)
{
ts->printf(cvtest::TS::LOG, "chessboard image has a wrong sharpness in %s. Expected %f but measured %f\n", img_file.c_str(),sharpness,s[0]);
ts->set_failed_test_info( cvtest::TS::FAIL_INVALID_OUTPUT );
show_points( gray, expected, v, result );
return;
}
}
Merge pull request #12147 from D-Alex:master * add new chessboard detector The chessboar detector is based on the paper. Accurate Detection and Localization of Checkerboard Corners for Calibration Alexander Duda, Udo Frese British Machine Vision Conference, o.A., 2018. It utilizes point symmetry of checkerboard corners in combination with a localized Radon transform approximated by box filters to achieve high performance even on large images. Here, tests have shown that the ability to localize checkerboard corners is close to the theoretical limit of 1/100 of a pixel while being considerably less sensitive to image noise than standard methods. * chessboard: add reference to bibtex file * chessboard: add dependency to opencv_flann * fix: test chesscorners. It is valid to return an empty list In case no chessboard was detected it should be valid for the detector to return an empty list. For simplifcation, it should be allowed to return any number of corners if they are flagged as not found. * fix: opencv.bib remove empty lines * fix: doc findChessboardCorners replace cvSize with cv::Size * chessboard tests: factor out logic selecting detector * chessboard: add unit test for findChessboardCorners2 This is includes a new chessboard generator which supports subpix corners with high accuracy by wrapping an optimal chessboard using wrapPerspective. * fix: chessboard unit test - overwrite of default parameter flag of findCirclesGrid * chessboard: remove trailing whitespace * chessboard: fix debug drawing * chessboard: fix some issues during code review * chessboard: normalize asymmetric chessboard * chessboard: fix float double warning * remove trailing whitespace * chessboards: fix compiler warnings * chessboards: fix compiler warnings * checkerboard: some performance improvements * chessboard: remove NULL macros for language bindinges from internal headers * chessboard: shorten license terms * chessboard: remove unused internal method * chessboard: set helper functions to static * chessboard: fix normalizePoints1D using unshifted points * chessboard: remove wrongly copied text * chessboard: use CV_CheckTypeEQ macro * chessboard: comment all NaN checks * chessboard: use consistent color conversion * chessboard: use CheckChannelEQ macro * chessboard: assume gray color image for internal methods * chessboard: use std::swap * chessboard: use Mat.dataend * chessboard: fix compiler warnings * chessboard: replace some checks witch CV_CHECK macro * chessboard: fix comparison function for partial sort * chessboard: small cleanup * chessboard: use short license header * chessboard: rename findChessboard2 to findChessboardSB * chessboard: fix type in unit test
6 years ago
if(result ^ doesContatinChessboard || (doesContatinChessboard && v.size() != count_exp))
{
ts->printf( cvtest::TS::LOG, "chessboard is detected incorrectly in %s\n", img_file.c_str() );
ts->set_failed_test_info( cvtest::TS::FAIL_INVALID_OUTPUT );
Merge pull request #12147 from D-Alex:master * add new chessboard detector The chessboar detector is based on the paper. Accurate Detection and Localization of Checkerboard Corners for Calibration Alexander Duda, Udo Frese British Machine Vision Conference, o.A., 2018. It utilizes point symmetry of checkerboard corners in combination with a localized Radon transform approximated by box filters to achieve high performance even on large images. Here, tests have shown that the ability to localize checkerboard corners is close to the theoretical limit of 1/100 of a pixel while being considerably less sensitive to image noise than standard methods. * chessboard: add reference to bibtex file * chessboard: add dependency to opencv_flann * fix: test chesscorners. It is valid to return an empty list In case no chessboard was detected it should be valid for the detector to return an empty list. For simplifcation, it should be allowed to return any number of corners if they are flagged as not found. * fix: opencv.bib remove empty lines * fix: doc findChessboardCorners replace cvSize with cv::Size * chessboard tests: factor out logic selecting detector * chessboard: add unit test for findChessboardCorners2 This is includes a new chessboard generator which supports subpix corners with high accuracy by wrapping an optimal chessboard using wrapPerspective. * fix: chessboard unit test - overwrite of default parameter flag of findCirclesGrid * chessboard: remove trailing whitespace * chessboard: fix debug drawing * chessboard: fix some issues during code review * chessboard: normalize asymmetric chessboard * chessboard: fix float double warning * remove trailing whitespace * chessboards: fix compiler warnings * chessboards: fix compiler warnings * checkerboard: some performance improvements * chessboard: remove NULL macros for language bindinges from internal headers * chessboard: shorten license terms * chessboard: remove unused internal method * chessboard: set helper functions to static * chessboard: fix normalizePoints1D using unshifted points * chessboard: remove wrongly copied text * chessboard: use CV_CheckTypeEQ macro * chessboard: comment all NaN checks * chessboard: use consistent color conversion * chessboard: use CheckChannelEQ macro * chessboard: assume gray color image for internal methods * chessboard: use std::swap * chessboard: use Mat.dataend * chessboard: fix compiler warnings * chessboard: replace some checks witch CV_CHECK macro * chessboard: fix comparison function for partial sort * chessboard: small cleanup * chessboard: use short license header * chessboard: rename findChessboard2 to findChessboardSB * chessboard: fix type in unit test
6 years ago
show_points( gray, expected, v, result );
return;
}
if( result )
{
#ifndef WRITE_POINTS
double err = calcError(v, expected);
max_rough_error = MAX( max_rough_error, err );
#endif
if( pattern == CHESSBOARD || pattern == CHESSBOARD_PLAIN )
cornerSubPix( gray, v, Size(5, 5), Size(-1,-1), TermCriteria(TermCriteria::EPS|TermCriteria::MAX_ITER, 30, 0.1));
//find4QuadCornerSubpix(gray, v, Size(5, 5));
show_points( gray, expected, v, result );
#ifndef WRITE_POINTS
// printf("called find4QuadCornerSubpix\n");
err = calcError(v, expected);
sum_error += err;
count++;
if( err > precise_success_error_level )
{
ts->printf( cvtest::TS::LOG, "Image %s: bad accuracy of adjusted corners %f\n", img_file.c_str(), err );
ts->set_failed_test_info( cvtest::TS::FAIL_BAD_ACCURACY );
return;
}
ts->printf(cvtest::TS::LOG, "Error on %s is %f\n", img_file.c_str(), err);
max_precise_error = MAX( max_precise_error, err );
#endif
}
else
{
show_points( gray, Mat(), v, result );
}
#ifdef WRITE_POINTS
Mat mat_v(pattern_size, CV_32FC2, (void*)&v[0]);
FileStorage fs(_filename, FileStorage::WRITE);
fs << "isFound" << result;
fs << "corners" << mat_v;
fs.release();
#endif
progress = update_progress( progress, idx, max_idx, 0 );
}
if (count != 0)
sum_error /= count;
ts->printf(cvtest::TS::LOG, "Average error is %f (%d patterns have been found)\n", sum_error, count);
}
double calcErrorMinError(const Size& cornSz, const vector<Point2f>& corners_found, const vector<Point2f>& corners_generated)
{
Mat m1(cornSz, CV_32FC2, (Point2f*)&corners_generated[0]);
Mat m2; flip(m1, m2, 0);
Mat m3; flip(m1, m3, 1); m3 = m3.t(); flip(m3, m3, 1);
Mat m4 = m1.t(); flip(m4, m4, 1);
double min1 = min(calcError(corners_found, m1), calcError(corners_found, m2));
double min2 = min(calcError(corners_found, m3), calcError(corners_found, m4));
return min(min1, min2);
}
bool validateData(const ChessBoardGenerator& cbg, const Size& imgSz,
const vector<Point2f>& corners_generated)
{
Size cornersSize = cbg.cornersSize();
Mat_<Point2f> mat(cornersSize.height, cornersSize.width, (Point2f*)&corners_generated[0]);
double minNeibDist = std::numeric_limits<double>::max();
double tmp = 0;
for(int i = 1; i < mat.rows - 2; ++i)
for(int j = 1; j < mat.cols - 2; ++j)
{
const Point2f& cur = mat(i, j);
tmp = cv::norm(cur - mat(i + 1, j + 1)); // TODO cvtest
if (tmp < minNeibDist)
minNeibDist = tmp;
tmp = cv::norm(cur - mat(i - 1, j + 1)); // TODO cvtest
if (tmp < minNeibDist)
minNeibDist = tmp;
tmp = cv::norm(cur - mat(i + 1, j - 1)); // TODO cvtest
if (tmp < minNeibDist)
minNeibDist = tmp;
tmp = cv::norm(cur - mat(i - 1, j - 1)); // TODO cvtest
if (tmp < minNeibDist)
minNeibDist = tmp;
}
const double threshold = 0.25;
double cbsize = (max(cornersSize.width, cornersSize.height) + 1) * minNeibDist;
int imgsize = min(imgSz.height, imgSz.width);
return imgsize * threshold < cbsize;
}
Merge pull request #12147 from D-Alex:master * add new chessboard detector The chessboar detector is based on the paper. Accurate Detection and Localization of Checkerboard Corners for Calibration Alexander Duda, Udo Frese British Machine Vision Conference, o.A., 2018. It utilizes point symmetry of checkerboard corners in combination with a localized Radon transform approximated by box filters to achieve high performance even on large images. Here, tests have shown that the ability to localize checkerboard corners is close to the theoretical limit of 1/100 of a pixel while being considerably less sensitive to image noise than standard methods. * chessboard: add reference to bibtex file * chessboard: add dependency to opencv_flann * fix: test chesscorners. It is valid to return an empty list In case no chessboard was detected it should be valid for the detector to return an empty list. For simplifcation, it should be allowed to return any number of corners if they are flagged as not found. * fix: opencv.bib remove empty lines * fix: doc findChessboardCorners replace cvSize with cv::Size * chessboard tests: factor out logic selecting detector * chessboard: add unit test for findChessboardCorners2 This is includes a new chessboard generator which supports subpix corners with high accuracy by wrapping an optimal chessboard using wrapPerspective. * fix: chessboard unit test - overwrite of default parameter flag of findCirclesGrid * chessboard: remove trailing whitespace * chessboard: fix debug drawing * chessboard: fix some issues during code review * chessboard: normalize asymmetric chessboard * chessboard: fix float double warning * remove trailing whitespace * chessboards: fix compiler warnings * chessboards: fix compiler warnings * checkerboard: some performance improvements * chessboard: remove NULL macros for language bindinges from internal headers * chessboard: shorten license terms * chessboard: remove unused internal method * chessboard: set helper functions to static * chessboard: fix normalizePoints1D using unshifted points * chessboard: remove wrongly copied text * chessboard: use CV_CheckTypeEQ macro * chessboard: comment all NaN checks * chessboard: use consistent color conversion * chessboard: use CheckChannelEQ macro * chessboard: assume gray color image for internal methods * chessboard: use std::swap * chessboard: use Mat.dataend * chessboard: fix compiler warnings * chessboard: replace some checks witch CV_CHECK macro * chessboard: fix comparison function for partial sort * chessboard: small cleanup * chessboard: use short license header * chessboard: rename findChessboard2 to findChessboardSB * chessboard: fix type in unit test
6 years ago
bool CV_ChessboardDetectorTest::findChessboardCornersWrapper(InputArray image, Size patternSize, OutputArray corners,int flags)
{
switch(pattern)
{
case CHESSBOARD:
case CHESSBOARD_PLAIN:
Merge pull request #12147 from D-Alex:master * add new chessboard detector The chessboar detector is based on the paper. Accurate Detection and Localization of Checkerboard Corners for Calibration Alexander Duda, Udo Frese British Machine Vision Conference, o.A., 2018. It utilizes point symmetry of checkerboard corners in combination with a localized Radon transform approximated by box filters to achieve high performance even on large images. Here, tests have shown that the ability to localize checkerboard corners is close to the theoretical limit of 1/100 of a pixel while being considerably less sensitive to image noise than standard methods. * chessboard: add reference to bibtex file * chessboard: add dependency to opencv_flann * fix: test chesscorners. It is valid to return an empty list In case no chessboard was detected it should be valid for the detector to return an empty list. For simplifcation, it should be allowed to return any number of corners if they are flagged as not found. * fix: opencv.bib remove empty lines * fix: doc findChessboardCorners replace cvSize with cv::Size * chessboard tests: factor out logic selecting detector * chessboard: add unit test for findChessboardCorners2 This is includes a new chessboard generator which supports subpix corners with high accuracy by wrapping an optimal chessboard using wrapPerspective. * fix: chessboard unit test - overwrite of default parameter flag of findCirclesGrid * chessboard: remove trailing whitespace * chessboard: fix debug drawing * chessboard: fix some issues during code review * chessboard: normalize asymmetric chessboard * chessboard: fix float double warning * remove trailing whitespace * chessboards: fix compiler warnings * chessboards: fix compiler warnings * checkerboard: some performance improvements * chessboard: remove NULL macros for language bindinges from internal headers * chessboard: shorten license terms * chessboard: remove unused internal method * chessboard: set helper functions to static * chessboard: fix normalizePoints1D using unshifted points * chessboard: remove wrongly copied text * chessboard: use CV_CheckTypeEQ macro * chessboard: comment all NaN checks * chessboard: use consistent color conversion * chessboard: use CheckChannelEQ macro * chessboard: assume gray color image for internal methods * chessboard: use std::swap * chessboard: use Mat.dataend * chessboard: fix compiler warnings * chessboard: replace some checks witch CV_CHECK macro * chessboard: fix comparison function for partial sort * chessboard: small cleanup * chessboard: use short license header * chessboard: rename findChessboard2 to findChessboardSB * chessboard: fix type in unit test
6 years ago
return findChessboardCorners(image,patternSize,corners,flags);
case CHESSBOARD_SB:
// check default settings until flags have been specified
return findChessboardCornersSB(image,patternSize,corners,0);
case ASYMMETRIC_CIRCLES_GRID:
flags |= CALIB_CB_ASYMMETRIC_GRID | algorithmFlags;
return findCirclesGrid(image, patternSize,corners,flags);
case CIRCLES_GRID:
flags |= CALIB_CB_SYMMETRIC_GRID;
return findCirclesGrid(image, patternSize,corners,flags);
default:
ts->printf( cvtest::TS::LOG, "Internal Error: unsupported chessboard pattern" );
ts->set_failed_test_info( cvtest::TS::FAIL_GENERIC);
}
return false;
}
bool CV_ChessboardDetectorTest::checkByGenerator()
{
bool res = true;
//theRNG() = 0x58e6e895b9913160;
//cv::DefaultRngAuto dra;
//theRNG() = *ts->get_rng();
Mat bg(Size(800, 600), CV_8UC3, Scalar::all(255));
randu(bg, Scalar::all(0), Scalar::all(255));
GaussianBlur(bg, bg, Size(5, 5), 0.0);
Mat_<float> camMat(3, 3);
camMat << 300.f, 0.f, bg.cols/2.f, 0, 300.f, bg.rows/2.f, 0.f, 0.f, 1.f;
Mat_<float> distCoeffs(1, 5);
distCoeffs << 1.2f, 0.2f, 0.f, 0.f, 0.f;
const Size sizes[] = { Size(6, 6), Size(8, 6), Size(11, 12), Size(5, 4) };
const size_t sizes_num = sizeof(sizes)/sizeof(sizes[0]);
const int test_num = 16;
int progress = 0;
for(int i = 0; i < test_num; ++i)
{
SCOPED_TRACE(cv::format("test_num=%d", test_num));
progress = update_progress( progress, i, test_num, 0 );
ChessBoardGenerator cbg(sizes[i % sizes_num]);
vector<Point2f> corners_generated;
Mat cb = cbg(bg, camMat, distCoeffs, corners_generated);
if(!validateData(cbg, cb.size(), corners_generated))
{
ts->printf( cvtest::TS::LOG, "Chess board skipped - too small" );
continue;
}
/*cb = cb * 0.8 + Scalar::all(30);
GaussianBlur(cb, cb, Size(3, 3), 0.8); */
//cv::addWeighted(cb, 0.8, bg, 0.2, 20, cb);
//cv::namedWindow("CB"); cv::imshow("CB", cb); cv::waitKey();
vector<Point2f> corners_found;
int flags = i % 8; // need to check branches for all flags
Merge pull request #12147 from D-Alex:master * add new chessboard detector The chessboar detector is based on the paper. Accurate Detection and Localization of Checkerboard Corners for Calibration Alexander Duda, Udo Frese British Machine Vision Conference, o.A., 2018. It utilizes point symmetry of checkerboard corners in combination with a localized Radon transform approximated by box filters to achieve high performance even on large images. Here, tests have shown that the ability to localize checkerboard corners is close to the theoretical limit of 1/100 of a pixel while being considerably less sensitive to image noise than standard methods. * chessboard: add reference to bibtex file * chessboard: add dependency to opencv_flann * fix: test chesscorners. It is valid to return an empty list In case no chessboard was detected it should be valid for the detector to return an empty list. For simplifcation, it should be allowed to return any number of corners if they are flagged as not found. * fix: opencv.bib remove empty lines * fix: doc findChessboardCorners replace cvSize with cv::Size * chessboard tests: factor out logic selecting detector * chessboard: add unit test for findChessboardCorners2 This is includes a new chessboard generator which supports subpix corners with high accuracy by wrapping an optimal chessboard using wrapPerspective. * fix: chessboard unit test - overwrite of default parameter flag of findCirclesGrid * chessboard: remove trailing whitespace * chessboard: fix debug drawing * chessboard: fix some issues during code review * chessboard: normalize asymmetric chessboard * chessboard: fix float double warning * remove trailing whitespace * chessboards: fix compiler warnings * chessboards: fix compiler warnings * checkerboard: some performance improvements * chessboard: remove NULL macros for language bindinges from internal headers * chessboard: shorten license terms * chessboard: remove unused internal method * chessboard: set helper functions to static * chessboard: fix normalizePoints1D using unshifted points * chessboard: remove wrongly copied text * chessboard: use CV_CheckTypeEQ macro * chessboard: comment all NaN checks * chessboard: use consistent color conversion * chessboard: use CheckChannelEQ macro * chessboard: assume gray color image for internal methods * chessboard: use std::swap * chessboard: use Mat.dataend * chessboard: fix compiler warnings * chessboard: replace some checks witch CV_CHECK macro * chessboard: fix comparison function for partial sort * chessboard: small cleanup * chessboard: use short license header * chessboard: rename findChessboard2 to findChessboardSB * chessboard: fix type in unit test
6 years ago
bool found = findChessboardCornersWrapper(cb, cbg.cornersSize(), corners_found, flags);
if (!found)
{
ts->printf( cvtest::TS::LOG, "Chess board corners not found\n" );
ts->set_failed_test_info( cvtest::TS::FAIL_BAD_ACCURACY );
res = false;
return res;
}
double err = calcErrorMinError(cbg.cornersSize(), corners_found, corners_generated);
EXPECT_LE(err, rough_success_error_level) << "bad accuracy of corner guesses";
#if 0
if (err >= rough_success_error_level)
{
imshow("cb", cb);
Mat cb_corners = cb.clone();
cv::drawChessboardCorners(cb_corners, cbg.cornersSize(), Mat(corners_found), found);
imshow("corners", cb_corners);
waitKey(0);
}
#endif
}
/* ***** negative ***** */
{
vector<Point2f> corners_found;
Merge pull request #12147 from D-Alex:master * add new chessboard detector The chessboar detector is based on the paper. Accurate Detection and Localization of Checkerboard Corners for Calibration Alexander Duda, Udo Frese British Machine Vision Conference, o.A., 2018. It utilizes point symmetry of checkerboard corners in combination with a localized Radon transform approximated by box filters to achieve high performance even on large images. Here, tests have shown that the ability to localize checkerboard corners is close to the theoretical limit of 1/100 of a pixel while being considerably less sensitive to image noise than standard methods. * chessboard: add reference to bibtex file * chessboard: add dependency to opencv_flann * fix: test chesscorners. It is valid to return an empty list In case no chessboard was detected it should be valid for the detector to return an empty list. For simplifcation, it should be allowed to return any number of corners if they are flagged as not found. * fix: opencv.bib remove empty lines * fix: doc findChessboardCorners replace cvSize with cv::Size * chessboard tests: factor out logic selecting detector * chessboard: add unit test for findChessboardCorners2 This is includes a new chessboard generator which supports subpix corners with high accuracy by wrapping an optimal chessboard using wrapPerspective. * fix: chessboard unit test - overwrite of default parameter flag of findCirclesGrid * chessboard: remove trailing whitespace * chessboard: fix debug drawing * chessboard: fix some issues during code review * chessboard: normalize asymmetric chessboard * chessboard: fix float double warning * remove trailing whitespace * chessboards: fix compiler warnings * chessboards: fix compiler warnings * checkerboard: some performance improvements * chessboard: remove NULL macros for language bindinges from internal headers * chessboard: shorten license terms * chessboard: remove unused internal method * chessboard: set helper functions to static * chessboard: fix normalizePoints1D using unshifted points * chessboard: remove wrongly copied text * chessboard: use CV_CheckTypeEQ macro * chessboard: comment all NaN checks * chessboard: use consistent color conversion * chessboard: use CheckChannelEQ macro * chessboard: assume gray color image for internal methods * chessboard: use std::swap * chessboard: use Mat.dataend * chessboard: fix compiler warnings * chessboard: replace some checks witch CV_CHECK macro * chessboard: fix comparison function for partial sort * chessboard: small cleanup * chessboard: use short license header * chessboard: rename findChessboard2 to findChessboardSB * chessboard: fix type in unit test
6 years ago
bool found = findChessboardCornersWrapper(bg, Size(8, 7), corners_found,0);
if (found)
res = false;
ChessBoardGenerator cbg(Size(8, 7));
vector<Point2f> cg;
Mat cb = cbg(bg, camMat, distCoeffs, cg);
Merge pull request #12147 from D-Alex:master * add new chessboard detector The chessboar detector is based on the paper. Accurate Detection and Localization of Checkerboard Corners for Calibration Alexander Duda, Udo Frese British Machine Vision Conference, o.A., 2018. It utilizes point symmetry of checkerboard corners in combination with a localized Radon transform approximated by box filters to achieve high performance even on large images. Here, tests have shown that the ability to localize checkerboard corners is close to the theoretical limit of 1/100 of a pixel while being considerably less sensitive to image noise than standard methods. * chessboard: add reference to bibtex file * chessboard: add dependency to opencv_flann * fix: test chesscorners. It is valid to return an empty list In case no chessboard was detected it should be valid for the detector to return an empty list. For simplifcation, it should be allowed to return any number of corners if they are flagged as not found. * fix: opencv.bib remove empty lines * fix: doc findChessboardCorners replace cvSize with cv::Size * chessboard tests: factor out logic selecting detector * chessboard: add unit test for findChessboardCorners2 This is includes a new chessboard generator which supports subpix corners with high accuracy by wrapping an optimal chessboard using wrapPerspective. * fix: chessboard unit test - overwrite of default parameter flag of findCirclesGrid * chessboard: remove trailing whitespace * chessboard: fix debug drawing * chessboard: fix some issues during code review * chessboard: normalize asymmetric chessboard * chessboard: fix float double warning * remove trailing whitespace * chessboards: fix compiler warnings * chessboards: fix compiler warnings * checkerboard: some performance improvements * chessboard: remove NULL macros for language bindinges from internal headers * chessboard: shorten license terms * chessboard: remove unused internal method * chessboard: set helper functions to static * chessboard: fix normalizePoints1D using unshifted points * chessboard: remove wrongly copied text * chessboard: use CV_CheckTypeEQ macro * chessboard: comment all NaN checks * chessboard: use consistent color conversion * chessboard: use CheckChannelEQ macro * chessboard: assume gray color image for internal methods * chessboard: use std::swap * chessboard: use Mat.dataend * chessboard: fix compiler warnings * chessboard: replace some checks witch CV_CHECK macro * chessboard: fix comparison function for partial sort * chessboard: small cleanup * chessboard: use short license header * chessboard: rename findChessboard2 to findChessboardSB * chessboard: fix type in unit test
6 years ago
found = findChessboardCornersWrapper(cb, Size(3, 4), corners_found,0);
if (found)
res = false;
Point2f c = std::accumulate(cg.begin(), cg.end(), Point2f(), std::plus<Point2f>()) * (1.f/cg.size());
Mat_<double> aff(2, 3);
aff << 1.0, 0.0, -(double)c.x, 0.0, 1.0, 0.0;
Mat sh;
warpAffine(cb, sh, aff, cb.size());
Merge pull request #12147 from D-Alex:master * add new chessboard detector The chessboar detector is based on the paper. Accurate Detection and Localization of Checkerboard Corners for Calibration Alexander Duda, Udo Frese British Machine Vision Conference, o.A., 2018. It utilizes point symmetry of checkerboard corners in combination with a localized Radon transform approximated by box filters to achieve high performance even on large images. Here, tests have shown that the ability to localize checkerboard corners is close to the theoretical limit of 1/100 of a pixel while being considerably less sensitive to image noise than standard methods. * chessboard: add reference to bibtex file * chessboard: add dependency to opencv_flann * fix: test chesscorners. It is valid to return an empty list In case no chessboard was detected it should be valid for the detector to return an empty list. For simplifcation, it should be allowed to return any number of corners if they are flagged as not found. * fix: opencv.bib remove empty lines * fix: doc findChessboardCorners replace cvSize with cv::Size * chessboard tests: factor out logic selecting detector * chessboard: add unit test for findChessboardCorners2 This is includes a new chessboard generator which supports subpix corners with high accuracy by wrapping an optimal chessboard using wrapPerspective. * fix: chessboard unit test - overwrite of default parameter flag of findCirclesGrid * chessboard: remove trailing whitespace * chessboard: fix debug drawing * chessboard: fix some issues during code review * chessboard: normalize asymmetric chessboard * chessboard: fix float double warning * remove trailing whitespace * chessboards: fix compiler warnings * chessboards: fix compiler warnings * checkerboard: some performance improvements * chessboard: remove NULL macros for language bindinges from internal headers * chessboard: shorten license terms * chessboard: remove unused internal method * chessboard: set helper functions to static * chessboard: fix normalizePoints1D using unshifted points * chessboard: remove wrongly copied text * chessboard: use CV_CheckTypeEQ macro * chessboard: comment all NaN checks * chessboard: use consistent color conversion * chessboard: use CheckChannelEQ macro * chessboard: assume gray color image for internal methods * chessboard: use std::swap * chessboard: use Mat.dataend * chessboard: fix compiler warnings * chessboard: replace some checks witch CV_CHECK macro * chessboard: fix comparison function for partial sort * chessboard: small cleanup * chessboard: use short license header * chessboard: rename findChessboard2 to findChessboardSB * chessboard: fix type in unit test
6 years ago
found = findChessboardCornersWrapper(sh, cbg.cornersSize(), corners_found,0);
if (found)
res = false;
vector< vector<Point> > cnts(1);
vector<Point>& cnt = cnts[0];
cnt.push_back(cg[ 0]); cnt.push_back(cg[0+2]);
cnt.push_back(cg[7+0]); cnt.push_back(cg[7+2]);
cv::drawContours(cb, cnts, -1, Scalar::all(128), FILLED);
Merge pull request #12147 from D-Alex:master * add new chessboard detector The chessboar detector is based on the paper. Accurate Detection and Localization of Checkerboard Corners for Calibration Alexander Duda, Udo Frese British Machine Vision Conference, o.A., 2018. It utilizes point symmetry of checkerboard corners in combination with a localized Radon transform approximated by box filters to achieve high performance even on large images. Here, tests have shown that the ability to localize checkerboard corners is close to the theoretical limit of 1/100 of a pixel while being considerably less sensitive to image noise than standard methods. * chessboard: add reference to bibtex file * chessboard: add dependency to opencv_flann * fix: test chesscorners. It is valid to return an empty list In case no chessboard was detected it should be valid for the detector to return an empty list. For simplifcation, it should be allowed to return any number of corners if they are flagged as not found. * fix: opencv.bib remove empty lines * fix: doc findChessboardCorners replace cvSize with cv::Size * chessboard tests: factor out logic selecting detector * chessboard: add unit test for findChessboardCorners2 This is includes a new chessboard generator which supports subpix corners with high accuracy by wrapping an optimal chessboard using wrapPerspective. * fix: chessboard unit test - overwrite of default parameter flag of findCirclesGrid * chessboard: remove trailing whitespace * chessboard: fix debug drawing * chessboard: fix some issues during code review * chessboard: normalize asymmetric chessboard * chessboard: fix float double warning * remove trailing whitespace * chessboards: fix compiler warnings * chessboards: fix compiler warnings * checkerboard: some performance improvements * chessboard: remove NULL macros for language bindinges from internal headers * chessboard: shorten license terms * chessboard: remove unused internal method * chessboard: set helper functions to static * chessboard: fix normalizePoints1D using unshifted points * chessboard: remove wrongly copied text * chessboard: use CV_CheckTypeEQ macro * chessboard: comment all NaN checks * chessboard: use consistent color conversion * chessboard: use CheckChannelEQ macro * chessboard: assume gray color image for internal methods * chessboard: use std::swap * chessboard: use Mat.dataend * chessboard: fix compiler warnings * chessboard: replace some checks witch CV_CHECK macro * chessboard: fix comparison function for partial sort * chessboard: small cleanup * chessboard: use short license header * chessboard: rename findChessboard2 to findChessboardSB * chessboard: fix type in unit test
6 years ago
found = findChessboardCornersWrapper(cb, cbg.cornersSize(), corners_found,0);
if (found)
res = false;
cv::drawChessboardCorners(cb, cbg.cornersSize(), Mat(corners_found), found);
}
return res;
}
Merge pull request #12147 from D-Alex:master * add new chessboard detector The chessboar detector is based on the paper. Accurate Detection and Localization of Checkerboard Corners for Calibration Alexander Duda, Udo Frese British Machine Vision Conference, o.A., 2018. It utilizes point symmetry of checkerboard corners in combination with a localized Radon transform approximated by box filters to achieve high performance even on large images. Here, tests have shown that the ability to localize checkerboard corners is close to the theoretical limit of 1/100 of a pixel while being considerably less sensitive to image noise than standard methods. * chessboard: add reference to bibtex file * chessboard: add dependency to opencv_flann * fix: test chesscorners. It is valid to return an empty list In case no chessboard was detected it should be valid for the detector to return an empty list. For simplifcation, it should be allowed to return any number of corners if they are flagged as not found. * fix: opencv.bib remove empty lines * fix: doc findChessboardCorners replace cvSize with cv::Size * chessboard tests: factor out logic selecting detector * chessboard: add unit test for findChessboardCorners2 This is includes a new chessboard generator which supports subpix corners with high accuracy by wrapping an optimal chessboard using wrapPerspective. * fix: chessboard unit test - overwrite of default parameter flag of findCirclesGrid * chessboard: remove trailing whitespace * chessboard: fix debug drawing * chessboard: fix some issues during code review * chessboard: normalize asymmetric chessboard * chessboard: fix float double warning * remove trailing whitespace * chessboards: fix compiler warnings * chessboards: fix compiler warnings * checkerboard: some performance improvements * chessboard: remove NULL macros for language bindinges from internal headers * chessboard: shorten license terms * chessboard: remove unused internal method * chessboard: set helper functions to static * chessboard: fix normalizePoints1D using unshifted points * chessboard: remove wrongly copied text * chessboard: use CV_CheckTypeEQ macro * chessboard: comment all NaN checks * chessboard: use consistent color conversion * chessboard: use CheckChannelEQ macro * chessboard: assume gray color image for internal methods * chessboard: use std::swap * chessboard: use Mat.dataend * chessboard: fix compiler warnings * chessboard: replace some checks witch CV_CHECK macro * chessboard: fix comparison function for partial sort * chessboard: small cleanup * chessboard: use short license header * chessboard: rename findChessboard2 to findChessboardSB * chessboard: fix type in unit test
6 years ago
// generates artificial checkerboards using warpPerspective which supports
// subpixel rendering. The transformation is found by transferring corners to
// the camera image using a virtual plane.
bool CV_ChessboardDetectorTest::checkByGeneratorHighAccuracy()
{
// draw 2D pattern
cv::Size pattern_size(6,5);
int cell_size = 80;
bool bwhite = true;
cv::Mat image = cv::Mat::ones((pattern_size.height+3)*cell_size,(pattern_size.width+3)*cell_size,CV_8UC1)*255;
cv::Mat pimage = image(Rect(cell_size,cell_size,(pattern_size.width+1)*cell_size,(pattern_size.height+1)*cell_size));
pimage = 0;
for(int row=0;row<=pattern_size.height;++row)
{
int y = int(cell_size*row+0.5F);
bool bwhite2 = bwhite;
for(int col=0;col<=pattern_size.width;++col)
{
if(bwhite2)
{
int x = int(cell_size*col+0.5F);
pimage(cv::Rect(x,y,cell_size,cell_size)) = 255;
}
bwhite2 = !bwhite2;
}
bwhite = !bwhite;
}
// generate 2d points
std::vector<Point2f> pts1,pts2,pts1_all,pts2_all;
std::vector<Point3f> pts3d;
for(int row=0;row<pattern_size.height;++row)
{
int y = int(cell_size*(row+2));
for(int col=0;col<pattern_size.width;++col)
{
int x = int(cell_size*(col+2));
pts1_all.push_back(cv::Point2f(x-0.5F,y-0.5F));
}
}
// back project chessboard corners to a virtual plane
double fx = 500;
double fy = 500;
cv::Point2f center(250,250);
double fxi = 1.0/fx;
double fyi = 1.0/fy;
for(auto &&pt : pts1_all)
{
// calc camera ray
cv::Vec3f ray(float((pt.x-center.x)*fxi),float((pt.y-center.y)*fyi),1.0F);
ray /= cv::norm(ray);
// intersect ray with virtual plane
cv::Scalar plane(0,0,1,-1);
cv::Vec3f n(float(plane(0)),float(plane(1)),float(plane(2)));
cv::Point3f p0(0,0,0);
cv::Point3f l0(0,0,0); // camera center in world coordinates
p0.z = float(-plane(3)/plane(2));
double val1 = ray.dot(n);
if(val1 == 0)
{
ts->printf( cvtest::TS::LOG, "Internal Error: ray and plane are parallel" );
ts->set_failed_test_info( cvtest::TS::FAIL_GENERIC);
return false;
}
pts3d.push_back(Point3f(ray/val1*cv::Vec3f((p0-l0)).dot(n))+l0);
}
// generate multiple rotations
for(int i=15;i<90;i=i+15)
{
// project 3d points to new camera
Vec3f rvec(0.0F,0.05F,float(float(i)/180.0*CV_PI));
Merge pull request #12147 from D-Alex:master * add new chessboard detector The chessboar detector is based on the paper. Accurate Detection and Localization of Checkerboard Corners for Calibration Alexander Duda, Udo Frese British Machine Vision Conference, o.A., 2018. It utilizes point symmetry of checkerboard corners in combination with a localized Radon transform approximated by box filters to achieve high performance even on large images. Here, tests have shown that the ability to localize checkerboard corners is close to the theoretical limit of 1/100 of a pixel while being considerably less sensitive to image noise than standard methods. * chessboard: add reference to bibtex file * chessboard: add dependency to opencv_flann * fix: test chesscorners. It is valid to return an empty list In case no chessboard was detected it should be valid for the detector to return an empty list. For simplifcation, it should be allowed to return any number of corners if they are flagged as not found. * fix: opencv.bib remove empty lines * fix: doc findChessboardCorners replace cvSize with cv::Size * chessboard tests: factor out logic selecting detector * chessboard: add unit test for findChessboardCorners2 This is includes a new chessboard generator which supports subpix corners with high accuracy by wrapping an optimal chessboard using wrapPerspective. * fix: chessboard unit test - overwrite of default parameter flag of findCirclesGrid * chessboard: remove trailing whitespace * chessboard: fix debug drawing * chessboard: fix some issues during code review * chessboard: normalize asymmetric chessboard * chessboard: fix float double warning * remove trailing whitespace * chessboards: fix compiler warnings * chessboards: fix compiler warnings * checkerboard: some performance improvements * chessboard: remove NULL macros for language bindinges from internal headers * chessboard: shorten license terms * chessboard: remove unused internal method * chessboard: set helper functions to static * chessboard: fix normalizePoints1D using unshifted points * chessboard: remove wrongly copied text * chessboard: use CV_CheckTypeEQ macro * chessboard: comment all NaN checks * chessboard: use consistent color conversion * chessboard: use CheckChannelEQ macro * chessboard: assume gray color image for internal methods * chessboard: use std::swap * chessboard: use Mat.dataend * chessboard: fix compiler warnings * chessboard: replace some checks witch CV_CHECK macro * chessboard: fix comparison function for partial sort * chessboard: small cleanup * chessboard: use short license header * chessboard: rename findChessboard2 to findChessboardSB * chessboard: fix type in unit test
6 years ago
Vec3f tvec(0,0,0);
cv::Mat k = (cv::Mat_<double>(3,3) << fx/2,0,center.x*2, 0,fy/2,center.y, 0,0,1);
cv::projectPoints(pts3d,rvec,tvec,k,cv::Mat(),pts2_all);
// get perspective transform using four correspondences and wrap original image
pts1.clear();
pts2.clear();
pts1.push_back(pts1_all[0]);
pts1.push_back(pts1_all[pattern_size.width-1]);
pts1.push_back(pts1_all[pattern_size.width*pattern_size.height-1]);
pts1.push_back(pts1_all[pattern_size.width*(pattern_size.height-1)]);
pts2.push_back(pts2_all[0]);
pts2.push_back(pts2_all[pattern_size.width-1]);
pts2.push_back(pts2_all[pattern_size.width*pattern_size.height-1]);
pts2.push_back(pts2_all[pattern_size.width*(pattern_size.height-1)]);
Mat m2 = getPerspectiveTransform(pts1,pts2);
Mat out(image.size(),image.type());
warpPerspective(image,out,m2,out.size());
// find checkerboard
vector<Point2f> corners_found;
bool found = findChessboardCornersWrapper(out,pattern_size,corners_found,0);
if (!found)
{
ts->printf( cvtest::TS::LOG, "Chess board corners not found\n" );
ts->set_failed_test_info( cvtest::TS::FAIL_BAD_ACCURACY );
return false;
}
double err = calcErrorMinError(pattern_size,corners_found,pts2_all);
if(err > 0.08)
{
ts->printf( cvtest::TS::LOG, "bad accuracy of corner guesses" );
ts->set_failed_test_info( cvtest::TS::FAIL_BAD_ACCURACY );
return false;
}
//cv::cvtColor(out,out,cv::COLOR_GRAY2BGR);
//cv::drawChessboardCorners(out,pattern_size,corners_found,true);
//cv::imshow("img",out);
//cv::waitKey(-1);
}
return true;
}
TEST(Calib3d_ChessboardDetector, accuracy) { CV_ChessboardDetectorTest test( CHESSBOARD ); test.safe_run(); }
Merge pull request #12147 from D-Alex:master * add new chessboard detector The chessboar detector is based on the paper. Accurate Detection and Localization of Checkerboard Corners for Calibration Alexander Duda, Udo Frese British Machine Vision Conference, o.A., 2018. It utilizes point symmetry of checkerboard corners in combination with a localized Radon transform approximated by box filters to achieve high performance even on large images. Here, tests have shown that the ability to localize checkerboard corners is close to the theoretical limit of 1/100 of a pixel while being considerably less sensitive to image noise than standard methods. * chessboard: add reference to bibtex file * chessboard: add dependency to opencv_flann * fix: test chesscorners. It is valid to return an empty list In case no chessboard was detected it should be valid for the detector to return an empty list. For simplifcation, it should be allowed to return any number of corners if they are flagged as not found. * fix: opencv.bib remove empty lines * fix: doc findChessboardCorners replace cvSize with cv::Size * chessboard tests: factor out logic selecting detector * chessboard: add unit test for findChessboardCorners2 This is includes a new chessboard generator which supports subpix corners with high accuracy by wrapping an optimal chessboard using wrapPerspective. * fix: chessboard unit test - overwrite of default parameter flag of findCirclesGrid * chessboard: remove trailing whitespace * chessboard: fix debug drawing * chessboard: fix some issues during code review * chessboard: normalize asymmetric chessboard * chessboard: fix float double warning * remove trailing whitespace * chessboards: fix compiler warnings * chessboards: fix compiler warnings * checkerboard: some performance improvements * chessboard: remove NULL macros for language bindinges from internal headers * chessboard: shorten license terms * chessboard: remove unused internal method * chessboard: set helper functions to static * chessboard: fix normalizePoints1D using unshifted points * chessboard: remove wrongly copied text * chessboard: use CV_CheckTypeEQ macro * chessboard: comment all NaN checks * chessboard: use consistent color conversion * chessboard: use CheckChannelEQ macro * chessboard: assume gray color image for internal methods * chessboard: use std::swap * chessboard: use Mat.dataend * chessboard: fix compiler warnings * chessboard: replace some checks witch CV_CHECK macro * chessboard: fix comparison function for partial sort * chessboard: small cleanup * chessboard: use short license header * chessboard: rename findChessboard2 to findChessboardSB * chessboard: fix type in unit test
6 years ago
TEST(Calib3d_ChessboardDetector2, accuracy) { CV_ChessboardDetectorTest test( CHESSBOARD_SB ); test.safe_run(); }
TEST(Calib3d_ChessboardDetector3, accuracy) { CV_ChessboardDetectorTest test( CHESSBOARD_PLAIN ); test.safe_run(); }
TEST(Calib3d_CirclesPatternDetector, accuracy) { CV_ChessboardDetectorTest test( CIRCLES_GRID ); test.safe_run(); }
TEST(Calib3d_AsymmetricCirclesPatternDetector, accuracy) { CV_ChessboardDetectorTest test( ASYMMETRIC_CIRCLES_GRID ); test.safe_run(); }
#ifdef HAVE_OPENCV_FLANN
TEST(Calib3d_AsymmetricCirclesPatternDetectorWithClustering, accuracy) { CV_ChessboardDetectorTest test( ASYMMETRIC_CIRCLES_GRID, CALIB_CB_CLUSTERING ); test.safe_run(); }
#endif
TEST(Calib3d_CirclesPatternDetectorWithClustering, accuracy)
{
cv::String dataDir = string(TS::ptr()->get_data_path()) + "cv/cameracalibration/circles/";
cv::Mat expected;
FileStorage fs(dataDir + "circles_corners15.dat", FileStorage::READ);
fs["corners"] >> expected;
fs.release();
cv::Mat image = cv::imread(dataDir + "circles15.png");
std::vector<Point2f> centers;
cv::findCirclesGrid(image, Size(10, 8), centers, CALIB_CB_SYMMETRIC_GRID | CALIB_CB_CLUSTERING);
ASSERT_EQ(expected.total(), centers.size());
double error = calcError(centers, expected);
ASSERT_LE(error, precise_success_error_level);
}
TEST(Calib3d_AsymmetricCirclesPatternDetector, regression_18713)
{
float pts_[][2] = {
{ 166.5, 107 }, { 146, 236 }, { 147, 92 }, { 184, 162 }, { 150, 185.5 },
{ 215, 105 }, { 270.5, 186 }, { 159, 142 }, { 6, 205.5 }, { 32, 148.5 },
{ 126, 163.5 }, { 181, 208.5 }, { 240.5, 62 }, { 84.5, 76.5 }, { 190, 120.5 },
{ 10, 189 }, { 266, 104 }, { 307.5, 207.5 }, { 97, 184 }, { 116.5, 210 },
{ 114, 139 }, { 84.5, 233 }, { 269.5, 139 }, { 136, 126.5 }, { 120, 107.5 },
{ 129.5, 65.5 }, { 212.5, 140.5 }, { 204.5, 60.5 }, { 207.5, 241 }, { 61.5, 94.5 },
{ 186.5, 61.5 }, { 220, 63 }, { 239, 120.5 }, { 212, 186 }, { 284, 87.5 },
{ 62, 114.5 }, { 283, 61.5 }, { 238.5, 88.5 }, { 243, 159 }, { 245, 208 },
{ 298.5, 158.5 }, { 57, 129 }, { 156.5, 63.5 }, { 192, 90.5 }, { 281, 235.5 },
{ 172, 62.5 }, { 291.5, 119.5 }, { 90, 127 }, { 68.5, 166.5 }, { 108.5, 83.5 },
{ 22, 176 }
};
Mat candidates(51, 1, CV_32FC2, (void*)pts_);
Size patternSize(4, 9);
std::vector< Point2f > result;
bool res = false;
// issue reports about hangs
EXPECT_NO_THROW(res = findCirclesGrid(candidates, patternSize, result, CALIB_CB_ASYMMETRIC_GRID, Ptr<FeatureDetector>()/*blobDetector=NULL*/));
EXPECT_FALSE(res);
if (cvtest::debugLevel > 0)
{
std::cout << Mat(candidates) << std::endl;
std::cout << Mat(result) << std::endl;
Mat img(Size(400, 300), CV_8UC3, Scalar::all(0));
std::vector< Point2f > centers;
candidates.copyTo(centers);
for (size_t i = 0; i < centers.size(); i++)
{
const Point2f& pt = centers[i];
//printf("{ %g, %g }, \n", pt.x, pt.y);
circle(img, pt, 5, Scalar(0, 255, 0));
}
for (size_t i = 0; i < result.size(); i++)
{
const Point2f& pt = result[i];
circle(img, pt, 10, Scalar(0, 0, 255));
}
imwrite("test_18713.png", img);
if (cvtest::debugLevel >= 10)
{
imshow("result", img);
waitKey();
}
}
}
TEST(Calib3d_AsymmetricCirclesPatternDetector, regression_19498)
{
float pts_[121][2] = {
{ 84.7462f, 404.504f }, { 49.1586f, 404.092f }, { 12.3362f, 403.434f }, { 102.542f, 386.214f }, { 67.6042f, 385.475f },
{ 31.4982f, 384.569f }, { 141.231f, 377.856f }, { 332.834f, 370.745f }, { 85.7663f, 367.261f }, { 50.346f, 366.051f },
{ 13.7726f, 364.663f }, { 371.746f, 362.011f }, { 68.8543f, 347.883f }, { 32.9334f, 346.263f }, { 331.926f, 343.291f },
{ 351.535f, 338.112f }, { 51.7951f, 328.247f }, { 15.4613f, 326.095f }, { 311.719f, 319.578f }, { 330.947f, 313.708f },
{ 256.706f, 307.584f }, { 34.6834f, 308.167f }, { 291.085f, 295.429f }, { 17.4316f, 287.824f }, { 252.928f, 277.92f },
{ 270.19f, 270.93f }, { 288.473f, 263.484f }, { 216.401f, 260.94f }, { 232.195f, 253.656f }, { 266.757f, 237.708f },
{ 211.323f, 229.005f }, { 227.592f, 220.498f }, { 154.749f, 188.52f }, { 222.52f, 184.906f }, { 133.85f, 163.968f },
{ 200.024f, 158.05f }, { 147.485f, 153.643f }, { 161.967f, 142.633f }, { 177.396f, 131.059f }, { 125.909f, 128.116f },
{ 139.817f, 116.333f }, { 91.8639f, 114.454f }, { 104.343f, 102.542f }, { 117.635f, 89.9116f }, { 70.9465f, 89.4619f },
{ 82.8524f, 76.7862f }, { 131.738f, 76.4741f }, { 95.5012f, 63.3351f }, { 109.034f, 49.0424f }, { 314.886f, 374.711f },
{ 351.735f, 366.489f }, { 279.113f, 357.05f }, { 313.371f, 348.131f }, { 260.123f, 335.271f }, { 276.346f, 330.325f },
{ 293.588f, 325.133f }, { 240.86f, 313.143f }, { 273.436f, 301.667f }, { 206.762f, 296.574f }, { 309.877f, 288.796f },
{ 187.46f, 274.319f }, { 201.521f, 267.804f }, { 248.973f, 245.918f }, { 181.644f, 244.655f }, { 196.025f, 237.045f },
{ 148.41f, 229.131f }, { 161.604f, 221.215f }, { 175.455f, 212.873f }, { 244.748f, 211.459f }, { 128.661f, 206.109f },
{ 190.217f, 204.108f }, { 141.346f, 197.568f }, { 205.876f, 194.781f }, { 168.937f, 178.948f }, { 121.006f, 173.714f },
{ 183.998f, 168.806f }, { 88.9095f, 159.731f }, { 100.559f, 149.867f }, { 58.553f, 146.47f }, { 112.849f, 139.302f },
{ 80.0968f, 125.74f }, { 39.24f, 123.671f }, { 154.582f, 103.85f }, { 59.7699f, 101.49f }, { 266.334f, 385.387f },
{ 234.053f, 368.718f }, { 263.347f, 361.184f }, { 244.763f, 339.958f }, { 198.16f, 328.214f }, { 211.675f, 323.407f },
{ 225.905f, 318.426f }, { 192.98f, 302.119f }, { 221.267f, 290.693f }, { 161.437f, 286.46f }, { 236.656f, 284.476f },
{ 168.023f, 251.799f }, { 105.385f, 221.988f }, { 116.724f, 214.25f }, { 97.2959f, 191.81f }, { 108.89f, 183.05f },
{ 77.9896f, 169.242f }, { 48.6763f, 156.088f }, { 68.9635f, 136.415f }, { 29.8484f, 133.886f }, { 49.1966f, 112.826f },
{ 113.059f, 29.003f }, { 251.698f, 388.562f }, { 281.689f, 381.929f }, { 297.875f, 378.518f }, { 248.376f, 365.025f },
{ 295.791f, 352.763f }, { 216.176f, 348.586f }, { 230.143f, 344.443f }, { 179.89f, 307.457f }, { 174.083f, 280.51f },
{ 142.867f, 265.085f }, { 155.127f, 258.692f }, { 124.187f, 243.661f }, { 136.01f, 236.553f }, { 86.4651f, 200.13f },
{ 67.5711f, 178.221f }
};
Mat candidates(121, 1, CV_32FC2, (void*)pts_);
Size patternSize(13, 8);
std::vector< Point2f > result;
bool res = false;
EXPECT_NO_THROW(res = findCirclesGrid(candidates, patternSize, result, CALIB_CB_SYMMETRIC_GRID, Ptr<FeatureDetector>()/*blobDetector=NULL*/));
EXPECT_FALSE(res);
}
TEST(Calib3d_RotatedCirclesPatternDetector, issue_24964)
{
string path = cvtest::findDataFile("cv/cameracalibration/circles/circles_24964.png");
Mat image = cv::imread(path);
ASSERT_FALSE(image.empty()) << "Can't read image: " << path;
vector<Point2f> centers;
Size parrernSize(7, 6);
Mat goldCenters(parrernSize.height, parrernSize.width, CV_32FC2);
Point2f firstGoldCenter(380.f, 430.f);
for (int i = 0; i < parrernSize.height; i++)
{
for (int j = 0; j < parrernSize.width; j++)
{
goldCenters.at<Point2f>(i, j) = Point2f(firstGoldCenter.x + j * 100.f, firstGoldCenter.y + i * 100.f);
}
}
bool found = false;
found = findCirclesGrid(image, parrernSize, centers, CALIB_CB_SYMMETRIC_GRID);
EXPECT_TRUE(found);
ASSERT_EQ(centers.size(), (size_t)parrernSize.area());
double error = calcError(centers, goldCenters);
EXPECT_LE(error, precise_success_error_level);
// "rotate" the circle grid by 90 degrees
swap(parrernSize.height, parrernSize.width);
found = findCirclesGrid(image, parrernSize, centers, CALIB_CB_SYMMETRIC_GRID);
error = calcError(centers, goldCenters.t());
EXPECT_TRUE(found);
ASSERT_EQ(centers.size(), (size_t)parrernSize.area());
EXPECT_LE(error, precise_success_error_level);
}
}} // namespace
/* End of file. */