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Merge pull request #6956 from mshabunin:fix-chessboard-bug

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pull/7353/head
Alexander Alekhin 8 years ago
parent f4b84dd45d b8bce55270
commit 73e1d64ae0
5 changed files with 515 additions and 656 deletions
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  1. 491
      modules/calib3d/src/calibinit.cpp
  2. 222
      modules/calib3d/src/checkchessboard.cpp
  3. 3
      modules/calib3d/src/precomp.hpp
  4. 37
      modules/calib3d/test/test_chesscorners.cpp
  5. 2
      modules/python/test/test_calibration.py

491
modules/calib3d/src/calibinit.cpp
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@ -76,6 +76,9 @@
#include <stdarg.h> #include <stdarg.h>
#include <vector> #include <vector>
using namespace cv;
using namespace std;
//#define ENABLE_TRIM_COL_ROW //#define ENABLE_TRIM_COL_ROW
//#define DEBUG_CHESSBOARD //#define DEBUG_CHESSBOARD
@ -88,13 +91,9 @@ static int PRINTF( const char* fmt, ... )
return vprintf(fmt, args); return vprintf(fmt, args);
} }
#else #else
static int PRINTF( const char*, ... ) #define PRINTF(...)
{
return 0;
}
#endif #endif
//===================================================================================== //=====================================================================================
// Implementation for the enhanced calibration object detection // Implementation for the enhanced calibration object detection
//===================================================================================== //=====================================================================================
@ -155,10 +154,42 @@ struct CvCBQuad
//===================================================================================== //=====================================================================================
//static CvMat* debug_img = 0; #ifdef DEBUG_CHESSBOARD
#include "opencv2/highgui.hpp"
#include "opencv2/imgproc.hpp"
static void SHOW(const std::string & name, Mat & img)
{
imshow(name, img);
while ((uchar)waitKey(0) != 'q') {}
}
static void SHOW_QUADS(const std::string & name, const Mat & img_, CvCBQuad * quads, int quads_count)
{
Mat img = img_.clone();
if (img.channels() == 1)
cvtColor(img, img, COLOR_GRAY2BGR);
for (int i = 0; i < quads_count; ++i)
{
CvCBQuad & quad = quads[i];
for (int j = 0; j < 4; ++j)
{
line(img, quad.corners[j]->pt, quad.corners[(j + 1) % 4]->pt, Scalar(0, 240, 0), 1, LINE_AA);
}
}
imshow(name, img);
while ((uchar)waitKey(0) != 'q') {}
}
#else
#define SHOW(...)
#define SHOW_QUADS(...)
#endif
//=====================================================================================
static int icvGenerateQuads( CvCBQuad **quads, CvCBCorner **corners, static int icvGenerateQuads( CvCBQuad **quads, CvCBCorner **corners,
CvMemStorage *storage, CvMat *image, int flags, int *max_quad_buf_size); CvMemStorage *storage, const Mat &image_, int flags, int *max_quad_buf_size);
static bool processQuads(CvCBQuad *quads, int quad_count, CvSize pattern_size, int max_quad_buf_size,
CvMemStorage * storage, CvCBCorner *corners, CvPoint2D32f *out_corners, int *out_corner_count, int & prev_sqr_size);
/*static int /*static int
icvGenerateQuadsEx( CvCBQuad **out_quads, CvCBCorner **out_corners, icvGenerateQuadsEx( CvCBQuad **out_quads, CvCBCorner **out_corners,
@ -195,35 +226,24 @@ static void icvRemoveQuadFromGroup(CvCBQuad **quads, int count, CvCBQuad *q0);
static int icvCheckBoardMonotony( CvPoint2D32f* corners, CvSize pattern_size ); static int icvCheckBoardMonotony( CvPoint2D32f* corners, CvSize pattern_size );
int cvCheckChessboardBinary(IplImage* src, CvSize size);
/***************************************************************************************************/ /***************************************************************************************************/
//COMPUTE INTENSITY HISTOGRAM OF INPUT IMAGE //COMPUTE INTENSITY HISTOGRAM OF INPUT IMAGE
static int icvGetIntensityHistogram( unsigned char* pucImage, int iSizeCols, int iSizeRows, std::vector<int>& piHist ); static int icvGetIntensityHistogram( const Mat & img, std::vector<int>& piHist )
//SMOOTH HISTOGRAM USING WINDOW OF SIZE 2*iWidth+1
static int icvSmoothHistogram( const std::vector<int>& piHist, std::vector<int>& piHistSmooth, int iWidth );
//COMPUTE FAST HISTOGRAM GRADIENT
static int icvGradientOfHistogram( const std::vector<int>& piHist, std::vector<int>& piHistGrad );
//PERFORM SMART IMAGE THRESHOLDING BASED ON ANALYSIS OF INTENSTY HISTOGRAM
static bool icvBinarizationHistogramBased( unsigned char* pucImg, int iCols, int iRows );
/***************************************************************************************************/
int icvGetIntensityHistogram( unsigned char* pucImage, int iSizeCols, int iSizeRows, std::vector<int>& piHist )
{ {
int iVal;
// sum up all pixel in row direction and divide by number of columns // sum up all pixel in row direction and divide by number of columns
for ( int j=0; j<iSizeRows; j++ ) for ( int j=0; j<img.rows; j++ )
{ {
for ( int i=0; i<iSizeCols; i++ ) const uchar * row = img.ptr(j);
for ( int i=0; i<img.cols; i++ )
{ {
iVal = (int)pucImage[j*iSizeCols+i]; piHist[row[i]]++;
piHist[iVal]++;
} }
} }
return 0; return 0;
} }
/***************************************************************************************************/ /***************************************************************************************************/
int icvSmoothHistogram( const std::vector<int>& piHist, std::vector<int>& piHistSmooth, int iWidth ) //SMOOTH HISTOGRAM USING WINDOW OF SIZE 2*iWidth+1
static int icvSmoothHistogram( const std::vector<int>& piHist, std::vector<int>& piHistSmooth, int iWidth )
{ {
int iIdx; int iIdx;
for ( int i=0; i<256; i++) for ( int i=0; i<256; i++)
@ -242,7 +262,8 @@ int icvSmoothHistogram( const std::vector<int>& piHist, std::vector<int>& piHist
return 0; return 0;
} }
/***************************************************************************************************/ /***************************************************************************************************/
int icvGradientOfHistogram( const std::vector<int>& piHist, std::vector<int>& piHistGrad ) //COMPUTE FAST HISTOGRAM GRADIENT
static int icvGradientOfHistogram( const std::vector<int>& piHist, std::vector<int>& piHistGrad )
{ {
piHistGrad[0] = 0; piHistGrad[0] = 0;
for ( int i=1; i<255; i++) for ( int i=1; i<255; i++)
@ -259,8 +280,12 @@ int icvGradientOfHistogram( const std::vector<int>& piHist, std::vector<int>& pi
return 0; return 0;
} }
/***************************************************************************************************/ /***************************************************************************************************/
bool icvBinarizationHistogramBased( unsigned char* pucImg, int iCols, int iRows ) //PERFORM SMART IMAGE THRESHOLDING BASED ON ANALYSIS OF INTENSTY HISTOGRAM
static bool icvBinarizationHistogramBased( Mat & img )
{ {
CV_Assert(img.channels() == 1 && img.depth() == CV_8U);
int iCols = img.cols;
int iRows = img.rows;
int iMaxPix = iCols*iRows; int iMaxPix = iCols*iRows;
int iMaxPix1 = iMaxPix/100; int iMaxPix1 = iMaxPix/100;
const int iNumBins = 256; const int iNumBins = 256;
@ -273,7 +298,7 @@ bool icvBinarizationHistogramBased( unsigned char* pucImg, int iCols, int iRows
int iIdx; int iIdx;
int iWidth = 1; int iWidth = 1;
icvGetIntensityHistogram( pucImg, iCols, iRows, piHistIntensity ); icvGetIntensityHistogram( img, piHistIntensity );
// get accumulated sum starting from bright // get accumulated sum starting from bright
piAccumSum[iNumBins-1] = piHistIntensity[iNumBins-1]; piAccumSum[iNumBins-1] = piHistIntensity[iNumBins-1];
@ -381,12 +406,13 @@ bool icvBinarizationHistogramBased( unsigned char* pucImg, int iCols, int iRows
{ {
for ( int jj=0; jj<iRows; jj++) for ( int jj=0; jj<iRows; jj++)
{ {
uchar * row = img.ptr(jj);
for ( int ii=0; ii<iCols; ii++) for ( int ii=0; ii<iCols; ii++)
{ {
if ( pucImg[jj*iCols+ii]< iThresh ) if ( row[ii] < iThresh )
pucImg[jj*iCols+ii] = 0; row[ii] = 0;
else else
pucImg[jj*iCols+ii] = 255; row[ii] = 255;
} }
} }
} }
@ -400,38 +426,23 @@ int cvFindChessboardCorners( const void* arr, CvSize pattern_size,
int flags ) int flags )
{ {
int found = 0; int found = 0;
CvCBQuad *quads = 0, **quad_group = 0; CvCBQuad *quads = 0;
CvCBCorner *corners = 0, **corner_group = 0; CvCBCorner *corners = 0;
IplImage* cImgSeg = 0;
cv::Ptr<CvMemStorage> storage;
try try
{ {
int k = 0; int k = 0;
const int min_dilations = 0; const int min_dilations = 0;
const int max_dilations = 7; const int max_dilations = 7;
cv::Ptr<CvMat> norm_img, thresh_img;
cv::Ptr<CvMemStorage> storage;
CvMat stub, *img = (CvMat*)arr;
cImgSeg = cvCreateImage(cvGetSize(img), IPL_DEPTH_8U, 1 );
memcpy( cImgSeg->imageData, cvPtr1D( img, 0), img->rows*img->cols );
CvMat stub2, *thresh_img_new;
thresh_img_new = cvGetMat( cImgSeg, &stub2, 0, 0 );
int expected_corners_num = (pattern_size.width/2+1)*(pattern_size.height/2+1);
int prev_sqr_size = 0;
if( out_corner_count ) if( out_corner_count )
*out_corner_count = 0; *out_corner_count = 0;
int quad_count = 0, group_idx = 0, dilations = 0; Mat img = cvarrToMat((CvMat*)arr).clone();
img = cvGetMat( img, &stub );
//debug_img = img;
if( CV_MAT_DEPTH( img->type ) != CV_8U || CV_MAT_CN( img->type ) == 2 ) if( img.depth() != CV_8U || (img.channels() != 1 && img.channels() != 3) )
CV_Error( CV_StsUnsupportedFormat, "Only 8-bit grayscale or color images are supported" ); CV_Error( CV_StsUnsupportedFormat, "Only 8-bit grayscale or color images are supported" );
if( pattern_size.width <= 2 || pattern_size.height <= 2 ) if( pattern_size.width <= 2 || pattern_size.height <= 2 )
@ -440,273 +451,124 @@ int cvFindChessboardCorners( const void* arr, CvSize pattern_size,
if( !out_corners ) if( !out_corners )
CV_Error( CV_StsNullPtr, "Null pointer to corners" ); CV_Error( CV_StsNullPtr, "Null pointer to corners" );
storage.reset(cvCreateMemStorage(0)); if (img.channels() != 1)
thresh_img.reset(cvCreateMat( img->rows, img->cols, CV_8UC1 ));
if( CV_MAT_CN(img->type) != 1 || (flags & CV_CALIB_CB_NORMALIZE_IMAGE) )
{ {
// equalize the input image histogram - cvtColor(img, img, COLOR_BGR2GRAY);
// that should make the contrast between "black" and "white" areas big enough
norm_img.reset(cvCreateMat( img->rows, img->cols, CV_8UC1 ));
if( CV_MAT_CN(img->type) != 1 )
{
cvCvtColor( img, norm_img, CV_BGR2GRAY );
img = norm_img;
} }
if( flags & CV_CALIB_CB_NORMALIZE_IMAGE )
{ Mat thresh_img_new = img.clone();
cvEqualizeHist( img, norm_img ); icvBinarizationHistogramBased( thresh_img_new ); // process image in-place
img = norm_img; SHOW("New binarization", thresh_img_new);
}
}
if( flags & CV_CALIB_CB_FAST_CHECK) if( flags & CV_CALIB_CB_FAST_CHECK)
{ {
//perform new method for checking chessboard using a binary image. //perform new method for checking chessboard using a binary image.
//image is binarised using a threshold dependent on the image histogram //image is binarised using a threshold dependent on the image histogram
icvBinarizationHistogramBased( (unsigned char*) cImgSeg->imageData, cImgSeg->width, cImgSeg->height ); if (checkChessboardBinary(thresh_img_new, pattern_size) <= 0) //fall back to the old method
int check_chessboard_result = cvCheckChessboardBinary(cImgSeg, pattern_size);
if(check_chessboard_result <= 0) //fall back to the old method
{ {
IplImage _img; if (checkChessboard(img, pattern_size) <= 0)
cvGetImage(img, &_img);
check_chessboard_result = cvCheckChessboard(&_img, pattern_size);
if(check_chessboard_result <= 0)
{ {
return 0; return found;
} }
} }
} }
storage.reset(cvCreateMemStorage(0));
int prev_sqr_size = 0;
// Try our standard "1" dilation, but if the pattern is not found, iterate the whole procedure with higher dilations. // Try our standard "1" dilation, but if the pattern is not found, iterate the whole procedure with higher dilations.
// This is necessary because some squares simply do not separate properly with a single dilation. However, // This is necessary because some squares simply do not separate properly with a single dilation. However,
// we want to use the minimum number of dilations possible since dilations cause the squares to become smaller, // we want to use the minimum number of dilations possible since dilations cause the squares to become smaller,
// making it difficult to detect smaller squares. // making it difficult to detect smaller squares.
for( dilations = min_dilations; dilations <= max_dilations; dilations++ ) for( int dilations = min_dilations; dilations <= max_dilations; dilations++ )
{ {
if (found) if (found)
break; // already found it break; // already found it
cvFree(&quads);
cvFree(&corners);
int max_quad_buf_size = 0;
//USE BINARY IMAGE COMPUTED USING icvBinarizationHistogramBased METHOD //USE BINARY IMAGE COMPUTED USING icvBinarizationHistogramBased METHOD
cvDilate( thresh_img_new, thresh_img_new, 0, 1 ); dilate( thresh_img_new, thresh_img_new, Mat(), Point(-1, -1), 1 );
// So we can find rectangles that go to the edge, we draw a white line around the image edge. // So we can find rectangles that go to the edge, we draw a white line around the image edge.
// Otherwise FindContours will miss those clipped rectangle contours. // Otherwise FindContours will miss those clipped rectangle contours.
// The border color will be the image mean, because otherwise we risk screwing up filters like cvSmooth()... // The border color will be the image mean, because otherwise we risk screwing up filters like cvSmooth()...
cvRectangle( thresh_img_new, cvPoint(0,0), cvPoint(thresh_img_new->cols-1, thresh_img_new->rows-1), CV_RGB(255,255,255), 3, 8); rectangle( thresh_img_new, Point(0,0), Point(thresh_img_new.cols-1, thresh_img_new.rows-1), Scalar(255,255,255), 3, LINE_8);
quad_count = icvGenerateQuads( &quads, &corners, storage, thresh_img_new, flags, &max_quad_buf_size ); int max_quad_buf_size = 0;
PRINTF("Quad count: %d/%d\n", quad_count, expected_corners_num); cvFree(&quads);
cvFree(&corners);
if( quad_count <= 0 ) int quad_count = icvGenerateQuads( &quads, &corners, storage, thresh_img_new, flags, &max_quad_buf_size );
{ PRINTF("Quad count: %d/%d\n", quad_count, (pattern_size.width/2+1)*(pattern_size.height/2+1));
continue; SHOW_QUADS("New quads", thresh_img_new, quads, quad_count);
} if (processQuads(quads, quad_count, pattern_size, max_quad_buf_size, storage, corners, out_corners, out_corner_count, prev_sqr_size))
// Find quad's neighbors
icvFindQuadNeighbors( quads, quad_count );
// allocate extra for adding in icvOrderFoundQuads
cvFree(&quad_group);
cvFree(&corner_group);
quad_group = (CvCBQuad**)cvAlloc( sizeof(quad_group[0]) * max_quad_buf_size);
corner_group = (CvCBCorner**)cvAlloc( sizeof(corner_group[0]) * max_quad_buf_size * 4 );
for( group_idx = 0; ; group_idx++ )
{
int count = 0;
count = icvFindConnectedQuads( quads, quad_count, quad_group, group_idx, storage );
int icount = count;
if( count == 0 )
break;
// order the quad corners globally
// maybe delete or add some
PRINTF("Starting ordering of inner quads\n");
count = icvOrderFoundConnectedQuads(count, quad_group, &quad_count, &quads, &corners, pattern_size, max_quad_buf_size, storage );
PRINTF("Orig count: %d After ordering: %d\n", icount, count);
if (count == 0)
continue; // haven't found inner quads
// If count is more than it should be, this will remove those quads
// which cause maximum deviation from a nice square pattern.
count = icvCleanFoundConnectedQuads( count, quad_group, pattern_size );
PRINTF("Connected group: %d orig count: %d cleaned: %d\n", group_idx, icount, count);
count = icvCheckQuadGroup( quad_group, count, corner_group, pattern_size );
PRINTF("Connected group: %d count: %d cleaned: %d\n", group_idx, icount, count);
int n = count > 0 ? pattern_size.width * pattern_size.height : -count;
n = MIN( n, pattern_size.width * pattern_size.height );
float sum_dist = 0;
int total = 0;
for(int i = 0; i < n; i++ )
{
int ni = 0;
float avgi = corner_group[i]->meanDist(&ni);
sum_dist += avgi*ni;
total += ni;
}
prev_sqr_size = cvRound(sum_dist/MAX(total, 1));
if( count > 0 || (out_corner_count && -count > *out_corner_count) )
{
// copy corners to output array
for(int i = 0; i < n; i++ )
out_corners[i] = corner_group[i]->pt;
if( out_corner_count )
*out_corner_count = n;
if( count == pattern_size.width*pattern_size.height &&
icvCheckBoardMonotony( out_corners, pattern_size ))
{
found = 1; found = 1;
break;
}
}
} }
}//dilations
PRINTF("Chessboard detection result 0: %d\n", found); PRINTF("Chessboard detection result 0: %d\n", found);
// revert to old, slower, method if detection failed // revert to old, slower, method if detection failed
if (!found) if (!found)
{ {
if( flags & CV_CALIB_CB_NORMALIZE_IMAGE )
{
equalizeHist( img, img );
}
Mat thresh_img;
prev_sqr_size = 0;
PRINTF("Fallback to old algorithm\n"); PRINTF("Fallback to old algorithm\n");
const bool useAdaptive = flags & CV_CALIB_CB_ADAPTIVE_THRESH;
if (!useAdaptive)
{
// empiric threshold level // empiric threshold level
// thresholding performed here and not inside the cycle to save processing time // thresholding performed here and not inside the cycle to save processing time
int thresh_level; double mean = cv::mean(img).val[0];
if ( !(flags & CV_CALIB_CB_ADAPTIVE_THRESH) ) int thresh_level = MAX(cvRound( mean - 10 ), 10);
{ threshold( img, thresh_img, thresh_level, 255, THRESH_BINARY );
double mean = cvAvg( img ).val[0];
thresh_level = cvRound( mean - 10 );
thresh_level = MAX( thresh_level, 10 );
cvThreshold( img, thresh_img, thresh_level, 255, CV_THRESH_BINARY );
} }
for( k = 0; k < 6; k++ ) //if flag CV_CALIB_CB_ADAPTIVE_THRESH is not set it doesn't make sense to iterate over k
int max_k = useAdaptive ? 6 : 1;
for( k = 0; k < max_k; k++ )
{ {
int max_quad_buf_size = 0; for( int dilations = min_dilations; dilations <= max_dilations; dilations++ )
for( dilations = min_dilations; dilations <= max_dilations; dilations++ )
{ {
if (found) if (found)
break; // already found it break; // already found it
cvFree(&quads);
cvFree(&corners);
// convert the input grayscale image to binary (black-n-white) // convert the input grayscale image to binary (black-n-white)
if( flags & CV_CALIB_CB_ADAPTIVE_THRESH ) if (useAdaptive)
{ {
int block_size = cvRound(prev_sqr_size == 0 ? int block_size = cvRound(prev_sqr_size == 0
MIN(img->cols,img->rows)*(k%2 == 0 ? 0.2 : 0.1): prev_sqr_size*2)|1; ? MIN(img.cols, img.rows) * (k % 2 == 0 ? 0.2 : 0.1)
: prev_sqr_size * 2);
block_size = block_size | 1;
// convert to binary // convert to binary
cvAdaptiveThreshold( img, thresh_img, 255, adaptiveThreshold( img, thresh_img, 255, ADAPTIVE_THRESH_MEAN_C, THRESH_BINARY, block_size, (k/2)*5 );
CV_ADAPTIVE_THRESH_MEAN_C, CV_THRESH_BINARY, block_size, (k/2)*5 );
if (dilations > 0) if (dilations > 0)
cvDilate( thresh_img, thresh_img, 0, dilations-1 ); dilate( thresh_img, thresh_img, Mat(), Point(-1, -1), dilations-1 );
} }
//if flag CV_CALIB_CB_ADAPTIVE_THRESH is not set it doesn't make sense
//to iterate over k
else else
{ {
k = 6; dilate( thresh_img, thresh_img, Mat(), Point(-1, -1), 1 );
cvDilate( thresh_img, thresh_img, 0, 1 );
} }
SHOW("Old binarization", thresh_img);
// So we can find rectangles that go to the edge, we draw a white line around the image edge. // So we can find rectangles that go to the edge, we draw a white line around the image edge.
// Otherwise FindContours will miss those clipped rectangle contours. // Otherwise FindContours will miss those clipped rectangle contours.
// The border color will be the image mean, because otherwise we risk screwing up filters like cvSmooth()... // The border color will be the image mean, because otherwise we risk screwing up filters like cvSmooth()...
cvRectangle( thresh_img, cvPoint(0,0), cvPoint(thresh_img->cols-1, rectangle( thresh_img, Point(0,0), Point(thresh_img.cols-1, thresh_img.rows-1), Scalar(255,255,255), 3, LINE_8);
thresh_img->rows-1), CV_RGB(255,255,255), 3, 8); int max_quad_buf_size = 0;
cvFree(&quads);
quad_count = icvGenerateQuads( &quads, &corners, storage, thresh_img, flags, &max_quad_buf_size); cvFree(&corners);
PRINTF("Quad count: %d/%d\n", quad_count, expected_corners_num); int quad_count = icvGenerateQuads( &quads, &corners, storage, thresh_img, flags, &max_quad_buf_size);
PRINTF("Quad count: %d/%d\n", quad_count, (pattern_size.width/2+1)*(pattern_size.height/2+1));
if( quad_count <= 0 ) SHOW_QUADS("Old quads", thresh_img, quads, quad_count);
{ if (processQuads(quads, quad_count, pattern_size, max_quad_buf_size, storage, corners, out_corners, out_corner_count, prev_sqr_size))
continue;
}
// Find quad's neighbors
icvFindQuadNeighbors( quads, quad_count );
// allocate extra for adding in icvOrderFoundQuads
cvFree(&quad_group);
cvFree(&corner_group);
quad_group = (CvCBQuad**)cvAlloc( sizeof(quad_group[0]) * max_quad_buf_size);
corner_group = (CvCBCorner**)cvAlloc( sizeof(corner_group[0]) * max_quad_buf_size * 4 );
for( group_idx = 0; ; group_idx++ )
{
int count = 0;
count = icvFindConnectedQuads( quads, quad_count, quad_group, group_idx, storage );
int icount = count;
if( count == 0 )
break;
// order the quad corners globally
// maybe delete or add some
PRINTF("Starting ordering of inner quads\n");
count = icvOrderFoundConnectedQuads(count, quad_group, &quad_count, &quads, &corners, pattern_size, max_quad_buf_size, storage );
PRINTF("Orig count: %d After ordering: %d\n", icount, count);
if (count == 0)
continue; // haven't found inner quads
// If count is more than it should be, this will remove those quads
// which cause maximum deviation from a nice square pattern.
count = icvCleanFoundConnectedQuads( count, quad_group, pattern_size );
PRINTF("Connected group: %d orig count: %d cleaned: %d\n", group_idx, icount, count);
count = icvCheckQuadGroup( quad_group, count, corner_group, pattern_size );
PRINTF("Connected group: %d count: %d cleaned: %d\n", group_idx, icount, count);
int n = count > 0 ? pattern_size.width * pattern_size.height : -count;
n = MIN( n, pattern_size.width * pattern_size.height );
float sum_dist = 0;
int total = 0;
for(int i = 0; i < n; i++ )
{
int ni = 0;
float avgi = corner_group[i]->meanDist(&ni);
sum_dist += avgi*ni;
total += ni;
}
prev_sqr_size = cvRound(sum_dist/MAX(total, 1));
if( count > 0 || (out_corner_count && -count > *out_corner_count) )
{
// copy corners to output array
for(int i = 0; i < n; i++ )
out_corners[i] = corner_group[i]->pt;
if( out_corner_count )
*out_corner_count = n;
if( count == pattern_size.width*pattern_size.height && icvCheckBoardMonotony( out_corners, pattern_size ))
{
found = 1; found = 1;
break;
}
} }
} }
}//dilations
}// for k = 0 -> 6
} }
PRINTF("Chessboard detection result 1: %d\n", found); PRINTF("Chessboard detection result 1: %d\n", found);
@ -722,8 +584,8 @@ int cvFindChessboardCorners( const void* arr, CvSize pattern_size,
const int BORDER = 8; const int BORDER = 8;
for( k = 0; k < pattern_size.width*pattern_size.height; k++ ) for( k = 0; k < pattern_size.width*pattern_size.height; k++ )
{ {
if( out_corners[k].x <= BORDER || out_corners[k].x > img->cols - BORDER || if( out_corners[k].x <= BORDER || out_corners[k].x > img.cols - BORDER ||
out_corners[k].y <= BORDER || out_corners[k].y > img->rows - BORDER ) out_corners[k].y <= BORDER || out_corners[k].y > img.rows - BORDER )
break; break;
} }
@ -748,18 +610,9 @@ int cvFindChessboardCorners( const void* arr, CvSize pattern_size,
} }
} }
} }
cv::Ptr<CvMat> gray;
if( CV_MAT_CN(img->type) != 1 )
{
gray.reset(cvCreateMat(img->rows, img->cols, CV_8UC1));
cvCvtColor(img, gray, CV_BGR2GRAY);
}
else
{
gray.reset(cvCloneMat(img));
}
int wsize = 2; int wsize = 2;
cvFindCornerSubPix( gray, out_corners, pattern_size.width*pattern_size.height, CvMat old_img(img);
cvFindCornerSubPix( &old_img, out_corners, pattern_size.width*pattern_size.height,
cvSize(wsize, wsize), cvSize(-1,-1), cvSize(wsize, wsize), cvSize(-1,-1),
cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER, 15, 0.1)); cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER, 15, 0.1));
} }
@ -768,17 +621,10 @@ int cvFindChessboardCorners( const void* arr, CvSize pattern_size,
{ {
cvFree(&quads); cvFree(&quads);
cvFree(&corners); cvFree(&corners);
cvFree(&quad_group);
cvFree(&corner_group);
cvFree(&cImgSeg);
throw; throw;
} }
cvFree(&quads); cvFree(&quads);
cvFree(&corners); cvFree(&corners);
cvFree(&quad_group);
cvFree(&corner_group);
cvFree(&cImgSeg);
return found; return found;
} }
@ -1866,8 +1712,9 @@ static void icvFindQuadNeighbors( CvCBQuad *quads, int quad_count )
static int static int
icvGenerateQuads( CvCBQuad **out_quads, CvCBCorner **out_corners, icvGenerateQuads( CvCBQuad **out_quads, CvCBCorner **out_corners,
CvMemStorage *storage, CvMat *image, int flags, int *max_quad_buf_size ) CvMemStorage *storage, const cv::Mat & image_, int flags, int *max_quad_buf_size )
{ {
CvMat image_old(image_), *image = &image_old;
int quad_count = 0; int quad_count = 0;
cv::Ptr<CvMemStorage> temp_storage; cv::Ptr<CvMemStorage> temp_storage;
@ -2011,6 +1858,88 @@ icvGenerateQuads( CvCBQuad **out_quads, CvCBCorner **out_corners,
return quad_count; return quad_count;
} }
static bool processQuads(CvCBQuad *quads, int quad_count, CvSize pattern_size, int max_quad_buf_size,
CvMemStorage * storage, CvCBCorner *corners, CvPoint2D32f *out_corners, int *out_corner_count, int & prev_sqr_size)
{
if( quad_count <= 0 )
return false;
bool found = false;
// Find quad's neighbors
icvFindQuadNeighbors( quads, quad_count );
// allocate extra for adding in icvOrderFoundQuads
CvCBQuad **quad_group = 0;
CvCBCorner **corner_group = 0;
quad_group = (CvCBQuad**)cvAlloc( sizeof(quad_group[0]) * max_quad_buf_size);
corner_group = (CvCBCorner**)cvAlloc( sizeof(corner_group[0]) * max_quad_buf_size * 4 );
for( int group_idx = 0; ; group_idx++ )
{
int count = icvFindConnectedQuads( quads, quad_count, quad_group, group_idx, storage );
if( count == 0 )
break;
// order the quad corners globally
// maybe delete or add some
PRINTF("Starting ordering of inner quads (%d)\n", count);
count = icvOrderFoundConnectedQuads(count, quad_group, &quad_count, &quads, &corners,
pattern_size, max_quad_buf_size, storage );
PRINTF("Finished ordering of inner quads (%d)\n", count);
if (count == 0)
continue; // haven't found inner quads
// If count is more than it should be, this will remove those quads
// which cause maximum deviation from a nice square pattern.
count = icvCleanFoundConnectedQuads( count, quad_group, pattern_size );
PRINTF("Connected group: %d, count: %d\n", group_idx, count);
count = icvCheckQuadGroup( quad_group, count, corner_group, pattern_size );
PRINTF("Connected group: %d, count: %d\n", group_idx, count);
int n = count > 0 ? pattern_size.width * pattern_size.height : -count;
n = MIN( n, pattern_size.width * pattern_size.height );
float sum_dist = 0;
int total = 0;
for(int i = 0; i < n; i++ )
{
int ni = 0;
float avgi = corner_group[i]->meanDist(&ni);
sum_dist += avgi*ni;
total += ni;
}
prev_sqr_size = cvRound(sum_dist/MAX(total, 1));
if( count > 0 || (out_corner_count && -count > *out_corner_count) )
{
// copy corners to output array
for(int i = 0; i < n; i++ )
out_corners[i] = corner_group[i]->pt;
if( out_corner_count )
*out_corner_count = n;
if( count == pattern_size.width*pattern_size.height
&& icvCheckBoardMonotony( out_corners, pattern_size ))
{
found = true;
break;
}
}
}
cvFree(&quad_group);
cvFree(&corner_group);
return found;
}
//==================================================================================================
CV_IMPL void CV_IMPL void
cvDrawChessboardCorners( CvArr* _image, CvSize pattern_size, cvDrawChessboardCorners( CvArr* _image, CvSize pattern_size,

222
modules/calib3d/src/checkchessboard.cpp
Unescape View File

@ -46,28 +46,26 @@
#include <vector> #include <vector>
#include <algorithm> #include <algorithm>
//#define DEBUG_WINDOWS using namespace cv;
using namespace std;
#if defined(DEBUG_WINDOWS) static void icvGetQuadrangleHypotheses(const std::vector<std::vector< cv::Point > > & contours, const std::vector< cv::Vec4i > & hierarchy, std::vector<std::pair<float, int> >& quads, int class_id)
# include "opencv2/opencv_modules.hpp"
# ifdef HAVE_OPENCV_HIGHGUI
# include "opencv2/highgui.hpp"
# else
# undef DEBUG_WINDOWS
# endif
#endif
int cvCheckChessboardBinary(IplImage* src, CvSize size);
static void icvGetQuadrangleHypotheses(CvSeq* contours, std::vector<std::pair<float, int> >& quads, int class_id)
{ {
const float min_aspect_ratio = 0.3f; const float min_aspect_ratio = 0.3f;
const float max_aspect_ratio = 3.0f; const float max_aspect_ratio = 3.0f;
const float min_box_size = 10.0f; const float min_box_size = 10.0f;
for(CvSeq* seq = contours; seq != NULL; seq = seq->h_next) typedef std::vector< std::vector< cv::Point > >::const_iterator iter_t;
iter_t i;
for (i = contours.begin(); i != contours.end(); ++i)
{ {
CvBox2D box = cvMinAreaRect2(seq); const iter_t::difference_type idx = i - contours.begin();
if (hierarchy.at(idx)[3] != -1)
continue; // skip holes
const std::vector< cv::Point > & c = *i;
cv::RotatedRect box = cv::minAreaRect(c);
float box_size = MAX(box.size.width, box.size.height); float box_size = MAX(box.size.width, box.size.height);
if(box_size < min_box_size) if(box_size < min_box_size)
{ {
@ -98,71 +96,28 @@ inline bool less_pred(const std::pair<float, int>& p1, const std::pair<float, in
return p1.first < p2.first; return p1.first < p2.first;
} }
// does a fast check if a chessboard is in the input image. This is a workaround to static void fillQuads(Mat & white, Mat & black, double white_thresh, double black_thresh, vector<pair<float, int> > & quads)
// a problem of cvFindChessboardCorners being slow on images with no chessboard
// - src: input image
// - size: chessboard size
// Returns 1 if a chessboard can be in this image and findChessboardCorners should be called,
// 0 if there is no chessboard, -1 in case of error
int cvCheckChessboard(IplImage* src, CvSize size)
{ {
if(src->nChannels > 1) Mat thresh;
{ {
cvError(CV_BadNumChannels, "cvCheckChessboard", "supports single-channel images only", vector< vector<Point> > contours;
__FILE__, __LINE__); vector< Vec4i > hierarchy;
threshold(white, thresh, white_thresh, 255, THRESH_BINARY);
findContours(thresh, contours, hierarchy, RETR_CCOMP, CHAIN_APPROX_SIMPLE);
icvGetQuadrangleHypotheses(contours, hierarchy, quads, 1);
} }
if(src->depth != 8)
{ {
cvError(CV_BadDepth, "cvCheckChessboard", "supports depth=8 images only", vector< vector<Point> > contours;
__FILE__, __LINE__); vector< Vec4i > hierarchy;
threshold(black, thresh, black_thresh, 255, THRESH_BINARY_INV);
findContours(thresh, contours, hierarchy, RETR_CCOMP, CHAIN_APPROX_SIMPLE);
icvGetQuadrangleHypotheses(contours, hierarchy, quads, 0);
} }
}
const int erosion_count = 1; static bool checkQuads(vector<pair<float, int> > & quads, const cv::Size & size)
const float black_level = 20.f; {
const float white_level = 130.f;
const float black_white_gap = 70.f;
#if defined(DEBUG_WINDOWS)
cvNamedWindow("1", 1);
cvShowImage("1", src);
cvWaitKey(0);
#endif //DEBUG_WINDOWS
CvMemStorage* storage = cvCreateMemStorage();
IplImage* white = cvCloneImage(src);
IplImage* black = cvCloneImage(src);
cvErode(white, white, NULL, erosion_count);
cvDilate(black, black, NULL, erosion_count);
IplImage* thresh = cvCreateImage(cvGetSize(src), IPL_DEPTH_8U, 1);
int result = 0;
for(float thresh_level = black_level; thresh_level < white_level && !result; thresh_level += 20.0f)
{
cvThreshold(white, thresh, thresh_level + black_white_gap, 255, CV_THRESH_BINARY);
#if defined(DEBUG_WINDOWS)
cvShowImage("1", thresh);
cvWaitKey(0);
#endif //DEBUG_WINDOWS
CvSeq* first = 0;
std::vector<std::pair<float, int> > quads;
cvFindContours(thresh, storage, &first, sizeof(CvContour), CV_RETR_CCOMP);
icvGetQuadrangleHypotheses(first, quads, 1);
cvThreshold(black, thresh, thresh_level, 255, CV_THRESH_BINARY_INV);
#if defined(DEBUG_WINDOWS)
cvShowImage("1", thresh);
cvWaitKey(0);
#endif //DEBUG_WINDOWS
cvFindContours(thresh, storage, &first, sizeof(CvContour), CV_RETR_CCOMP);
icvGetQuadrangleHypotheses(first, quads, 0);
const size_t min_quads_count = size.width*size.height/2; const size_t min_quads_count = size.width*size.height/2;
std::sort(quads.begin(), quads.end(), less_pred); std::sort(quads.begin(), quads.end(), less_pred);
@ -193,18 +148,46 @@ int cvCheckChessboard(IplImage* src, CvSize size)
{ {
continue; continue;
} }
result = 1; return true;
break;
}
} }
} }
return false;
}
// does a fast check if a chessboard is in the input image. This is a workaround to
// a problem of cvFindChessboardCorners being slow on images with no chessboard
// - src: input image
// - size: chessboard size
// Returns 1 if a chessboard can be in this image and findChessboardCorners should be called,
// 0 if there is no chessboard, -1 in case of error
int cvCheckChessboard(IplImage* src, CvSize size)
{
cv::Mat img = cv::cvarrToMat(src);
return checkChessboard(img, size);
}
int checkChessboard(const cv::Mat & img, const cv::Size & size)
{
CV_Assert(img.channels() == 1 && img.depth() == CV_8U);
const int erosion_count = 1;
const float black_level = 20.f;
const float white_level = 130.f;
const float black_white_gap = 70.f;
cvReleaseImage(&thresh); Mat white;
cvReleaseImage(&white); Mat black;
cvReleaseImage(&black); erode(img, white, Mat(), Point(-1, -1), erosion_count);
cvReleaseMemStorage(&storage); dilate(img, black, Mat(), Point(-1, -1), erosion_count);
int result = 0;
for(float thresh_level = black_level; thresh_level < white_level && !result; thresh_level += 20.0f)
{
vector<pair<float, int> > quads;
fillQuads(white, black, thresh_level + black_white_gap, thresh_level, quads);
if (checkQuads(quads, size))
result = 1;
}
return result; return result;
} }
@ -214,28 +197,14 @@ int cvCheckChessboard(IplImage* src, CvSize size)
// - size: chessboard size // - size: chessboard size
// Returns 1 if a chessboard can be in this image and findChessboardCorners should be called, // Returns 1 if a chessboard can be in this image and findChessboardCorners should be called,
// 0 if there is no chessboard, -1 in case of error // 0 if there is no chessboard, -1 in case of error
int cvCheckChessboardBinary(IplImage* src, CvSize size) int checkChessboardBinary(const cv::Mat & img, const cv::Size & size)
{ {
if(src->nChannels > 1) CV_Assert(img.channels() == 1 && img.depth() == CV_8U);
{
cvError(CV_BadNumChannels, "cvCheckChessboard", "supports single-channel images only",
__FILE__, __LINE__);
}
if(src->depth != 8) Mat white = img.clone();
{ Mat black = img.clone();
cvError(CV_BadDepth, "cvCheckChessboard", "supports depth=8 images only",
__FILE__, __LINE__);
}
CvMemStorage* storage = cvCreateMemStorage();
IplImage* white = cvCloneImage(src);
IplImage* black = cvCloneImage(src);
IplImage* thresh = cvCreateImage(cvGetSize(src), IPL_DEPTH_8U, 1);
int result = 0; int result = 0;
for ( int erosion_count = 0; erosion_count <= 3; erosion_count++ ) for ( int erosion_count = 0; erosion_count <= 3; erosion_count++ )
{ {
if ( 1 == result ) if ( 1 == result )
@ -243,61 +212,14 @@ int cvCheckChessboardBinary(IplImage* src, CvSize size)
if ( 0 != erosion_count ) // first iteration keeps original images if ( 0 != erosion_count ) // first iteration keeps original images
{ {
cvErode(white, white, NULL, 1); erode(white, white, Mat(), Point(-1, -1), 1);
cvDilate(black, black, NULL, 1); dilate(black, black, Mat(), Point(-1, -1), 1);
}
cvThreshold(white, thresh, 128, 255, CV_THRESH_BINARY);
CvSeq* first = 0;
std::vector<std::pair<float, int> > quads;
cvFindContours(thresh, storage, &first, sizeof(CvContour), CV_RETR_CCOMP);
icvGetQuadrangleHypotheses(first, quads, 1);
cvThreshold(black, thresh, 128, 255, CV_THRESH_BINARY_INV);
cvFindContours(thresh, storage, &first, sizeof(CvContour), CV_RETR_CCOMP);
icvGetQuadrangleHypotheses(first, quads, 0);
const size_t min_quads_count = size.width*size.height/2;
std::sort(quads.begin(), quads.end(), less_pred);
// now check if there are many hypotheses with similar sizes
// do this by floodfill-style algorithm
const float size_rel_dev = 0.4f;
for(size_t i = 0; i < quads.size(); i++)
{
size_t j = i + 1;
for(; j < quads.size(); j++)
{
if(quads[j].first/quads[i].first > 1.0f + size_rel_dev)
{
break;
}
} }
if(j + 1 > min_quads_count + i) vector<pair<float, int> > quads;
{ fillQuads(white, black, 128, 128, quads);
// check the number of black and white squares if (checkQuads(quads, size))
std::vector<int> counts;
countClasses(quads, i, j, counts);
const int black_count = cvRound(ceil(size.width/2.0)*ceil(size.height/2.0));
const int white_count = cvRound(floor(size.width/2.0)*floor(size.height/2.0));
if(counts[0] < black_count*0.75 ||
counts[1] < white_count*0.75)
{
continue;
}
result = 1; result = 1;
break;
}
} }
}
cvReleaseImage(&thresh);
cvReleaseImage(&white);
cvReleaseImage(&black);
cvReleaseMemStorage(&storage);
return result; return result;
} }

3
modules/calib3d/src/precomp.hpp
Unescape View File

@ -117,4 +117,7 @@ template<typename T> inline int compressElems( T* ptr, const uchar* mask, int ms
} }
int checkChessboard(const cv::Mat & img, const cv::Size & size);
int checkChessboardBinary(const cv::Mat & img, const cv::Size & size);
#endif #endif

37
modules/calib3d/test/test_chesscorners.cpp
Unescape View File

@ -51,29 +51,31 @@ using namespace cv;
#define _L2_ERR #define _L2_ERR
void show_points( const Mat& gray, const Mat& u, const vector<Point2f>& v, Size pattern_size, bool was_found ) //#define DEBUG_CHESSBOARD
#ifdef DEBUG_CHESSBOARD
#include "opencv2/highgui.hpp"
void show_points( const Mat& gray, const Mat& expected, const vector<Point2f>& actual, bool was_found )
{ {
Mat rgb( gray.size(), CV_8U); Mat rgb( gray.size(), CV_8U);
merge(vector<Mat>(3, gray), rgb); merge(vector<Mat>(3, gray), rgb);
for(size_t i = 0; i < v.size(); i++ ) for(size_t i = 0; i < actual.size(); i++ )
circle( rgb, v[i], 3, Scalar(255, 0, 0), FILLED); circle( rgb, actual[i], 5, Scalar(0, 0, 200), 1, LINE_AA);
if( !u.empty() ) if( !expected.empty() )
{ {
const Point2f* u_data = u.ptr<Point2f>(); const Point2f* u_data = expected.ptr<Point2f>();
size_t count = u.cols * u.rows; size_t count = expected.cols * expected.rows;
for(size_t i = 0; i < count; i++ ) for(size_t i = 0; i < count; i++ )
circle( rgb, u_data[i], 3, Scalar(0, 255, 0), FILLED); circle(rgb, u_data[i], 4, Scalar(0, 240, 0), 1, LINE_AA);
} }
if (!v.empty()) 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') {};
Mat corners((int)v.size(), 1, CV_32FC2, (void*)&v[0]);
drawChessboardCorners( rgb, pattern_size, corners, was_found );
}
//namedWindow( "test", 0 ); imshow( "test", rgb ); waitKey(0);
} }
#else
#define show_points(...)
#endif
enum Pattern { CHESSBOARD, CIRCLES_GRID, ASYMMETRIC_CIRCLES_GRID }; enum Pattern { CHESSBOARD, CIRCLES_GRID, ASYMMETRIC_CIRCLES_GRID };
@ -253,7 +255,6 @@ void CV_ChessboardDetectorTest::run_batch( const string& filename )
result = findCirclesGrid(gray, pattern_size, v, CALIB_CB_ASYMMETRIC_GRID | algorithmFlags); result = findCirclesGrid(gray, pattern_size, v, CALIB_CB_ASYMMETRIC_GRID | algorithmFlags);
break; break;
} }
show_points( gray, Mat(), v, pattern_size, result );
if( result ^ doesContatinChessboard || v.size() != count_exp ) if( result ^ doesContatinChessboard || v.size() != count_exp )
{ {
@ -280,7 +281,7 @@ void CV_ChessboardDetectorTest::run_batch( const string& filename )
if( pattern == CHESSBOARD ) if( pattern == CHESSBOARD )
cornerSubPix( gray, v, Size(5, 5), Size(-1,-1), TermCriteria(TermCriteria::EPS|TermCriteria::MAX_ITER, 30, 0.1)); cornerSubPix( gray, v, Size(5, 5), Size(-1,-1), TermCriteria(TermCriteria::EPS|TermCriteria::MAX_ITER, 30, 0.1));
//find4QuadCornerSubpix(gray, v, Size(5, 5)); //find4QuadCornerSubpix(gray, v, Size(5, 5));
show_points( gray, expected, v, pattern_size, result ); show_points( gray, expected, v, result );
#ifndef WRITE_POINTS #ifndef WRITE_POINTS
// printf("called find4QuadCornerSubpix\n"); // printf("called find4QuadCornerSubpix\n");
err = calcError(v, expected); err = calcError(v, expected);
@ -298,6 +299,10 @@ void CV_ChessboardDetectorTest::run_batch( const string& filename )
max_precise_error = MAX( max_precise_error, err ); max_precise_error = MAX( max_precise_error, err );
#endif #endif
} }
else
{
show_points( gray, Mat(), v, result );
}
#ifdef WRITE_POINTS #ifdef WRITE_POINTS
Mat mat_v(pattern_size, CV_32FC2, (void*)&v[0]); Mat mat_v(pattern_size, CV_32FC2, (void*)&v[0]);

2
modules/python/test/test_calibration.py
Unescape View File

@ -57,7 +57,7 @@ class calibration_test(NewOpenCVTests):
eps = 0.01 eps = 0.01
normCamEps = 10.0 normCamEps = 10.0
normDistEps = 0.001 normDistEps = 0.05
cameraMatrixTest = [[ 532.80992189, 0., 342.4952186 ], cameraMatrixTest = [[ 532.80992189, 0., 342.4952186 ],
[ 0., 532.93346422, 233.8879292 ], [ 0., 532.93346422, 233.8879292 ],

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