Merge pull request #8298 from delftrobotics-forks:circles-grid-parameters

modules/calib3d/include/opencv2/calib3d.hpp

@@ -714,6 +714,30 @@ found, or as colored corners connected with lines if the board was found.
 CV_EXPORTS_W void drawChessboardCorners( InputOutputArray image, Size patternSize,
                                          InputArray corners, bool patternWasFound );
 
+struct CV_EXPORTS_W_SIMPLE CirclesGridFinderParameters
+{
+    CV_WRAP CirclesGridFinderParameters();
+    CV_PROP_RW cv::Size2f densityNeighborhoodSize;
+    CV_PROP_RW float minDensity;
+    CV_PROP_RW int kmeansAttempts;
+    CV_PROP_RW int minDistanceToAddKeypoint;
+    CV_PROP_RW int keypointScale;
+    CV_PROP_RW float minGraphConfidence;
+    CV_PROP_RW float vertexGain;
+    CV_PROP_RW float vertexPenalty;
+    CV_PROP_RW float existingVertexGain;
+    CV_PROP_RW float edgeGain;
+    CV_PROP_RW float edgePenalty;
+    CV_PROP_RW float convexHullFactor;
+    CV_PROP_RW float minRNGEdgeSwitchDist;
+
+    enum GridType
+    {
+      SYMMETRIC_GRID, ASYMMETRIC_GRID
+    };
+    GridType gridType;
+};
+
 /** @brief Finds centers in the grid of circles.
 
 @param image grid view of input circles; it must be an 8-bit grayscale or color image.
@@ -726,6 +750,7 @@ CV_EXPORTS_W void drawChessboardCorners( InputOutputArray image, Size patternSiz
 -   **CALIB_CB_CLUSTERING** uses a special algorithm for grid detection. It is more robust to
 perspective distortions but much more sensitive to background clutter.
 @param blobDetector feature detector that finds blobs like dark circles on light background.
+@param parameters struct for finding circles in a grid pattern.
 
 The function attempts to determine whether the input image contains a grid of circles. If it is, the
 function locates centers of the circles. The function returns a non-zero value if all of the centers
@@ -745,6 +770,12 @@ Sample usage of detecting and drawing the centers of circles: :
 @note The function requires white space (like a square-thick border, the wider the better) around
 the board to make the detection more robust in various environments.
  */
+CV_EXPORTS_W bool findCirclesGrid( InputArray image, Size patternSize,
+                                   OutputArray centers, int flags,
+                                   const Ptr<FeatureDetector> &blobDetector,
+                                   CirclesGridFinderParameters parameters);
+
+/** @overload */
 CV_EXPORTS_W bool findCirclesGrid( InputArray image, Size patternSize,
                                    OutputArray centers, int flags = CALIB_CB_SYMMETRIC_GRID,
                                    const Ptr<FeatureDetector> &blobDetector = SimpleBlobDetector::create());

modules/calib3d/src/calibinit.cpp

@@ -2093,7 +2093,8 @@ void cv::drawChessboardCorners( InputOutputArray _image, Size patternSize,
 }
 
 bool cv::findCirclesGrid( InputArray _image, Size patternSize,
-                          OutputArray _centers, int flags, const Ptr<FeatureDetector> &blobDetector )
+                          OutputArray _centers, int flags, const Ptr<FeatureDetector> &blobDetector,
+                          CirclesGridFinderParameters parameters)
 {
     CV_INSTRUMENT_REGION()
 
@@ -2120,13 +2121,6 @@ bool cv::findCirclesGrid( InputArray _image, Size patternSize,
       return !centers.empty();
     }
 
-    CirclesGridFinderParameters parameters;
-    parameters.vertexPenalty = -0.6f;
-    parameters.vertexGain = 1;
-    parameters.existingVertexGain = 10000;
-    parameters.edgeGain = 1;
-    parameters.edgePenalty = -0.6f;
-
     if(flags & CALIB_CB_ASYMMETRIC_GRID)
       parameters.gridType = CirclesGridFinderParameters::ASYMMETRIC_GRID;
     if(flags & CALIB_CB_SYMMETRIC_GRID)
@@ -2192,4 +2186,10 @@ bool cv::findCirclesGrid( InputArray _image, Size patternSize,
     return false;
 }
 
+bool cv::findCirclesGrid( InputArray _image, Size patternSize,
+                          OutputArray _centers, int flags, const Ptr<FeatureDetector> &blobDetector)
+{
+    return cv::findCirclesGrid(_image, patternSize, _centers, flags, blobDetector, CirclesGridFinderParameters());
+}
+
 /* End of file. */

modules/calib3d/src/circlesgrid.cpp

@@ -551,11 +551,11 @@ CirclesGridFinderParameters::CirclesGridFinderParameters()
   keypointScale = 1;
 
   minGraphConfidence = 9;
-  vertexGain = 2;
-  vertexPenalty = -5;
+  vertexGain = 1;
+  vertexPenalty = -0.6f;
   edgeGain = 1;
-  edgePenalty = -5;
-  existingVertexGain = 0;
+  edgePenalty = -0.6f;
+  existingVertexGain = 10000;
 
   minRNGEdgeSwitchDist = 5.f;
   gridType = SYMMETRIC_GRID;

modules/calib3d/src/circlesgrid.hpp

@@ -119,35 +119,11 @@ struct Path
   }
 };
 
-struct CirclesGridFinderParameters
-{
-  CirclesGridFinderParameters();
-  cv::Size2f densityNeighborhoodSize;
-  float minDensity;
-  int kmeansAttempts;
-  int minDistanceToAddKeypoint;
-  int keypointScale;
-  float minGraphConfidence;
-  float vertexGain;
-  float vertexPenalty;
-  float existingVertexGain;
-  float edgeGain;
-  float edgePenalty;
-  float convexHullFactor;
-  float minRNGEdgeSwitchDist;
-
-  enum GridType
-  {
-    SYMMETRIC_GRID, ASYMMETRIC_GRID
-  };
-  GridType gridType;
-};
-
 class CirclesGridFinder
 {
 public:
   CirclesGridFinder(cv::Size patternSize, const std::vector<cv::Point2f> &testKeypoints,
-                    const CirclesGridFinderParameters &parameters = CirclesGridFinderParameters());
+                    const cv::CirclesGridFinderParameters &parameters = cv::CirclesGridFinderParameters());
   bool findHoles();
   static cv::Mat rectifyGrid(cv::Size detectedGridSize, const std::vector<cv::Point2f>& centers, const std::vector<
       cv::Point2f> &keypoint, std::vector<cv::Point2f> &warpedKeypoints);
@@ -211,7 +187,7 @@ private:
   std::vector<std::vector<size_t> > *smallHoles;
 
   const cv::Size_<size_t> patternSize;
-  CirclesGridFinderParameters parameters;
+  cv::CirclesGridFinderParameters parameters;
 
   CirclesGridFinder& operator=(const CirclesGridFinder&);
   CirclesGridFinder(const CirclesGridFinder&);

modules/java/generator/gen_java.py

@@ -14,7 +14,8 @@ class_ignore_list = (
     #core
     "FileNode", "FileStorage", "KDTree", "KeyPoint", "DMatch",
     #features2d
-    "SimpleBlobDetector"
+    "SimpleBlobDetector",
+    "CirclesGridFinderParameters"
 )
 
 const_ignore_list = (

modules/python/src2/cv2.cpp

@@ -798,6 +798,21 @@ PyObject* pyopencv_from(const Size& sz)
     return Py_BuildValue("(ii)", sz.width, sz.height);
 }
 
+template<>
+bool pyopencv_to(PyObject* obj, Size_<float>& sz, const char* name)
+{
+    (void)name;
+    if(!obj || obj == Py_None)
+        return true;
+    return PyArg_ParseTuple(obj, "ff", &sz.width, &sz.height) > 0;
+}
+
+template<>
+PyObject* pyopencv_from(const Size_<float>& sz)
+{
+    return Py_BuildValue("(ff)", sz.width, sz.height);
+}
+
 template<>
 bool pyopencv_to(PyObject* obj, Rect& r, const char* name)
 {