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optimizing calibration for android

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This commit is contained in:
Ethan Rublee
2010-11-28 21:24:11 +00:00
parent 56313594b8
commit 120a3b75fc
5 changed files with 7 additions and 31 deletions
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29
android/android-jni/jni/Calibration.cpp
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@@ -160,34 +160,9 @@ bool Calibration::detectAndDrawChessboard(int idx, image_pool* pool)
if (grey.empty())
return false;
vector<Point2f> corners;
IplImage iplgrey = grey;
patternfound = cvCheckChessboard(&iplgrey, patternsize);
if (!patternfound)
return false;
float factor = grey.cols / 320.0f;
if (factor < 1)
factor = 1;
cv::Size r_size = cv::Size(grey.cols / factor, grey.rows / factor);
Mat grey_sub;
while (patternfound && (r_size.width < grey.size().width))
{
cv::resize(grey, grey_sub, r_size);
patternfound = findChessboardCorners(grey_sub, patternsize, corners);
if (patternfound)
{
r_size.width *= 2;
r_size.height *= 2;
}
else
{
return false;
}
}
// hopefully if we're going to fail we fail on a smaller size image in the while-loop
patternfound = findChessboardCorners(grey, patternsize, corners);
patternfound = findChessboardCorners(grey, patternsize, corners,CALIB_CB_FILTER_QUADS + CALIB_CB_ADAPTIVE_THRESH + CALIB_CB_NORMALIZE_IMAGE
+ CALIB_CB_FAST_CHECK);
Mat img = pool->getImage(idx);
if (corners.size() < 1)