generic-library/opencv
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This commit is contained in:
robertxwu
2015-09-21 13:57:25 -07:00
parent 94cf5430d0
commit 4a68cc1675
1 changed files with 20 additions and 15 deletions
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35
modules/calib3d/src/calibinit.cpp
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@@ -152,7 +152,7 @@ struct CvCBQuad
//static CvMat* debug_img = 0; //static CvMat* debug_img = 0;
static int icvGenerateQuads( CvCBQuad **quads, CvCBCorner **corners, static int icvGenerateQuads( CvCBQuad **quads, CvCBCorner **corners,
CvMemStorage *storage, CvMat *image, int flags ); CvMemStorage *storage, CvMat *image, int flags, int *max_quad_buf_size);
/*static int /*static int
icvGenerateQuadsEx( CvCBQuad **out_quads, CvCBCorner **out_corners, icvGenerateQuadsEx( CvCBQuad **out_quads, CvCBCorner **out_corners,
@@ -172,7 +172,7 @@ static int icvCleanFoundConnectedQuads( int quad_count,
static int icvOrderFoundConnectedQuads( int quad_count, CvCBQuad **quads, static int icvOrderFoundConnectedQuads( int quad_count, CvCBQuad **quads,
int *all_count, CvCBQuad **all_quads, CvCBCorner **corners, int *all_count, CvCBQuad **all_quads, CvCBCorner **corners,
CvSize pattern_size, CvMemStorage* storage ); CvSize pattern_size, int max_quad_buf_size, CvMemStorage* storage );
static void icvOrderQuad(CvCBQuad *quad, CvCBCorner *corner, int common); static void icvOrderQuad(CvCBQuad *quad, CvCBCorner *corner, int common);
@@ -183,7 +183,7 @@ static int icvTrimRow(CvCBQuad **quads, int count, int row, int dir);
#endif #endif
static int icvAddOuterQuad(CvCBQuad *quad, CvCBQuad **quads, int quad_count, static int icvAddOuterQuad(CvCBQuad *quad, CvCBQuad **quads, int quad_count,
CvCBQuad **all_quads, int all_count, CvCBCorner **corners); CvCBQuad **all_quads, int all_count, CvCBCorner **corners, int max_quad_buf_size);
static void icvRemoveQuadFromGroup(CvCBQuad **quads, int count, CvCBQuad *q0); static void icvRemoveQuadFromGroup(CvCBQuad **quads, int count, CvCBQuad *q0);
@@ -313,6 +313,7 @@ int cvFindChessboardCorners( const void* arr, CvSize pattern_size,
// making it difficult to detect smaller squares. // making it difficult to detect smaller squares.
for( k = 0; k < 6; k++ ) for( k = 0; k < 6; k++ )
{ {
int max_quad_buf_size = 0;
for( dilations = min_dilations; dilations <= max_dilations; dilations++ ) for( dilations = min_dilations; dilations <= max_dilations; dilations++ )
{ {
if (found) if (found)
@@ -368,7 +369,7 @@ int cvFindChessboardCorners( const void* arr, CvSize pattern_size,
cvRectangle( thresh_img, cvPoint(0,0), cvPoint(thresh_img->cols-1, cvRectangle( thresh_img, cvPoint(0,0), cvPoint(thresh_img->cols-1,
thresh_img->rows-1), CV_RGB(255,255,255), 3, 8); thresh_img->rows-1), CV_RGB(255,255,255), 3, 8);
quad_count = icvGenerateQuads( &quads, &corners, storage, thresh_img, flags ); quad_count = icvGenerateQuads( &quads, &corners, storage, thresh_img, flags, &max_quad_buf_size);
PRINTF("Quad count: %d/%d\n", quad_count, expected_corners_num); PRINTF("Quad count: %d/%d\n", quad_count, expected_corners_num);
} }
@@ -408,8 +409,8 @@ int cvFindChessboardCorners( const void* arr, CvSize pattern_size,
// allocate extra for adding in icvOrderFoundQuads // allocate extra for adding in icvOrderFoundQuads
cvFree(&quad_group); cvFree(&quad_group);
cvFree(&corner_group); cvFree(&corner_group);
quad_group = (CvCBQuad**)cvAlloc( sizeof(quad_group[0]) * (quad_count+quad_count / 2)); quad_group = (CvCBQuad**)cvAlloc( sizeof(quad_group[0]) * max_quad_buf_size);
corner_group = (CvCBCorner**)cvAlloc( sizeof(corner_group[0]) * (quad_count+quad_count / 2)*4 ); corner_group = (CvCBCorner**)cvAlloc( sizeof(corner_group[0]) * max_quad_buf_size * 4 );
for( group_idx = 0; ; group_idx++ ) for( group_idx = 0; ; group_idx++ )
{ {
@@ -424,7 +425,7 @@ int cvFindChessboardCorners( const void* arr, CvSize pattern_size,
// maybe delete or add some // maybe delete or add some
PRINTF("Starting ordering of inner quads\n"); PRINTF("Starting ordering of inner quads\n");
count = icvOrderFoundConnectedQuads(count, quad_group, &quad_count, &quads, &corners, count = icvOrderFoundConnectedQuads(count, quad_group, &quad_count, &quads, &corners,
pattern_size, storage ); pattern_size, max_quad_buf_size, storage );
PRINTF("Orig count: %d After ordering: %d\n", icount, count); PRINTF("Orig count: %d After ordering: %d\n", icount, count);
@@ -623,7 +624,7 @@ icvCheckBoardMonotony( CvPoint2D32f* corners, CvSize pattern_size )
static int static int
icvOrderFoundConnectedQuads( int quad_count, CvCBQuad **quads, icvOrderFoundConnectedQuads( int quad_count, CvCBQuad **quads,
int *all_count, CvCBQuad **all_quads, CvCBCorner **corners, int *all_count, CvCBQuad **all_quads, CvCBCorner **corners,
CvSize pattern_size, CvMemStorage* storage ) CvSize pattern_size, int max_quad_buf_size, CvMemStorage* storage )
{ {
cv::Ptr<CvMemStorage> temp_storage = cvCreateChildMemStorage( storage ); cv::Ptr<CvMemStorage> temp_storage = cvCreateChildMemStorage( storage );
CvSeq* stack = cvCreateSeq( 0, sizeof(*stack), sizeof(void*), temp_storage ); CvSeq* stack = cvCreateSeq( 0, sizeof(*stack), sizeof(void*), temp_storage );
@@ -803,15 +804,18 @@ icvOrderFoundConnectedQuads( int quad_count, CvCBQuad **quads,
if (found > 0) if (found > 0)
{ {
PRINTF("Found %d inner quads not connected to outer quads, repairing\n", found); PRINTF("Found %d inner quads not connected to outer quads, repairing\n", found);
for (int i=0; i<quad_count; i++) for (int i=0; i<quad_count && *all_count < max_quad_buf_size; i++)
{ {
if (quads[i]->count < 4 && quads[i]->ordered) if (quads[i]->count < 4 && quads[i]->ordered)
{ {
int added = icvAddOuterQuad(quads[i],quads,quad_count,all_quads,*all_count,corners); int added = icvAddOuterQuad(quads[i],quads,quad_count,all_quads,*all_count,corners, max_quad_buf_size);
*all_count += added; *all_count += added;
quad_count += added; quad_count += added;
} }
} }
if (*all_count >= max_quad_buf_size)
return 0;
} }
@@ -854,11 +858,11 @@ icvOrderFoundConnectedQuads( int quad_count, CvCBQuad **quads,
static int static int
icvAddOuterQuad( CvCBQuad *quad, CvCBQuad **quads, int quad_count, icvAddOuterQuad( CvCBQuad *quad, CvCBQuad **quads, int quad_count,
CvCBQuad **all_quads, int all_count, CvCBCorner **corners ) CvCBQuad **all_quads, int all_count, CvCBCorner **corners, int max_quad_buf_size )
{ {
int added = 0; int added = 0;
for (int i=0; i<4; i++) // find no-neighbor corners for (int i=0; i<4 && all_count < max_quad_buf_size; i++) // find no-neighbor corners
{ {
if (!quad->neighbors[i]) // ok, create and add neighbor if (!quad->neighbors[i]) // ok, create and add neighbor
{ {
@@ -1649,7 +1653,7 @@ 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 ) CvMemStorage *storage, CvMat *image, int flags, int *max_quad_buf_size )
{ {
int quad_count = 0; int quad_count = 0;
cv::Ptr<CvMemStorage> temp_storage; cv::Ptr<CvMemStorage> temp_storage;
@@ -1754,8 +1758,9 @@ icvGenerateQuads( CvCBQuad **out_quads, CvCBCorner **out_corners,
cvEndFindContours( &scanner ); cvEndFindContours( &scanner );
// allocate quad & corner buffers // allocate quad & corner buffers
*out_quads = (CvCBQuad*)cvAlloc((root->total+root->total / 2) * sizeof((*out_quads)[0])); *max_quad_buf_size = MAX(1, (root->total+root->total / 2)) * 2;
*out_corners = (CvCBCorner*)cvAlloc((root->total+root->total / 2) * 4 * sizeof((*out_corners)[0])); *out_quads = (CvCBQuad*)cvAlloc(*max_quad_buf_size * sizeof((*out_quads)[0]));
*out_corners = (CvCBCorner*)cvAlloc(*max_quad_buf_size * 4 * sizeof((*out_corners)[0]));
// Create array of quads structures // Create array of quads structures
for( idx = 0; idx < root->total; idx++ ) for( idx = 0; idx < root->total; idx++ )