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optimizing calibration for android

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Ethan Rublee
2010-11-28 20:27:57 +00:00
parent a3dfba36a1
commit 56313594b8
1 changed files with 29 additions and 5 deletions
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34
android/android-jni/jni/Calibration.cpp
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@@ -155,25 +155,49 @@ void saveCameraParams(const string& filename, Size imageSize, Size boardSize, fl
bool Calibration::detectAndDrawChessboard(int idx, image_pool* pool) bool Calibration::detectAndDrawChessboard(int idx, image_pool* pool)
{ {
bool patternfound = false;
Mat grey = pool->getGrey(idx); Mat grey = pool->getGrey(idx);
if (grey.empty()) if (grey.empty())
return false; return false;
vector<Point2f> corners; vector<Point2f> corners;
IplImage iplgrey = grey; IplImage iplgrey = grey;
if (!cvCheckChessboard(&iplgrey, patternsize)) patternfound = cvCheckChessboard(&iplgrey, patternsize);
if (!patternfound)
return false; return false;
bool patternfound = findChessboardCorners(grey, patternsize, corners);
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);
Mat img = pool->getImage(idx); Mat img = pool->getImage(idx);
if (corners.size() < 1) if (corners.size() < 1)
return false; return false;
cornerSubPix(grey, corners, Size(11, 11), Size(-1, -1), TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));
if (patternfound) if (patternfound)
{
cornerSubPix(grey, corners, Size(11, 11), Size(-1, -1), TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));
imagepoints.push_back(corners); imagepoints.push_back(corners);
}
drawChessboardCorners(img, patternsize, Mat(corners), patternfound); drawChessboardCorners(img, patternsize, Mat(corners), patternfound);