Added detection of cirlces' grid pattern
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Ilya Lysenkov
156
modules/calib3d/src/circlesgrid.hpp
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156
modules/calib3d/src/circlesgrid.hpp
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//M*/
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#ifndef CIRCLESGRID_HPP_
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#define CIRCLESGRID_HPP_
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#include <fstream>
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#include <iostream>
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#include <string>
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#include <set>
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#include "precomp.hpp"
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#include "../../features2d/include/opencv2/features2d/features2d.hpp"
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class Graph
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{
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public:
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typedef set<int> Neighbors;
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struct Vertex
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{
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Neighbors neighbors;
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};
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typedef map<int, Vertex> Vertices;
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Graph( int n);
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bool doesVertexExist( int id ) const;
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void addVertex( int id );
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void addEdge( int id1, int id2 );
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bool areVerticesAdjacent( int id1, int id2 ) const;
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size_t getVerticesCount() const;
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size_t getDegree( int id ) const;
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void floydWarshall(cv::Mat &distanceMatrix, int infinity = -1) const;
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private:
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Vertices vertices;
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};
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struct Path
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{
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int firstVertex;
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int lastVertex;
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int length;
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vector<int> vertices;
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Path(int first = -1, int last = -1, int len = -1)
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{
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firstVertex = first;
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lastVertex = last;
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length = len;
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}
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};
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struct CirclesGridFinderParameters
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{
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CirclesGridFinderParameters();
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cv::Size2f densityNeighborhoodSize;
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float minDensity;
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int kmeansAttempts;
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int minDistanceToAddKeypoint;
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int keypointScale;
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int minGraphConfidence;
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float vertexGain;
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float vertexPenalty;
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float existingVertexGain;
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float edgeGain;
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float edgePenalty;
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float convexHullFactor;
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};
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class CirclesGridFinder
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{
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public:
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CirclesGridFinder(cv::Size patternSize, const vector<cv::KeyPoint> &testKeypoints,
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const CirclesGridFinderParameters ¶meters = CirclesGridFinderParameters());
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bool findHoles();
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static cv::Mat rectifyGrid(cv::Size detectedGridSize, const vector<cv::Point2f>& centers,
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const vector<cv::KeyPoint> &keypoint, vector<cv::KeyPoint> &warpedKeypoints);
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void getHoles(vector<cv::Point2f> &holes) const;
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cv::Size getDetectedGridSize() const;
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void drawBasis(const vector<cv::Point2f> &basis, cv::Point2f origin, cv::Mat &drawImg) const;
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void drawBasisGraphs(const vector<Graph> &basisGraphs, cv::Mat &drawImg, bool drawEdges = true, bool drawVertices =
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true) const;
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void drawHoles(const cv::Mat &srcImage, cv::Mat &drawImage) const;
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private:
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void computeEdgeVectorsOfRNG(vector<cv::Point2f> &vectors, cv::Mat *drawImage = 0) const;
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void filterOutliersByDensity(const vector<cv::Point2f> &samples, vector<cv::Point2f> &filteredSamples);
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void findBasis(const vector<cv::Point2f> &samples, vector<cv::Point2f> &basis, vector<Graph> &basisGraphs);
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void findMCS(const vector<cv::Point2f> &basis, vector<Graph> &basisGraphs);
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size_t findLongestPath(vector<Graph> &basisGraphs, Path &bestPath);
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float computeGraphConfidence(const vector<Graph> &basisGraphs, bool addRow, const vector<int> &points, const vector<
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int> &seeds);
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void addHolesByGraph(const vector<Graph> &basisGraphs, bool addRow, cv::Point2f basisVec);
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int findNearestKeypoint(cv::Point2f pt) const;
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void addPoint(cv::Point2f pt, vector<int> &points);
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void findCandidateLine(vector<int> &line, int seedLineIdx, bool addRow, cv::Point2f basisVec, vector<int> &seeds);
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void findCandidateHoles(vector<int> &above, vector<int> &below, bool addRow, cv::Point2f basisVec,
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vector<int> &aboveSeeds, vector<int> &belowSeeds);
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static bool areCentersNew( const vector<int> &newCenters, const vector<vector<int> > &holes );
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bool isDetectionCorrect();
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static void insertWinner(float aboveConfidence, float belowConfidence, float minConfidence,
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bool addRow,
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const vector<int> &above, const vector<int> &below, vector<vector<int> > &holes);
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static bool areVerticesAdjacent(const Graph &graph, int vertex1, int vertex2);
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vector<cv::KeyPoint> keypoints;
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vector<vector<int> > holes;
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const cv::Size patternSize;
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CirclesGridFinderParameters parameters;
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};
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#endif /* CIRCLESGRID_HPP_ */
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