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Added detection of asymmetric circles' pattern

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This commit is contained in:
Ilya Lysenkov
2011-02-07 07:57:32 +00:00
parent 885cef7660
commit f8e9f65ea8
5 changed files with 674 additions and 247 deletions
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173
modules/calib3d/src/circlesgrid.hpp
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@@ -1,44 +1,44 @@
/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#ifndef CIRCLESGRID_HPP_
#define CIRCLESGRID_HPP_
@@ -51,22 +51,23 @@
class Graph
{
public:
typedef std::set<int> Neighbors;
typedef std::set<size_t> Neighbors;
struct Vertex
{
Neighbors neighbors;
};
typedef std::map<int, Vertex> Vertices;
typedef std::map<size_t, Vertex> Vertices;
Graph( int n);
bool doesVertexExist( int id ) const;
void addVertex( int id );
void addEdge( int id1, int id2 );
bool areVerticesAdjacent( int id1, int id2 ) const;
Graph(size_t n);
void addVertex(size_t id);
void addEdge(size_t id1, size_t id2);
void removeEdge(size_t id1, size_t id2);
bool doesVertexExist(size_t id) const;
bool areVerticesAdjacent(size_t id1, size_t id2) const;
size_t getVerticesCount() const;
size_t getDegree( int id ) const;
size_t getDegree(size_t id) const;
const Neighbors& getNeighbors(size_t id) const;
void floydWarshall(cv::Mat &distanceMatrix, int infinity = -1) const;
private:
Vertices vertices;
};
@@ -77,7 +78,7 @@ struct Path
int lastVertex;
int length;
std::vector<int> vertices;
std::vector<size_t> vertices;
Path(int first = -1, int last = -1, int len = -1)
{
@@ -102,6 +103,13 @@ struct CirclesGridFinderParameters
float edgeGain;
float edgePenalty;
float convexHullFactor;
float minRNGEdgeSwitchDist;
enum GridType
{
SYMMETRIC_GRID, ASYMMETRIC_GRID
};
GridType gridType;
};
class CirclesGridFinder
@@ -110,43 +118,68 @@ public:
CirclesGridFinder(cv::Size patternSize, const std::vector<cv::Point2f> &testKeypoints,
const CirclesGridFinderParameters &parameters = 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);
static cv::Mat rectifyGrid(cv::Size detectedGridSize, const std::vector<cv::Point2f>& centers, const std::vector<
cv::Point2f> &keypoint, std::vector<cv::Point2f> &warpedKeypoints);
void getHoles(std::vector<cv::Point2f> &holes) const;
void getAsymmetricHoles(std::vector<cv::Point2f> &holes) const;
cv::Size getDetectedGridSize() const;
void drawBasis(const std::vector<cv::Point2f> &basis, cv::Point2f origin, cv::Mat &drawImg) const;
void drawBasisGraphs(const std::vector<Graph> &basisGraphs, cv::Mat &drawImg, bool drawEdges = true, bool drawVertices =
true) const;
void drawBasisGraphs(const std::vector<Graph> &basisGraphs, cv::Mat &drawImg, bool drawEdges = true,
bool drawVertices = true) const;
void drawHoles(const cv::Mat &srcImage, cv::Mat &drawImage) const;
private:
void computeEdgeVectorsOfRNG(std::vector<cv::Point2f> &vectors, cv::Mat *drawImage = 0) const;
void computeRNG(Graph &rng, std::vector<cv::Point2f> &vectors, cv::Mat *drawImage = 0) const;
void rng2gridGraph(Graph &rng, std::vector<cv::Point2f> &vectors) const;
void eraseUsedGraph(vector<Graph> &basisGraphs) const;
void filterOutliersByDensity(const std::vector<cv::Point2f> &samples, std::vector<cv::Point2f> &filteredSamples);
void findBasis(const std::vector<cv::Point2f> &samples, std::vector<cv::Point2f> &basis, std::vector<Graph> &basisGraphs);
void findBasis(const std::vector<cv::Point2f> &samples, std::vector<cv::Point2f> &basis,
std::vector<Graph> &basisGraphs);
void findMCS(const std::vector<cv::Point2f> &basis, std::vector<Graph> &basisGraphs);
size_t findLongestPath(std::vector<Graph> &basisGraphs, Path &bestPath);
float computeGraphConfidence(const std::vector<Graph> &basisGraphs, bool addRow, const std::vector<int> &points, const std::vector<
int> &seeds);
float computeGraphConfidence(const std::vector<Graph> &basisGraphs, bool addRow, const std::vector<size_t> &points,
const std::vector<size_t> &seeds);
void addHolesByGraph(const std::vector<Graph> &basisGraphs, bool addRow, cv::Point2f basisVec);
int findNearestKeypoint(cv::Point2f pt) const;
void addPoint(cv::Point2f pt, std::vector<int> &points);
void findCandidateLine(std::vector<int> &line, int seedLineIdx, bool addRow, cv::Point2f basisVec, std::vector<int> &seeds);
void findCandidateHoles(std::vector<int> &above, std::vector<int> &below, bool addRow, cv::Point2f basisVec,
std::vector<int> &aboveSeeds, std::vector<int> &belowSeeds);
static bool areCentersNew( const std::vector<int> &newCenters, const std::vector<std::vector<int> > &holes );
size_t findNearestKeypoint(cv::Point2f pt) const;
void addPoint(cv::Point2f pt, std::vector<size_t> &points);
void findCandidateLine(std::vector<size_t> &line, size_t seedLineIdx, bool addRow, cv::Point2f basisVec, std::vector<
size_t> &seeds);
void findCandidateHoles(std::vector<size_t> &above, std::vector<size_t> &below, bool addRow, cv::Point2f basisVec,
std::vector<size_t> &aboveSeeds, std::vector<size_t> &belowSeeds);
static bool areCentersNew(const std::vector<size_t> &newCenters, const std::vector<std::vector<size_t> > &holes);
bool isDetectionCorrect();
static void insertWinner(float aboveConfidence, float belowConfidence, float minConfidence,
bool addRow,
const std::vector<int> &above, const std::vector<int> &below, std::vector<std::vector<int> > &holes);
static bool areVerticesAdjacent(const Graph &graph, int vertex1, int vertex2);
static void insertWinner(float aboveConfidence, float belowConfidence, float minConfidence, bool addRow,
const std::vector<size_t> &above, const std::vector<size_t> &below, std::vector<std::vector<
size_t> > &holes);
struct Segment
{
cv::Point2f s;
cv::Point2f e;
Segment(cv::Point2f _s, cv::Point2f _e);
};
//if endpoint is on a segment then function return false
static bool areSegmentsIntersecting(Segment seg1, Segment seg2);
static bool doesIntersectionExist(const vector<Segment> &corner, const vector<vector<Segment> > &segments);
void getCornerSegments(const vector<vector<size_t> > &points, vector<vector<Segment> > &segments,
vector<cv::Point> &cornerIndices, vector<cv::Point> &firstSteps,
vector<cv::Point> &secondSteps) const;
size_t getFirstCorner(vector<cv::Point> &largeCornerIndices, vector<cv::Point> &smallCornerIndices,
vector<cv::Point> &firstSteps, vector<cv::Point> &secondSteps) const;
static double getDirection(cv::Point2f p1, cv::Point2f p2, cv::Point2f p3);
std::vector<cv::Point2f> keypoints;
std::vector<std::vector<int> > holes;
const cv::Size patternSize;
std::vector<std::vector<size_t> > holes;
std::vector<std::vector<size_t> > holes2;
std::vector<std::vector<size_t> > *largeHoles;
std::vector<std::vector<size_t> > *smallHoles;
const cv::Size_<size_t> patternSize;
CirclesGridFinderParameters parameters;
};