checkerboard_ocamcalib_detector.cpp File Reference

#include "vision-precomp.h"
#include <stack>
#include "checkerboard_ocamcalib_detector.h"
#include <mrpt/utils/CArray.h>
#include <map>

Include dependency graph for checkerboard_ocamcalib_detector.cpp:

Go to the source code of this file.

Macros
#define	MAX_CONTOUR_APPROX   7

Functions
bool	do_special_dilation (mrpt::utils::CImage &thresh_img, const int dilations, IplConvKernel *kernel_cross, IplConvKernel *kernel_rect, IplConvKernel *kernel_diag1, IplConvKernel *kernel_diag2, IplConvKernel *kernel_horz, IplConvKernel *kernel_vert)
int	cvFindChessboardCorners3 (const mrpt::utils::CImage &img_, CvSize pattern_size, std::vector< CvPoint2D32f > &out_corners)
double	triangleArea (double x0, double y0, double x1, double y1, double x2, double y2)
double	median (const std::vector< double > &vec)
void	icvCleanFoundConnectedQuads (std::vector< CvCBQuadPtr > &quad_group, const CvSize &pattern_size)
void	icvFindConnectedQuads (std::vector< CvCBQuadPtr > &quad, std::vector< CvCBQuadPtr > &out_group, const int group_idx, const int dilation)
void	mrLabelQuadGroup (std::vector< CvCBQuadPtr > &quad_group, const CvSize &pattern_size, bool firstRun)
void	mrFindQuadNeighbors2 (std::vector< CvCBQuadPtr > &quads, int dilation)
int	mrAugmentBestRun (std::vector< CvCBQuadPtr > &new_quads, int new_dilation, std::vector< CvCBQuadPtr > &old_quads, int old_dilation)
int	icvGenerateQuads (vector< CvCBQuadPtr > &out_quads, vector< CvCBCornerPtr > &out_corners, const mrpt::utils::CImage &image, int flags, int dilation, bool firstRun)
int	myQuads2Points (const std::vector< CvCBQuadPtr > &output_quads, const CvSize &pattern_size, std::vector< CvPoint2D32f > &out_corners)
void	quadListMakeUnique (std::vector< CvCBQuadPtr > &quads)

Macro Definition Documentation

MAX_CONTOUR_APPROX

#define MAX_CONTOUR_APPROX   7

Definition at line 66 of file checkerboard_ocamcalib_detector.cpp.

Referenced by icvGenerateQuads().

Function Documentation

cvFindChessboardCorners3()

int cvFindChessboardCorners3	(	const mrpt::utils::CImage &	img_,
		CvSize	pattern_size,
		std::vector< CvPoint2D32f > &	out_corners
	)

Definition at line 193 of file checkerboard_ocamcalib_detector.cpp.

References CH_GRAY, do_special_dilation(), mrpt::utils::FAST_REF_OR_CONVERT_TO_GRAY, mrpt::format(), mrpt::mrpt::format(), icvCleanFoundConnectedQuads(), icvFindConnectedQuads(), icvGenerateQuads(), MIN, mrAugmentBestRun(), mrFindQuadNeighbors2(), mrLabelQuadGroup(), myQuads2Points(), and mrpt::system::os::sprintf().

Referenced by mrpt::vision::findChessboardCorners().

do_special_dilation()

bool do_special_dilation	(	mrpt::utils::CImage &	thresh_img,
		const int	dilations,
		IplConvKernel *	kernel_cross,
		IplConvKernel *	kernel_rect,
		IplConvKernel *	kernel_diag1,
		IplConvKernel *	kernel_diag2,
		IplConvKernel *	kernel_horz,
		IplConvKernel *	kernel_vert
	)

Definition at line 70 of file checkerboard_ocamcalib_detector.cpp.

References mrpt::utils::CImage::getAs().

Referenced by cvFindChessboardCorners3(), and find_chessboard_corners_multiple().

icvCleanFoundConnectedQuads()

void icvCleanFoundConnectedQuads	(	std::vector< CvCBQuadPtr > &	quad_group,
		const CvSize &	pattern_size
	)

Definition at line 767 of file checkerboard_ocamcalib_detector.cpp.

References median(), and triangleArea().

Referenced by cvFindChessboardCorners3(), and find_chessboard_corners_multiple().

icvFindConnectedQuads()

void icvFindConnectedQuads	(	std::vector< CvCBQuadPtr > &	quad,
		std::vector< CvCBQuadPtr > &	out_group,
		const int	group_idx,
		const int	dilation
	)

Definition at line 953 of file checkerboard_ocamcalib_detector.cpp.

References MRPT_UNUSED_PARAM.

Referenced by cvFindChessboardCorners3(), and find_chessboard_corners_multiple().

icvGenerateQuads()

int icvGenerateQuads	(	vector< CvCBQuadPtr > &	out_quads,
		vector< CvCBCornerPtr > &	out_corners,
		const mrpt::utils::CImage &	image,
		int	flags,
		int	dilation,
		bool	firstRun
	)

(flags & CV_CALIB_CB_FILTER_QUADS) ||

Definition at line 1988 of file checkerboard_ocamcalib_detector.cpp.

References CvContourEx::counter, MAX_CONTOUR_APPROX, and MRPT_UNUSED_PARAM.

Referenced by cvFindChessboardCorners3(), and find_chessboard_corners_multiple().

median()

double median

(

const std::vector< double > &

vec

)

Definition at line 754 of file checkerboard_ocamcalib_detector.cpp.

Referenced by icvCleanFoundConnectedQuads().

mrAugmentBestRun()

int mrAugmentBestRun	(	std::vector< CvCBQuadPtr > &	new_quads,
		int	new_dilation,
		std::vector< CvCBQuadPtr > &	old_quads,
		int	old_dilation
	)

Definition at line 1652 of file checkerboard_ocamcalib_detector.cpp.

References mrpt::obs::gnss::a1, mrpt::obs::gnss::a2, mrpt::obs::gnss::a3, mrpt::obs::gnss::b1, mrpt::obs::gnss::b2, and mrpt::obs::gnss::b3.

Referenced by cvFindChessboardCorners3().

mrFindQuadNeighbors2()

void mrFindQuadNeighbors2	(	std::vector< CvCBQuadPtr > &	quads,
		int	dilation
	)

Definition at line 1428 of file checkerboard_ocamcalib_detector.cpp.

References mrpt::obs::gnss::a1, mrpt::obs::gnss::a2, mrpt::obs::gnss::a3, mrpt::obs::gnss::b1, mrpt::obs::gnss::b2, and mrpt::obs::gnss::b3.

Referenced by cvFindChessboardCorners3(), and find_chessboard_corners_multiple().

mrLabelQuadGroup()

void mrLabelQuadGroup	(	std::vector< CvCBQuadPtr > &	quad_group,
		const CvSize &	pattern_size,
		bool	firstRun
	)

Definition at line 1011 of file checkerboard_ocamcalib_detector.cpp.

References min.

Referenced by cvFindChessboardCorners3(), and find_chessboard_corners_multiple().

myQuads2Points()

int myQuads2Points	(	const std::vector< CvCBQuadPtr > &	output_quads,
		const CvSize &	pattern_size,
		std::vector< CvPoint2D32f > &	out_corners
	)

Definition at line 2165 of file checkerboard_ocamcalib_detector.cpp.

Referenced by cvFindChessboardCorners3(), and find_chessboard_corners_multiple().

quadListMakeUnique()

void quadListMakeUnique

(

std::vector< CvCBQuadPtr > &

quads

)

Definition at line 2333 of file checkerboard_ocamcalib_detector.cpp.

Referenced by find_chessboard_corners_multiple().

triangleArea()

double triangleArea	(	double	x0,
		double	y0,
		double	x1,
		double	y1,
		double	x2,
		double	y2
	)

Definition at line 746 of file checkerboard_ocamcalib_detector.cpp.

Referenced by icvCleanFoundConnectedQuads().