checkerboard_ocamcalib_detector.cpp File Reference

#include "vision-precomp.h"
#include <stack>
#include "checkerboard_ocamcalib_detector.h"
#include <array>
#include <map>

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Macros
#define	MAX_CONTOUR_APPROX   7

Functions
bool	do_special_dilation (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 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< CvCBQuad::Ptr > &quad_group, const CvSize &pattern_size)
void	icvFindConnectedQuads (std::vector< CvCBQuad::Ptr > &quad, std::vector< CvCBQuad::Ptr > &out_group, const int group_idx, [[maybe_unused]] const int dilation)
void	mrLabelQuadGroup (std::vector< CvCBQuad::Ptr > &quad_group, const CvSize &pattern_size, bool firstRun)
void	mrFindQuadNeighbors2 (std::vector< CvCBQuad::Ptr > &quads, int dilation)
int	mrAugmentBestRun (std::vector< CvCBQuad::Ptr > &new_quads, int new_dilation, std::vector< CvCBQuad::Ptr > &old_quads, int old_dilation)
int	icvGenerateQuads (vector< CvCBQuad::Ptr > &out_quads, vector< CvCBCorner::Ptr > &out_corners, const CImage &image, int flags, [[maybe_unused]] int dilation, bool firstRun)
int	myQuads2Points (const std::vector< CvCBQuad::Ptr > &output_quads, const CvSize &pattern_size, std::vector< CvPoint2D32f > &out_corners)
void	quadListMakeUnique (std::vector< CvCBQuad::Ptr > &quads)

Macro Definition Documentation

MAX_CONTOUR_APPROX

#define MAX_CONTOUR_APPROX   7

Definition at line 78 of file checkerboard_ocamcalib_detector.cpp.

Referenced by icvGenerateQuads().

Function Documentation

cvFindChessboardCorners3()

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

Definition at line 225 of file checkerboard_ocamcalib_detector.cpp.

References mrpt::img::CImage::asCvMat(), mrpt::img::CH_GRAY, do_special_dilation(), mrpt::img::FAST_REF_OR_CONVERT_TO_GRAY, mrpt::img::CImage::getHeight(), mrpt::img::CImage::getWidth(), icvCleanFoundConnectedQuads(), icvFindConnectedQuads(), icvGenerateQuads(), mrAugmentBestRun(), mrFindQuadNeighbors2(), mrLabelQuadGroup(), myQuads2Points(), and mrpt::img::SHALLOW_COPY.

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

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do_special_dilation()

bool do_special_dilation	(	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 82 of file checkerboard_ocamcalib_detector.cpp.

References mrpt::img::CImage::asCvMat(), and mrpt::img::SHALLOW_COPY.

Referenced by cvFindChessboardCorners3(), and find_chessboard_corners_multiple().

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icvCleanFoundConnectedQuads()

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

Definition at line 545 of file checkerboard_ocamcalib_detector.cpp.

References median(), and triangleArea().

Referenced by cvFindChessboardCorners3(), and find_chessboard_corners_multiple().

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icvFindConnectedQuads()

void icvFindConnectedQuads	(	std::vector< CvCBQuad::Ptr > &	quad,
		std::vector< CvCBQuad::Ptr > &	out_group,
		const int	group_idx,
		[[maybe_unused] ] const int	dilation
	)

Definition at line 715 of file checkerboard_ocamcalib_detector.cpp.

Referenced by cvFindChessboardCorners3(), and find_chessboard_corners_multiple().

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icvGenerateQuads()

int icvGenerateQuads	(	vector< CvCBQuad::Ptr > &	out_quads,
		vector< CvCBCorner::Ptr > &	out_corners,
		const CImage &	image,
		int	flags,
		[[maybe_unused] ] int	dilation,
		bool	firstRun
	)

(flags & CV_CALIB_CB_FILTER_QUADS) ||

Definition at line 1877 of file checkerboard_ocamcalib_detector.cpp.

References mrpt::img::CImage::asCvMat(), CvContourEx::counter, mrpt::img::CImage::getHeight(), mrpt::img::CImage::getWidth(), MAX_CONTOUR_APPROX, and mrpt::img::SHALLOW_COPY.

Referenced by cvFindChessboardCorners3(), and find_chessboard_corners_multiple().

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median()

double median

(

const std::vector< double > &

vec

)

Definition at line 532 of file checkerboard_ocamcalib_detector.cpp.

Referenced by icvCleanFoundConnectedQuads().

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mrAugmentBestRun()

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

Definition at line 1490 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().

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mrFindQuadNeighbors2()

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

Definition at line 1229 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().

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mrLabelQuadGroup()

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

Definition at line 768 of file checkerboard_ocamcalib_detector.cpp.

References CvCBQuad::corners, CvCBQuad::count, and CvCBQuad::labeled.

Referenced by cvFindChessboardCorners3(), and find_chessboard_corners_multiple().

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myQuads2Points()

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

Definition at line 2055 of file checkerboard_ocamcalib_detector.cpp.

Referenced by cvFindChessboardCorners3(), and find_chessboard_corners_multiple().

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quadListMakeUnique()

void quadListMakeUnique

(

std::vector< CvCBQuad::Ptr > &

quads

)

Definition at line 2239 of file checkerboard_ocamcalib_detector.cpp.

Referenced by find_chessboard_corners_multiple().

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triangleArea()

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

Definition at line 526 of file checkerboard_ocamcalib_detector.cpp.

Referenced by icvCleanFoundConnectedQuads().

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