checkerboard_ocamcalib_detector.h File Reference

#include <mrpt/3rdparty/do_opencv_includes.h>
#include <mrpt/img/CImage.h>
#include <cmath>
#include <cstdio>
#include <memory>

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Classes
struct	CvContourEx
struct	CvCBCorner
struct	CvCBQuad

Macros
#define	VIS   0

Functions
int	cvFindChessboardCorners3 (const mrpt::img::CImage &img_, CvSize pattern_size, std::vector< CvPoint2D32f > &out_corners)
bool	find_chessboard_corners_multiple (const mrpt::img::CImage &img_, CvSize pattern_size, std::vector< std::vector< CvPoint2D32f >> &out_corners)
int	icvGenerateQuads (std::vector< CvCBQuad::Ptr > &quads, std::vector< CvCBCorner::Ptr > &corners, const mrpt::img::CImage &img, int flags, int dilation, 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)
void	icvFindConnectedQuads (std::vector< CvCBQuad::Ptr > &in_quads, std::vector< CvCBQuad::Ptr > &out_quad_group, const int group_idx, const int dilation)
void	mrLabelQuadGroup (std::vector< CvCBQuad::Ptr > &quad_group, const CvSize &pattern_size, bool firstRun)
void	icvCleanFoundConnectedQuads (std::vector< CvCBQuad::Ptr > &quads, const CvSize &pattern_size)
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)
bool	do_special_dilation (mrpt::img::CImage &thresh_img, const int dilations, IplConvKernel *kernel_cross, IplConvKernel *kernel_rect, IplConvKernel *kernel_diag1, IplConvKernel *kernel_diag2, IplConvKernel *kernel_horz, IplConvKernel *kernel_vert)

Macro Definition Documentation

VIS

#define VIS   0

Definition at line 25 of file checkerboard_ocamcalib_detector.h.

Function Documentation

cvFindChessboardCorners3()

int cvFindChessboardCorners3	(	const mrpt::img::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	(	mrpt::img::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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find_chessboard_corners_multiple()

bool find_chessboard_corners_multiple	(	const mrpt::img::CImage &	img_,
		CvSize	pattern_size,
		std::vector< std::vector< CvPoint2D32f >> &	out_corners
	)

Definition at line 35 of file checkerboard_multiple_detector.cpp.

References mrpt::img::CImage::asCvMat(), mrpt::img::CH_GRAY, mrpt::img::CImage::clear(), CvCBQuad::corners, mrpt::math::distance(), do_special_dilation(), mrpt::img::FAST_REF_OR_CONVERT_TO_GRAY, mrpt::img::CImage::getHeight(), mrpt::img::CImage::getWidth(), icvCleanFoundConnectedQuads(), icvFindConnectedQuads(), icvGenerateQuads(), mrpt::keep_min(), mrpt::math::kmeanspp(), mrFindQuadNeighbors2(), mrLabelQuadGroup(), myQuads2Points(), quadListMakeUnique(), and mrpt::img::SHALLOW_COPY.

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

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icvCleanFoundConnectedQuads()

void icvCleanFoundConnectedQuads	(	std::vector< CvCBQuad::Ptr > &	quads,
		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 > &	in_quads,
		std::vector< CvCBQuad::Ptr > &	out_quad_group,
		const int	group_idx,
		const int	dilation
	)

Definition at line 715 of file checkerboard_ocamcalib_detector.cpp.

References MRPT_UNUSED_PARAM.

Referenced by cvFindChessboardCorners3(), and find_chessboard_corners_multiple().

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icvGenerateQuads()

int icvGenerateQuads	(	std::vector< CvCBQuad::Ptr > &	quads,
		std::vector< CvCBCorner::Ptr > &	corners,
		const mrpt::img::CImage &	img,
		int	flags,
		int	dilation,
		bool	firstRun
	)

(flags & CV_CALIB_CB_FILTER_QUADS) ||

Definition at line 1878 of file checkerboard_ocamcalib_detector.cpp.

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

Referenced by cvFindChessboardCorners3(), and find_chessboard_corners_multiple().

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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 1491 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 1230 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 769 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 2056 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 2240 of file checkerboard_ocamcalib_detector.cpp.

Referenced by find_chessboard_corners_multiple().

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