checkerboard_ocamcalib_detector.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#pragma once

// Universal include for all versions of OpenCV
#include <mrpt/3rdparty/do_opencv_includes.h>
#include <mrpt/img/CImage.h>

#include <cmath>
#include <cstdio>

#include <memory>

#if MRPT_HAS_OPENCV

// Debug visualizations...
// Ming #define VIS 1
#define VIS 0

// Definition Contour Struct
struct CvContourEx
{
    CV_CONTOUR_FIELDS()
    int counter;
};

// Definition Corner Struct
struct CvCBCorner;

struct CvCBCorner
{
    using Ptr = std::shared_ptr<CvCBCorner>;
    CvCBCorner() = default;
    CvPoint2D32f pt;  // X and y coordinates
    int row{-1000};  // Row and column of the corner
    int column{-1000};  // in the found pattern
    bool needsNeighbor;  // Does the corner require a neighbor?
    int count{0};  // number of corner neighbors
    CvCBCorner::Ptr neighbors[4];  // pointer to all corner neighbors
};

// Definition Quadrangle Struct
// This structure stores information about the chessboard quadrange
struct CvCBQuad;

struct CvCBQuad
{
    using Ptr = std::shared_ptr<CvCBQuad>;
    CvCBQuad() = default;

    int count{0};  // Number of quad neihbors
    int group_idx{0};  // Quad group ID
    float edge_len{0};  // Smallest side length^2
    CvCBCorner::Ptr corners[4];  // CvCBCorner *corners[4];             //
    // Coordinates of quad corners
    CvCBQuad::Ptr neighbors[4];  // Pointers of quad neighbors
    bool labeled{false};  // Has this corner been labeled?
    double area{0.0}, area_ratio{1.0};
};

//===========================================================================
// PUBLIC FUNCTION PROTOTYPES
//===========================================================================
// Return: -1: errors, 0: not found, 1: found OK
int cvFindChessboardCorners3(
    const mrpt::img::CImage& img_, CvSize pattern_size,
    std::vector<CvPoint2D32f>& out_corners);

// Return: true: found OK
bool find_chessboard_corners_multiple(
    const mrpt::img::CImage& img_, CvSize pattern_size,
    std::vector<std::vector<CvPoint2D32f>>& out_corners);

//===========================================================================
// INTERNAL FUNCTION PROTOTYPES
//===========================================================================
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);

// Remove quads' extra quads until reached the expected number of quads.
void icvCleanFoundConnectedQuads(
    std::vector<CvCBQuad::Ptr>& quads, const CvSize& pattern_size);

// JL: Return 1 on success in finding all the quads, 0 on didn't, -1 on error.
int myQuads2Points(
    const std::vector<CvCBQuad::Ptr>& output_quads, const CvSize& pattern_size,
    std::vector<CvPoint2D32f>& out_corners);

// JL: Make unique all the (smart pointers-pointed) objects in the list and
// neighbors lists.
void quadListMakeUnique(std::vector<CvCBQuad::Ptr>& quads);

// JL: Refactored code from within cvFindChessboardCorners3() and alternative
// algorithm:
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);

#endif  // MRPT_HAS_OPENCV