calibration.cpp File Reference

Definitions for generic geometric calibration. More...

#include "calibration.hpp"

Include dependency graph for calibration.cpp:

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Functions
void	addToBinMap (Mat &binMap, cv::vector< Point2f > &cornerSet, Size imSize)
	Add a cornerset to the tally matrix.
void	addToDistributionMap (Mat &distributionMap, vector< Point2f > &corners)
	Measures the coverage of a cameras field of view by analysing the distribution tally.
void	addToRadialDistribution (double *radialDistribution, cv::vector< Point2f > &cornerSet, Size imSize)
	Adds a pointset to a radial distribution array.
bool	checkAcutance ()
	Checks validity of image for calibration.
void	clusterFilter (vector< mserPatch > &patches, vector< vector< Point > > &msers, int totalPatches)
	Filters out MSERs that cannot possibly be part of the geometric pattern.
bool	correctPatchCentres (const Mat &image, Size patternSize, vector< Point2f > &patchCentres, int mode)
	Uses contrast enhancement etc to improve positional estimates of patch centres.
void	debugDisplayPatches (const Mat &image, vector< vector< Point > > &msers)
	Visually display patches on image.
void	debugDisplayPattern (const Mat &image, Size patternSize, Mat &corners, bool mode)
	Visually pattern on image.
void	determineFindablePatches (Size patternSize, int mode, int *XVec, int *YVec)
	Determines how many patches can be found in each row and extreme columns.
void	determinePatchDistribution (Size patternSize, int mode, int &rows, int &cols, int &quant)
	Determines the distribution of patches based on pattern dimensions and pattern type.
void	enclosureFilter (vector< mserPatch > &patches, vector< vector< Point > > &msers)
	Filters out MSERs that are enclosed by or enclose true patches.
void	findAllPatches (const Mat &image, Size patternSize, vector< vector< Point > > &msers)
	Find all patches (MSERS - using default settings) in an image.
void	findAllPatches2 (const Mat &image, Size patternSize, vector< vector< Point > > &msers, int delta, float max_var, float min_diversity, double area_threshold)
int	findBestCorners (const Mat &image, vector< Point2f > &src, vector< Point2f > &dst, Size patternSize, int detector, int searchDist)
	Returns the subpixel location of the corner given a decent estimate.
void	findCornerPatches (Size imageSize, Size patternSize, int mode, int *XVec, int *YVec, vector< Point2f > &patchCentres, vector< Point2f > &remainingPatches)
	Finds (or simulates) the four corners patches in a pattern.
void	findEdgePatches (Size patternSize, int mode, int *XVec, int *YVec, vector< Point2f > &patchCentres, vector< Point2f > &remainingPatches)
	Finds (or simulates) the edge patches in a pattern.
void	findInteriorPatches (Size patternSize, int mode, int *XVec, int *YVec, vector< Point2f > &patchCentres, vector< Point2f > &remainingPatches)
	Finds (or simulates) the interior patches in a pattern.
bool	findMaskCorners_1 (const Mat &image, Size patternSize, vector< Point2f > &corners, int detector)
	MSER-clustering mask corner locater.
bool	findMaskCorners_2 (const Mat &image, Size patternSize, vector< Point2f > &corners, int detector, int mserDelta, float max_var, float min_diversity, double area_threshold)
bool	findPatchCorners (const Mat &image, Size patternSize, Mat &homography, vector< Point2f > &corners, vector< Point2f > &patchCentres2f, int mode, int detector)
	Estimates the co-ordinates of the corners of the patches.
bool	findPatternCentres (const Mat &image, Size patternSize, vector< Point2f > &centres, int mode)
	Finds just the MSER centres from an image.
bool	findPatternCorners (const Mat &image, Size patternSize, vector< Point2f > &corners, int mode, int detector)
	Core pattern-finding function.
bool	findPatternCorners2 (const Mat &image, Size patternSize, vector< Point2f > &corners, int mode, int detector, int mserDelta, float max_var, float min_div, double area_threshold)
void	generateRandomIndexArray (int *randomArray, int maxElements, int maxVal)
	Generates a random set of indices from a valid range.
void	groupPointsInQuads (Size patternSize, vector< Point2f > &corners)
	Converts points ordering from row-by-row to quad-clustered.
void	initialRefinementOfCorners (const Mat &imGrey, vector< Point2f > &src, Size patternSize)
	Initial attempt to correct locations of all corners based on estimates from MSER centroids.
void	interpolateCornerLocations2 (const Mat &image, int mode, Size patternSize, vector< Point2f > &vCentres, vector< Point2f > &vCorners)
	Estimate the locations of patch corners based on patch centroids.
double	obtainSetScore (Mat &distributionMap, Mat &binMap, Mat &gaussianMat, cv::vector< Point2f > &cornerSet, double *radialDistribution)
	Calculate the score for a pointset in terms of its contribution to calibration.
bool	patternInFrame (Size imSize, vector< Point2f > &patternPoints, int minBorder)
	Checks that the entire pattern is inside the frame by at least a specified margin.
void	prepForDisplay (const Mat &distributionMap, Mat &distributionDisplay)
	Blurs and enhances a distribution map to make it more displayable.
void	randomCulling (vector< string > &inputList, int maxSearch, vector< vector< vector< Point2f > > > &patterns)
void	randomCulling (vector< std::string > &inputList, int maxSearch, vector< vector< Point2f > > &patterns)
	Culls some patterns from a vector, and from the corresponding names list.
void	randomCulling (vector< std::string > &inputList, int maxSearch)
	Randomly cuts down a list of input files.
void	reduceCluster (vector< mserPatch > &patches, vector< vector< Point > > &msers, int totalPatches)
	Filters out most deviant patches to retain only the correct number for the pattern.
void	refineCornerPositions (const Mat &image, Size patternSize, vector< Point2f > &vCorners)
	Refines positions of corners through iterative local homography mappings.
bool	refinePatches (const Mat &image, Size patternSize, vector< vector< Point > > &msers, vector< Point2f > &patchCentres, int mode)
	Applies various area, colour and positional filters to reduce no. of patches to desired amount.
void	reorderPatches (Size patternSize, int mode, int *XVec, int *YVec, vector< Point2f > &patchCentres)
	Re-orders patches into row by row, left to right.
void	shapeFilter (vector< mserPatch > &patches, vector< vector< Point > > &msers)
	Filters out MSERs that do not have a realistic shape.
void	sortCorners (Size imageSize, Size patternSize, vector< Point2f > &corners)
	Sorts the corners into a standard order to prepare for calibration.
void	sortPatches (Size imageSize, Size patternSize, vector< Point2f > &patchCentres, int mode)
	Sorts the patches into a standard order to prepare for homography.
void	transferMserElement (vector< vector< Point > > &dst, vector< vector< Point > > &src, int index)
	Move a vector of points from one vector of vectors to another.
void	transferPatchElement (vector< mserPatch > &dst, vector< mserPatch > &src, int index)
	Move an MSER-patch from one vector to another, resizing and shifting the old vector.
void	varianceFilter (vector< mserPatch > &patches, vector< vector< Point > > &msers)
	Filters out MSERs that have a large amount of internal pixel intensity variance.
bool	verifyCorners (Size imSize, Size patternSize, vector< Point2f > &patternPoints, double minDist, double maxDist)
	Verifies that the final patches do actually represent a grid pattern.
bool	verifyPatches (Size imSize, Size patternSize, vector< Point2f > &patchCentres, int mode, double minDist, double maxDist)
	Verifies that the final patches do actually represent a grid pattern.
bool	verifyPattern (Size imSize, Size patternSize, vector< Point2f > &patternPoints, double minDist, double maxDist)
	Generic grid verification function.

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Detailed Description

Definitions for generic geometric calibration.

Definition in file calibration.cpp.

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Function Documentation

void addToBinMap	(	Mat &	binMap,
		cv::vector< Point2f > &	cornerSet,
		Size	imSize
	)

Add a cornerset to the tally matrix.

Definition at line 1954 of file calibration.cpp.

void addToDistributionMap	(	Mat &	distributionMap,
		vector< Point2f > &	corners
	)

Measures the coverage of a cameras field of view by analysing the distribution tally.

Definition at line 2015 of file calibration.cpp.

void addToRadialDistribution	(	double *	radialDistribution,
		cv::vector< Point2f > &	cornerSet,
		Size	imSize
	)

Adds a pointset to a radial distribution array.

Definition at line 1986 of file calibration.cpp.

bool checkAcutance

(

)

Checks validity of image for calibration.

Definition at line 155 of file calibration.cpp.

void clusterFilter	(	vector< mserPatch > &	patches,
		vector< vector< Point > > &	msers,
		int	totalPatches
	)

Filters out MSERs that cannot possibly be part of the geometric pattern.

Definition at line 4180 of file calibration.cpp.

bool correctPatchCentres	(	const Mat &	image,
		Size	patternSize,
		vector< Point2f > &	patchCentres,
		int	mode
	)

Uses contrast enhancement etc to improve positional estimates of patch centres.

Definition at line 3322 of file calibration.cpp.

void debugDisplayPatches	(	const Mat &	image,
		vector< vector< Point > > &	msers
	)

Visually display patches on image.

Definition at line 434 of file calibration.cpp.

void debugDisplayPattern	(	const Mat &	image,
		Size	patternSize,
		Mat &	corners,
		bool	mode
	)

Visually pattern on image.

Definition at line 1410 of file calibration.cpp.

void determineFindablePatches	(	Size	patternSize,
		int	mode,
		int *	XVec,
		int *	YVec
	)

Determines how many patches can be found in each row and extreme columns.

Definition at line 458 of file calibration.cpp.

void determinePatchDistribution	(	Size	patternSize,
		int	mode,
		int &	rows,
		int &	cols,
		int &	quant
	)

Determines the distribution of patches based on pattern dimensions and pattern type.

Definition at line 162 of file calibration.cpp.

void enclosureFilter	(	vector< mserPatch > &	patches,
		vector< vector< Point > > &	msers
	)

Filters out MSERs that are enclosed by or enclose true patches.

Definition at line 3962 of file calibration.cpp.

void findAllPatches	(	const Mat &	image,
		Size	patternSize,
		vector< vector< Point > > &	msers
	)

Find all patches (MSERS - using default settings) in an image.

Definition at line 179 of file calibration.cpp.

void findAllPatches2	(	const Mat &	image,
		Size	patternSize,
		vector< vector< Point > > &	msers,
		int	delta,
		float	max_var,
		float	min_diversity,
		double	area_threshold
	)

Definition at line 280 of file calibration.cpp.

int findBestCorners	(	const Mat &	image,
		vector< Point2f > &	src,
		vector< Point2f > &	dst,
		Size	patternSize,
		int	detector,
		int	searchDist
	)

Returns the subpixel location of the corner given a decent estimate.

Definition at line 2882 of file calibration.cpp.

void findCornerPatches	(	Size	imageSize,
		Size	patternSize,
		int	mode,
		int *	XVec,
		int *	YVec,
		vector< Point2f > &	patchCentres,
		vector< Point2f > &	remainingPatches
	)

Finds (or simulates) the four corners patches in a pattern.

Definition at line 538 of file calibration.cpp.

void findEdgePatches	(	Size	patternSize,
		int	mode,
		int *	XVec,
		int *	YVec,
		vector< Point2f > &	patchCentres,
		vector< Point2f > &	remainingPatches
	)

Finds (or simulates) the edge patches in a pattern.

Definition at line 801 of file calibration.cpp.

void findInteriorPatches	(	Size	patternSize,
		int	mode,
		int *	XVec,
		int *	YVec,
		vector< Point2f > &	patchCentres,
		vector< Point2f > &	remainingPatches
	)

Finds (or simulates) the interior patches in a pattern.

Definition at line 1015 of file calibration.cpp.

bool findMaskCorners_1	(	const Mat &	image,
		Size	patternSize,
		vector< Point2f > &	corners,
		int	detector
	)

MSER-clustering mask corner locater.

Definition at line 129 of file calibration.cpp.

bool findMaskCorners_2	(	const Mat &	image,
		Size	patternSize,
		vector< Point2f > &	corners,
		int	detector,
		int	mserDelta,
		float	max_var,
		float	min_diversity,
		double	area_threshold
	)

Definition at line 142 of file calibration.cpp.

bool findPatchCorners	(	const Mat &	image,
		Size	patternSize,
		Mat &	homography,
		vector< Point2f > &	corners,
		vector< Point2f > &	patchCentres2f,
		int	mode,
		int	detector
	)

Estimates the co-ordinates of the corners of the patches.

Definition at line 2215 of file calibration.cpp.

bool findPatternCentres	(	const Mat &	image,
		Size	patternSize,
		vector< Point2f > &	centres,
		int	mode
	)

Finds just the MSER centres from an image.

Definition at line 3585 of file calibration.cpp.

bool findPatternCorners	(	const Mat &	image,
		Size	patternSize,
		vector< Point2f > &	corners,
		int	mode,
		int	detector
	)

Core pattern-finding function.

Definition at line 1445 of file calibration.cpp.

bool findPatternCorners2	(	const Mat &	image,
		Size	patternSize,
		vector< Point2f > &	corners,
		int	mode,
		int	detector,
		int	mserDelta,
		float	max_var,
		float	min_div,
		double	area_threshold
	)

Definition at line 1599 of file calibration.cpp.

void generateRandomIndexArray	(	int *	randomArray,
		int	maxElements,
		int	maxVal
	)

Generates a random set of indices from a valid range.

Definition at line 7 of file calibration.cpp.

void groupPointsInQuads	(	Size	patternSize,
		vector< Point2f > &	corners
	)

Converts points ordering from row-by-row to quad-clustered.

Definition at line 2855 of file calibration.cpp.

void initialRefinementOfCorners	(	const Mat &	imGrey,
		vector< Point2f > &	src,
		Size	patternSize
	)

Initial attempt to correct locations of all corners based on estimates from MSER centroids.

Definition at line 3171 of file calibration.cpp.

void interpolateCornerLocations2	(	const Mat &	image,
		int	mode,
		Size	patternSize,
		vector< Point2f > &	vCentres,
		vector< Point2f > &	vCorners
	)

Estimate the locations of patch corners based on patch centroids.

Definition at line 1753 of file calibration.cpp.

double obtainSetScore	(	Mat &	distributionMap,
		Mat &	binMap,
		Mat &	gaussianMat,
		cv::vector< Point2f > &	cornerSet,
		double *	radialDistribution
	)

Calculate the score for a pointset in terms of its contribution to calibration.

Definition at line 2023 of file calibration.cpp.

bool patternInFrame	(	Size	imSize,
		vector< Point2f > &	patternPoints,
		int	minBorder
	)

Checks that the entire pattern is inside the frame by at least a specified margin.

Definition at line 3873 of file calibration.cpp.

void prepForDisplay	(	const Mat &	distributionMap,
		Mat &	distributionDisplay
	)

Blurs and enhances a distribution map to make it more displayable.

Definition at line 1968 of file calibration.cpp.

void randomCulling	(	vector< string > &	inputList,
		int	maxSearch,
		vector< vector< vector< Point2f > > > &	patterns
	)

Definition at line 409 of file calibration.cpp.

void randomCulling	(	vector< std::string > &	inputList,
		int	maxSearch,
		vector< vector< Point2f > > &	patterns
	)

Culls some patterns from a vector, and from the corresponding names list.

Definition at line 394 of file calibration.cpp.

void randomCulling	(	vector< std::string > &	inputList,
		int	maxSearch
	)

Randomly cuts down a list of input files.

Definition at line 380 of file calibration.cpp.

void reduceCluster	(	vector< mserPatch > &	patches,
		vector< vector< Point > > &	msers,
		int	totalPatches
	)

Filters out most deviant patches to retain only the correct number for the pattern.

Definition at line 4095 of file calibration.cpp.

void refineCornerPositions	(	const Mat &	image,
		Size	patternSize,
		vector< Point2f > &	vCorners
	)

Refines positions of corners through iterative local homography mappings.

Definition at line 2307 of file calibration.cpp.

bool refinePatches	(	const Mat &	image,
		Size	patternSize,
		vector< vector< Point > > &	msers,
		vector< Point2f > &	patchCentres,
		int	mode
	)

Applies various area, colour and positional filters to reduce no. of patches to desired amount.

Definition at line 4429 of file calibration.cpp.

void reorderPatches	(	Size	patternSize,
		int	mode,
		int *	XVec,
		int *	YVec,
		vector< Point2f > &	patchCentres
	)

Re-orders patches into row by row, left to right.

Definition at line 1322 of file calibration.cpp.

void shapeFilter	(	vector< mserPatch > &	patches,
		vector< vector< Point > > &	msers
	)

Filters out MSERs that do not have a realistic shape.

Definition at line 3893 of file calibration.cpp.

void sortCorners	(	Size	imageSize,
		Size	patternSize,
		vector< Point2f > &	corners
	)

Sorts the corners into a standard order to prepare for calibration.

Definition at line 3280 of file calibration.cpp.

void sortPatches	(	Size	imageSize,
		Size	patternSize,
		vector< Point2f > &	patchCentres,
		int	mode
	)

Sorts the patches into a standard order to prepare for homography.

Definition at line 1232 of file calibration.cpp.

void transferMserElement	(	vector< vector< Point > > &	dst,
		vector< vector< Point > > &	src,
		int	index
	)

Move a vector of points from one vector of vectors to another.

Definition at line 4417 of file calibration.cpp.

void transferPatchElement	(	vector< mserPatch > &	dst,
		vector< mserPatch > &	src,
		int	index
	)

Move an MSER-patch from one vector to another, resizing and shifting the old vector.

Definition at line 4405 of file calibration.cpp.

void varianceFilter	(	vector< mserPatch > &	patches,
		vector< vector< Point > > &	msers
	)

Filters out MSERs that have a large amount of internal pixel intensity variance.

Definition at line 3934 of file calibration.cpp.

bool verifyCorners	(	Size	imSize,
		Size	patternSize,
		vector< Point2f > &	patternPoints,
		double	minDist,
		double	maxDist
	)

Verifies that the final patches do actually represent a grid pattern.

Definition at line 2295 of file calibration.cpp.

bool verifyPatches	(	Size	imSize,
		Size	patternSize,
		vector< Point2f > &	patchCentres,
		int	mode,
		double	minDist,
		double	maxDist
	)

Verifies that the final patches do actually represent a grid pattern.

Definition at line 3831 of file calibration.cpp.

bool verifyPattern	(	Size	imSize,
		Size	patternSize,
		vector< Point2f > &	patternPoints,
		double	minDist,
		double	maxDist
	)

Generic grid verification function.

Definition at line 3667 of file calibration.cpp.