Declarations for generic geometric calibration. More...

#include "improc.hpp"
#include "opencv2/calib3d/calib3d.hpp"
#include "opencv2/highgui/highgui.hpp"
#include <sys/stat.h>
#include <stdio.h>

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Classes
class	mserPatch
	Class enables for storing an MSER feature beyond simply its bounding points. More...
Defines
#define	ALL_PATTERNS_OPTIMIZATION_CODE 0
#define	BEST_OF_RANDOM_PATTERNS_OPTIMIZATION_CODE 4
#define	CHESSBOARD_FINDER_CODE 0
#define	DEBUG_MODE 0
#define	ENHANCED_MCM_OPTIMIZATION_CODE 3
#define	EXHAUSTIVE_SEARCH_OPTIMIZATION_CODE 5
#define	EXTENDED_CHESSBOARD_FINDER 5
#define	FIRST_N_PATTERNS_OPTIMIZATION_CODE 2
#define	FOLD_COUNT 1
#define	HEATED_CHESSBOARD_FINDER_CODE 2
#define	INVERTED_OPENCV_CHESSBOARD_FINDER 10
#define	MASK_FINDER 3
#define	MASK_FINDER_CODE 1
#define	MASK_FINDER_INNERS 8
#define	MAX_CAMS 3
#define	MAX_CANDIDATE_PATTERNS 100
#define	MAX_CORNER_SEPARATION 100
#define	MAX_FRAMES_PER_INPUT 5000
#define	MAX_FRAMES_TO_LOAD 1000
#define	MAX_PATTERNS_PER_SET 10
#define	MAX_PATTERNS_TO_KEEP 500
#define	MAX_SEARCH_DIST 3
#define	MIN_CORNER_SEPARATION 3
#define	MIN_DISTANCE_FROM_EDGE 2
#define	MINIMUM_CORRECTION_DISTANCE 1
#define	MINIMUM_MSER_AREA 50
#define	PATCH_CORRECTION_INTRINSICS_FLAGS CV_CALIB_RATIONAL_MODEL
#define	PATTERN_FINDER_CV_CORNER_SUBPIX_FLAG 4
#define	PI 3.14159265
#define	RADIAL_LENGTH 1000
#define	RANDOM_SEED_OPTIMIZATION_CODE 6
#define	RANDOM_SET_OPTIMIZATION_CODE 1
#define	REGULAR_OPENCV_CHESSBOARD_FINDER 0
#define	SCORE_BASED_OPTIMIZATION_CODE 7
#define	TRACKING 0
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=true, double delay=0.0)
	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, int mserDelta=8, float max_var=0.25, float min_div=0.2, double area_threshold=1.01)
	Find all patches (MSERS - using default settings) in an image.
int	findBestCorners (const Mat &image, vector< Point2f > &src, vector< Point2f > &dst, Size patternSize, int detector, int searchDist=MAX_SEARCH_DIST)
	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 (const Mat &image, Size patternSize, vector< Point2f > &corners, int detector=0, int mserDelta=8, float max_var=0.25, float min_div=0.2, double area_threshold=1.01)
	MSER-clustering mask corner locater.
bool	findPatchCorners (const Mat &image, Size patternSize, Mat &homography, vector< Point2f > &corners, vector< Point2f > &patchCentres2f, int mode, int detector=0)
	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=0, int mserDelta=8, float max_var=0.25, float min_div=0.2, double area_threshold=1.01)
	Core pattern-finding function.
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=2)
	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< std::string > &inputList, int maxSearch)
	Randomly cuts down a list of input files.
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, vector< vector< vector< Point2f > > > &patterns)
	Culls some sets of patterns from a vector vector, and from the corresponding names list.
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=MIN_CORNER_SEPARATION, double maxDist=MAX_CORNER_SEPARATION)
	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.

Detailed Description

Declarations for generic geometric calibration.

Definition in file calibration.hpp.

Define Documentation

#define ALL_PATTERNS_OPTIMIZATION_CODE 0

Definition at line 35 of file calibration.hpp.

#define BEST_OF_RANDOM_PATTERNS_OPTIMIZATION_CODE 4

Definition at line 39 of file calibration.hpp.

#define CHESSBOARD_FINDER_CODE 0

Definition at line 28 of file calibration.hpp.

#define DEBUG_MODE 0

Definition at line 44 of file calibration.hpp.

#define ENHANCED_MCM_OPTIMIZATION_CODE 3

Definition at line 38 of file calibration.hpp.

#define EXHAUSTIVE_SEARCH_OPTIMIZATION_CODE 5

Definition at line 40 of file calibration.hpp.

#define EXTENDED_CHESSBOARD_FINDER 5

Definition at line 62 of file calibration.hpp.

#define FIRST_N_PATTERNS_OPTIMIZATION_CODE 2

Definition at line 37 of file calibration.hpp.

#define FOLD_COUNT 1

Definition at line 52 of file calibration.hpp.

#define HEATED_CHESSBOARD_FINDER_CODE 2

Definition at line 30 of file calibration.hpp.

#define INVERTED_OPENCV_CHESSBOARD_FINDER 10

Definition at line 63 of file calibration.hpp.

#define MASK_FINDER 3

Definition at line 60 of file calibration.hpp.

#define MASK_FINDER_CODE 1

Definition at line 29 of file calibration.hpp.

#define MASK_FINDER_INNERS 8

Definition at line 61 of file calibration.hpp.

#define MAX_CAMS 3

Definition at line 56 of file calibration.hpp.

#define MAX_CANDIDATE_PATTERNS 100

Definition at line 70 of file calibration.hpp.

#define MAX_CORNER_SEPARATION 100

Definition at line 33 of file calibration.hpp.

#define MAX_FRAMES_PER_INPUT 5000

Definition at line 67 of file calibration.hpp.

#define MAX_FRAMES_TO_LOAD 1000

Definition at line 68 of file calibration.hpp.

#define MAX_PATTERNS_PER_SET 10

Definition at line 71 of file calibration.hpp.

#define MAX_PATTERNS_TO_KEEP 500

Definition at line 69 of file calibration.hpp.

#define MAX_SEARCH_DIST 3

Definition at line 57 of file calibration.hpp.

#define MIN_CORNER_SEPARATION 3

Definition at line 32 of file calibration.hpp.

#define MIN_DISTANCE_FROM_EDGE 2

Definition at line 65 of file calibration.hpp.

#define MINIMUM_CORRECTION_DISTANCE 1

Definition at line 46 of file calibration.hpp.

#define MINIMUM_MSER_AREA 50

Definition at line 73 of file calibration.hpp.

#define PATCH_CORRECTION_INTRINSICS_FLAGS CV_CALIB_RATIONAL_MODEL

Definition at line 75 of file calibration.hpp.

#define PATTERN_FINDER_CV_CORNER_SUBPIX_FLAG 4

Definition at line 48 of file calibration.hpp.

#define PI 3.14159265

Definition at line 54 of file calibration.hpp.

#define RADIAL_LENGTH 1000

Definition at line 51 of file calibration.hpp.

#define RANDOM_SEED_OPTIMIZATION_CODE 6

Definition at line 41 of file calibration.hpp.

#define RANDOM_SET_OPTIMIZATION_CODE 1

Definition at line 36 of file calibration.hpp.

#define REGULAR_OPENCV_CHESSBOARD_FINDER 0

Definition at line 59 of file calibration.hpp.

#define SCORE_BASED_OPTIMIZATION_CODE 7

Definition at line 42 of file calibration.hpp.

#define TRACKING 0

Definition at line 50 of file calibration.hpp.

Function Documentation

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

Add a cornerset to the tally matrix.

Definition at line 1685 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 1792 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 1763 of file calibration.cpp.

bool checkAcutance ( )

Checks validity of image for calibration.

Definition at line 142 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 3891 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 3115 of file calibration.cpp.

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

Visually display patches on image.

Definition at line 320 of file calibration.cpp.

void debugDisplayPattern	(	const Mat &	image,
		Size	patternSize,
		Mat &	corners,
		bool	mode = `true`,
		double	delay = `0.0`
	)

Visually pattern on image.

Definition at line 1296 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 344 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 149 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 3658 of file calibration.cpp.

void findAllPatches	(	const Mat &	image,
		Size	patternSize,
		vector< vector< Point > > &	msers,
		int	mserDelta = `8`,
		float	max_var = `0.25`,
		float	min_div = `0.2`,
		double	area_threshold = `1.01`
	)

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

Definition at line 166 of file calibration.cpp.

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

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

Definition at line 2675 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 424 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 687 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 901 of file calibration.cpp.

bool findMaskCorners	(	const Mat &	image,
		Size	patternSize,
		vector< Point2f > &	corners,
		int	detector = `0`,
		int	mserDelta = `8`,
		float	max_var = `0.25`,
		float	min_div = `0.2`,
		double	area_threshold = `1.01`
	)

MSER-clustering mask corner locater.

Definition at line 129 of file calibration.cpp.

bool findPatchCorners	(	const Mat &	image,
		Size	patternSize,
		Mat &	homography,
		vector< Point2f > &	corners,
		vector< Point2f > &	patchCentres2f,
		int	mode,
		int	detector = `0`
	)

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

Definition at line 1992 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 3273 of file calibration.cpp.

bool findPatternCorners	(	const Mat &	image,
		Size	patternSize,
		vector< Point2f > &	corners,
		int	mode,
		int	detector = `0`,
		int	mserDelta = `8`,
		float	max_var = `0.25`,
		float	min_div = `0.2`,
		double	area_threshold = `1.01`
	)

Core pattern-finding function.

Definition at line 1331 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 2648 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 2964 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 1484 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 1800 of file calibration.cpp.

bool patternInFrame	(	Size	imSize,
		vector< Point2f > &	patternPoints,
		int	minBorder = `2`
	)

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

Definition at line 3569 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 1699 of file calibration.cpp.

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

Randomly cuts down a list of input files.

Definition at line 266 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 280 of file calibration.cpp.

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

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

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 3791 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 2100 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 4193 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 1208 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 3589 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 3073 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 1118 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 4181 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 4169 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 3630 of file calibration.cpp.

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

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

Definition at line 2088 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 3527 of file calibration.cpp.

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

Generic grid verification function.

Definition at line 3355 of file calibration.cpp.

Classes

Defines

Functions

Detailed Description

Define Documentation

Function Documentation