cvcalibinit.cpp.svn-base

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#include "_cv.h"
#include "_cvgeom.h"
#include "string.h"

#include <limits.h>

typedef struct CvContourEx
{
    CV_CONTOUR_FIELDS()
    int counter;
}
CvContourEx;


/*F///////////////////////////////////////////////////////////////////////////////////////
//    Name:    cvFindChessBoardCornerGuesses8uC1R
//    Purpose:
//      Function finds first approximation of internal corners on the chess board.
//    Context:
//    Parameters:
//      img      - source haltone image
//      step     - its full width in bytes
//      thresh   - temporary image where will the thresholded source image be stored.
//      th_step  - full width of temporary image row in bytes
//      size     - width and height of the images in pixels
//      etalon_size - number of corners in checkerboard per row and per column.
//      corners  - pointer to array, containing found points
//      corner_count - number of corners found
//    Returns:
//    Notes:
//F*/
CV_IMPL int
cvFindChessBoardCornerGuesses( const void* arr, void* thresharr,
                               CvMemStorage * storage,
                               CvSize etalon_size, CvPoint2D32f * corners,
                               int *corner_count )
{
#define BUFFER_SIZE   8192
    const int min_approx_level = 2;
    const int max_approx_level = 4;
    int min_size;
    CvContourScanner scanner;
    CvStatus result = CV_NO_ERR;
    double mean;
    int thresh_level;
    int temp_count = 0, found = 0;
    CvPoint pt_buffer[BUFFER_SIZE];
    CvSeqReader reader;
    CvSeq *src_contour = 0;
    CvMemStorage *storage1 = 0;
    CvSeq *root;
    CvContourEx* board = 0;
    int max_count = 0;
    CvPoint *iPoints = 0;
    CvPoint *ordered = 0;
    CvPoint *hullpoints = 0;
    int *indices = 0;
    int idx;
    int quandrangles = 0;

    CV_FUNCNAME( "cvFindChessBoardCornerGuesses" );

    __BEGIN__;

    CvMat  stub, *img = (CvMat*)arr;
    CvMat  thstub, *thresh = (CvMat*)thresharr;
    CvSize size;

    if( corner_count )
    {
        max_count = *corner_count;
        *corner_count = 0;
    }

    CV_CALL( img = cvGetMat( img, &stub ));
    CV_CALL( thresh = cvGetMat( thresh, &thstub ));

    if( CV_MAT_TYPE( img->type ) != CV_8UC1 ||
        CV_MAT_TYPE( thresh->type ) != CV_8UC1 )
        CV_ERROR( CV_BadDepth, icvUnsupportedFormat );

    if( !CV_ARE_SIZES_EQ( img, thresh ))
        CV_ERROR( CV_StsUnmatchedSizes, "" );

    size = icvGetMatSize( img );

    // 
    //   Create temporary storages.
    //   First one will store retrived contours and the
    //   second one - approximated contours.
    storage1 = storage ? cvCreateChildMemStorage( storage ) : cvCreateMemStorage(0);
    root = cvCreateSeq( 0, sizeof(CvSeq), sizeof(CvSeq*), storage1 );

    // empiric bound for minimal allowed perimeter for squares 
    min_size = cvRound( size.width*size.height * .03 * 0.03 );

    // empiric threshold level 
    mean = cvMean( img );
    thresh_level = cvRound( mean - 10 );
    thresh_level = MAX( thresh_level, 10 );

    // Make dilation before the thresholding.
    // It splits chessboard corners 
    cvDilate( img, thresh, 0, 1 );

    // convert to binary 
    cvThreshold( thresh, thresh, thresh_level, 255, CV_THRESH_BINARY );

    // initialize contour retrieving routine 
    scanner = cvStartFindContours( thresh, storage1, sizeof( CvContourEx ),
                                   CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE );

    // get all the contours one by one 
    while( (src_contour = cvFindNextContour( scanner )) != 0 )
    {
        CvSeq *dst_contour = 0;
        CvRect rect = ((CvContour*)src_contour)->rect;

        // reject contours with too small perimeter 
        if( CV_IS_SEQ_HOLE( src_contour ) &&
            rect.width*rect.height >= min_size )
        {
            int approx_level;

            for( approx_level = min_approx_level;
                 approx_level <= max_approx_level;
                 approx_level++ )
            {
                dst_contour = cvApproxPoly( src_contour, sizeof( CvContour ),
                                            storage1, CV_POLY_APPROX_DP,
                                            (float)approx_level );

                if( dst_contour->total == 4 )
                    break;
            }

            quandrangles += dst_contour->total == 4;

            // reject non-quadrangles 
            if( dst_contour->total == 4 && cvCheckContourConvexity( dst_contour ))
            {
                CvPoint pt[4];
                int i;
                double d1, d2, p = cvContourPerimeter(dst_contour);
                double dx, dy;

                for( i = 0; i < 4; i++ )
                    pt[i] = *(CvPoint*)cvGetSeqElem( dst_contour, i );

                dx = pt[0].x - pt[2].x;
                dy = pt[0].y - pt[2].y;
                d1 = sqrt( dx*dx + dy*dy );

                dx = pt[1].x - pt[3].x;
                dy = pt[1].y - pt[3].y;
                d2 = sqrt( dx*dx + dy*dy );

                if( d1 >= 0.25*p && d2 >= 0.25*p )
                {
                    CvContourEx* parent = (CvContourEx*)(src_contour->v_prev);
                    parent->counter++;
                    if( !board || board->counter < parent->counter )
                        board = parent;
                    dst_contour->v_prev = (CvSeq*)parent;
                    cvSeqPush( root, &dst_contour );
                }
            }
        }
    }

    // finish contour retrieving 
    cvEndFindContours( &scanner );

    // iterate through all the "good" contours and store the corners. 
    //for( src_contour = root; src_contour != 0; src_contour = src_contour->h_next )
    for( idx = 0; idx < root->total; idx++ )
    {
        src_contour = *(CvSeq**)cvGetSeqElem( root, idx );
        int i, j, total = src_contour->total;
        int keep_temp_count = temp_count;

        if( src_contour->v_prev != (CvSeq*)board )
            continue;

        cvStartReadSeq( src_contour, &reader, 0 );

        assert( total == 4 );

        //   choose the points of the current quadrangle that are close to
        //   some points of the other quadrangles
        //   (it can happen for splitted corners (due to dilation) of the
        //   checker board). Search only in other quadrangles! That's why
        //   keep_temp_count is used instead of temp_count 
        for( i = 0; i < total; i++ )
        {
            CvPoint pt;

            CV_READ_SEQ_ELEM( pt, reader );

            for( j = 0; j < keep_temp_count; j++ )
            {
                int dx = pt.x - pt_buffer[j].x;
                int dy = pt.y - pt_buffer[j].y;

                dx = abs( dx );
                dy = abs( dy );

                if( MAX( dx, dy ) < 8 )
                    break;
            }

            // if the close point has been found, store the middle point
            // to the destination buffer 
            if( j < keep_temp_count )
            {
                if( found >= max_count )
                {
                    result = CV_OUTOFMEM_ERR;
                    EXIT;
                }
                corners[found].x = (pt.x + pt_buffer[j].x) * 0.5f;
                corners[found].y = (pt.y + pt_buffer[j].y) * 0.5f;
                found++;
                // remove found point from the temporary buffer 
                memmove( pt_buffer + j, pt_buffer + j + 1,
                         (temp_count - j - 1) * sizeof( CvPoint ));
                temp_count--;
                keep_temp_count--;
            }
            else
            {
                // else store point in the buffer 
                if( temp_count >= BUFFER_SIZE )
                {
                    result = CV_OUTOFMEM_ERR;
                    EXIT;
                }
                pt_buffer[temp_count++] = pt;
            }
        }
    }

    result = CV_NOTDEFINED_ERR;

    /*************** reorder found corners in the right order **************/
    // ------ New processing of points -------- 
    if( found == etalon_size.width * etalon_size.height )
    {
        // Copy all points to iPoints array for inner computation 
        // This is a prepare part. It calls ones 
        int etalon_points = found;
        CvPoint cornerPoints[4];
        CvPoint firstPoint = { 0, 0 };

        CvContour hullcontour;
        CvSeqBlock hullcontour_blk;
        CvSeq *hullcontour2 = 0;

        CvPoint start_pt;
        CvPoint end_pt;
        CvPoint botStart_pt = { 0, 0 };
        CvPoint botEnd_pt = { 0, 0 };

        int min_dist;
        int test_dist;

        int numRestPoints = etalon_points;