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#include "mrgingham.hh"
#include "find_blobs.hh"
#include "find_chessboard_corners.hh"
#include <opencv2/highgui/highgui.hpp>
namespace mrgingham
{
__attribute__((visibility("default")))
bool find_circle_grid_from_image_array( std::vector<PointDouble>& points_out,
const cv::Mat& image,
const int gridn,
bool debug,
debug_sequence_t debug_sequence)
{
std::vector<PointInt> points;
find_blobs_from_image_array(&points, image);
return find_grid_from_points(points_out, points, gridn,
debug, debug_sequence);
}
__attribute__((visibility("default")))
bool find_circle_grid_from_image_file( std::vector<PointDouble>& points_out,
const char* filename,
const int gridn,
bool debug,
debug_sequence_t debug_sequence)
{
std::vector<PointInt> points;
find_blobs_from_image_file(&points, filename);
return find_grid_from_points(points_out, points, gridn,
debug, debug_sequence);
}
// *refinement_level is managed by realloc(). IT IS THE CALLER'S
// *RESPONSIBILITY TO free() IT
static bool _find_chessboard_from_image_array( std::vector<PointDouble>& points_out,
signed char** refinement_level,
const cv::Mat& image,
int image_pyramid_level,
const int gridn,
bool debug,
debug_sequence_t debug_sequence,
const char* debug_image_filename)
{
const bool do_refine = (refinement_level != NULL);
std::vector<PointInt> points;
find_chessboard_corners_from_image_array(&points, image, image_pyramid_level, debug, debug_image_filename);
if(!find_grid_from_points(points_out, points, gridn,
debug, debug_sequence))
return false;
// we found a grid! If we're not trying to refine the locations, or if
// we can't refine them, we're done
if(!do_refine || image_pyramid_level == 0)
return true;
// Alright, I need to refine each intersection. Big-picture logic:
//
// for(points)
// {
// zoom = next_from_current;
// while(update corner coord using zoom)
// zoom = next_from_current;
// }
//
// It would be more efficient to loop through the zoom levels once, so I
// move that to the outer loop
//
// for(zoom)
// {
// for(points)
// if(this point is refinable)
// refine();
// if( no points remain refinable )
// break;
// }
int N = points_out.size();
*refinement_level = (signed char*)realloc((void*)*refinement_level, N*sizeof(**refinement_level));
assert(*refinement_level);
for(int i=0; i<N; i++)
(*refinement_level)[i] = (signed char)image_pyramid_level;
while(image_pyramid_level--)
{
int Nrefined =
mrgingham::
refine_chessboard_corners_from_image_array( &points_out,
*refinement_level,
image, image_pyramid_level,
debug, debug_image_filename);
if(debug)
fprintf(stderr, "Refining to level %d... Nrefined=%d\n", image_pyramid_level, Nrefined);
if(Nrefined <= 0)
break;
}
return true;
}
// *refinement_level is managed by realloc(). IT IS THE CALLER'S
// *RESPONSIBILITY TO free() IT
__attribute__((visibility("default")))
int find_chessboard_from_image_array( std::vector<PointDouble>& points_out,
signed char** refinement_level,
const int gridn,
const cv::Mat& image,
int image_pyramid_level,
bool debug,
debug_sequence_t debug_sequence,
const char* debug_image_filename)
{
if( image_pyramid_level >= 0)
return
_find_chessboard_from_image_array( points_out,
refinement_level,
image,
image_pyramid_level,
gridn,
debug, debug_sequence,
debug_image_filename)
? image_pyramid_level : -1;
for( image_pyramid_level=3; image_pyramid_level>=0; image_pyramid_level--)
{
int result = _find_chessboard_from_image_array( points_out,
refinement_level,
image,
image_pyramid_level,
gridn,
debug, debug_sequence,
debug_image_filename)
? image_pyramid_level : -1;
if(result >= 0) return result;
}
return -1;
}
// *refinement_level is managed by realloc(). IT IS THE CALLER'S
// *RESPONSIBILITY TO free() IT
__attribute__((visibility("default")))
int find_chessboard_from_image_file( std::vector<PointDouble>& points_out,
signed char** refinement_level,
const int gridn,
const char* filename,
int image_pyramid_level,
bool debug,
debug_sequence_t debug_sequence)
{
cv::Mat image = cv::imread(filename,
cv::IMREAD_IGNORE_ORIENTATION |
cv::IMREAD_GRAYSCALE);
if( image.data == NULL )
{
fprintf(stderr, "%s:%d in %s(): Couldn't open image '%s'."
" Sorry.\n", __FILE__, __LINE__, __func__, filename);
return -1;
}
std::vector<PointInt> points;
return find_chessboard_from_image_array(points_out,
refinement_level,
gridn,
image, image_pyramid_level,
debug, debug_sequence,
filename);
}
};
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