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#include "find_chessboard_corners.hh"
#include "find_blobs.hh"
#include "mrgingham.hh"
#include "mrgingham_pywrap_cplusplus_bridge.h"
#include "mrgingham-internal.h"
// These are wrappers. And the reason this file exists at all is because
// mrgingham has a c++ api, while the python wrappers are in C. AND there's
// another complicating factor: on CentOS7.2 if I build a C++ thing that talks
// to numpy it barfs:
//
// g++ -Wall -Wextra -std=gnu99 -Wno-cast-function-type -I/usr/include/opencv -fvisibility=hidden -Wno-unused-function -Wno-missing-field-initializers -Wno-unused-parameter -Wno-strict-aliasing -Wno-int-to-pointer-cast -Wno-unused-variable -MMD -MP -g -fno-omit-frame-pointer -DVERSION='"1.1"' -pthread -fno-strict-aliasing -g -pipe -Wall -Wp,-D_FORTIFY_SOURCE=2 -fexceptions -fstack-protector-strong --param=ssp-buffer-size=4 -grecord-gcc-switches -m64 -mtune=generic -D_GNU_SOURCE -fPIC -fwrapv -DNDEBUG -g -pipe -Wall -Wp,-D_FORTIFY_SOURCE=2 -fexceptions -fstack-protector-strong --param=ssp-buffer-size=4 -grecord-gcc-switches -m64 -mtune=generic -D_GNU_SOURCE -fPIC -fwrapv -fPIC -I/usr/include/python2.7 -O3 -c -o/dev/null mrgingham_pywrap_cplusplus_bridge.cc |& head -n 50
// cc1plus: warning: command line option '-std=gnu99' is valid for C/ObjC but not for C++ [enabled by default]
// In file included from /usr/include/numpy/ndarraytypes.h:7:0,
// from /usr/include/numpy/ndarrayobject.h:17,
// from /usr/include/numpy/arrayobject.h:15,
// from mrgingham_pywrap_cplusplus_bridge.cc:5:
// /usr/include/numpy/npy_common.h:188:2: error: #error Must use Python with unicode enabled.
// #error Must use Python with unicode enabled.
// ^
//
// As a result, this file doesn't touch Python, and does stuff with callbacks.
// Yuck. Callbacks will make stuff slower. With a newer distro, the python
// unicode thing maybe isn't a problem. You can revert the commit on 2019/3/25
// if you want to try it again
extern "C"
bool find_chessboard_corners_from_image_array_C( // in
int Nrows, int Ncols,
int stride,
char* imagebuffer, // this is const
// set to 0 to just use the image. Set
// to <0 to try automatically find a
// good scaling level. Try this first
int image_pyramid_level,
bool doblobs,
bool debug,
bool (*add_points)(int* xy, int N, double scale, void* cookie),
void* cookie )
{
cv::Mat cvimage(Nrows, Ncols, CV_8UC1,
imagebuffer, stride);
std::vector<mrgingham::PointInt> out_points;
bool result;
if(doblobs)
{
if(image_pyramid_level != 0)
return false;
result = find_blobs_from_image_array( &out_points, cvimage );
}
else
{
result = find_chessboard_corners_from_image_array( &out_points, cvimage, image_pyramid_level,
debug );
}
if( !result ) return false;
static_assert( sizeof(mrgingham::PointInt) == 2*sizeof(int),
"add_points() assumes PointInt is simply 2 ints");
return
(*add_points)( &out_points[0].x, (int)out_points.size(),
1. / (double)FIND_GRID_SCALE,
cookie);
}
extern "C"
bool find_chessboard_from_image_array_C( // in
int Nrows, int Ncols,
int stride,
char* imagebuffer, // this is const
const int gridn,
// set to 0 to just use the image. Set
// to <0 to try automatically find a
// good scaling level. Try this first
int image_pyramid_level,
bool doblobs,
bool debug,
int debug_sequence_x,
int debug_sequence_y,
bool (*add_points)(double* xy, int N, void* cookie),
void* cookie )
{
cv::Mat cvimage(Nrows, Ncols, CV_8UC1,
imagebuffer, stride);
std::vector<mrgingham::PointDouble> out_points;
mrgingham::debug_sequence_t debug_sequence = {};
if(debug_sequence_x >= 0 &&
debug_sequence_y >= 0)
{
debug_sequence.dodebug = true;
debug_sequence.pt.x = debug_sequence_x;
debug_sequence.pt.y = debug_sequence_y;
}
bool result;
if(doblobs)
{
if(image_pyramid_level != 0)
return false;
result = find_circle_grid_from_image_array(out_points,
cvimage, gridn,
debug,
debug_sequence);
}
else
{
signed char* refinement_level = NULL;
result =
(find_chessboard_from_image_array( out_points,
&refinement_level,
gridn,
cvimage,
image_pyramid_level,
debug,
debug_sequence,
NULL ) >= 0);
free(refinement_level);
}
if( !result ) return false;
static_assert( sizeof(mrgingham::PointDouble) == 2*sizeof(double),
"add_points() assumes PointDouble is simply 2 doubles");
return
(*add_points)( &out_points[0].x, (int)out_points.size(),
cookie);
}
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