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Improve finding the origin of a modified circle grid #104

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merged 3 commits into from
May 13, 2022
Merged

Improve finding the origin of a modified circle grid #104

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7916057
Compare corner relative sizes rather than absolute sizes
marrts May 9, 2022
c8ded75
Code cleanup based on PR feedback
marrts May 13, 2022
d167d6c
Give tolerance parameter for when assessing equality
marrts May 13, 2022
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77 changes: 64 additions & 13 deletions rct_image_tools/src/rct_image_tools/modified_circle_grid_finder.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -60,11 +60,6 @@ static std::vector<cv::Point2d> extractKeyPoints(const cv::Mat& image, const std
std::vector<cv::KeyPoint> keypoints;
cv::Point large_point;

std::size_t start_first_row = 0;
std::size_t end_first_row = cols - 1;
std::size_t start_last_row = rows * cols - cols;
std::size_t end_last_row = rows * cols - 1;

for (double alpha = 1.0; alpha <= 3.0; alpha += 0.01)
{
bool found = false;
Expand Down Expand Up @@ -106,38 +101,94 @@ static std::vector<cv::Point2d> extractKeyPoints(const cv::Mat& image, const std
std::size_t temp_rows = flipped ? cols : rows;
std::size_t temp_cols = flipped ? rows : cols;

std::size_t start_first_row = 0;
std::size_t end_first_row = cols - 1;
std::size_t start_last_row = rows * cols - cols;
std::size_t end_last_row = rows * cols - 1;

// Determine which circle is the largest
double start_first_row_size = -1.0;
double start_last_row_size = -1.0;
double end_first_row_size = -1.0;
double end_last_row_size = -1.0;

// Determine size of corners relative to their adjacent circles
double start_first_row_avg_rel_size = 0;
double start_last_row_avg_rel_size = 0;
double end_first_row_avg_rel_size = 0;
double end_last_row_avg_rel_size = 0;
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cv::Point2d start_last_row_pt = centers[start_last_row];
cv::Point2d end_last_row_pt = centers[end_last_row];
cv::Point2d start_first_row_pt = centers[start_first_row];
cv::Point2d end_first_row_pt = centers[end_first_row];
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// Get the size of every circle
std::vector<double> center_sizes(centers.size(), 1.0);
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for (std::size_t i = 0; i < keypoints.size(); i++)
{
double x = keypoints[i].pt.x;
double y = keypoints[i].pt.y;
double ksize = keypoints[i].size;

for (std::size_t j = 0; j < centers.size(); j++)
{
auto center = centers[j];
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if (center.x == x && center.y == y)
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{
center_sizes[j] = ksize;
break;
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}
}
}

// Iterate over every center, when it is a corner then compare its size to adjacent circles
for (std::size_t i = 0; i < centers.size(); i++)
{
double x = centers[i].x;
double y = centers[i].y;
double ksize = center_sizes[i];

if (x == start_last_row_pt.x && y == start_last_row_pt.y)
{
start_last_row_size = ksize;
if (i + 1 < center_sizes.size() && i - cols < center_sizes.size())
{
double start_last_row_rel_row_size = start_last_row_size / center_sizes[i+1];
double start_last_row_rel_col_size = start_last_row_size / center_sizes[i-cols];
start_last_row_avg_rel_size = (start_last_row_rel_row_size + start_last_row_rel_col_size)/2.0;
}
}
if (x == end_last_row_pt.x && y == end_last_row_pt.y)
{
end_last_row_size = ksize;
if (i - 1 < center_sizes.size() && i - cols < center_sizes.size())
{
double end_last_row_rel_row_size = end_last_row_size / center_sizes[i-1];
double end_last_row_rel_col_size = end_last_row_size / center_sizes[i-cols];
end_last_row_avg_rel_size = (end_last_row_rel_row_size + end_last_row_rel_col_size)/2.0;
}
}
if (x == start_first_row_pt.x && y == start_first_row_pt.y)
{
start_first_row_size = ksize;
if (i + 1 < center_sizes.size() && i + cols < center_sizes.size())
{
double start_first_row_rel_row_size = start_first_row_size / center_sizes[i+1];
double start_first_row_rel_col_size = start_first_row_size / center_sizes[i+cols];
start_first_row_avg_rel_size = (start_first_row_rel_row_size + start_first_row_rel_col_size)/2.0;
}
}
if (x == end_first_row_pt.x && y == end_first_row_pt.y)
{
end_first_row_size = ksize;
if (i - 1 < center_sizes.size() && i + cols < center_sizes.size())
{
double end_first_row_rel_row_size = end_first_row_size / center_sizes[i-1];
double end_first_row_rel_col_size = end_first_row_size / center_sizes[i+cols];
end_first_row_avg_rel_size = (end_first_row_rel_row_size + end_first_row_rel_col_size)/2.0;
}
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}
}

Expand Down Expand Up @@ -178,8 +229,8 @@ static std::vector<cv::Point2d> extractKeyPoints(const cv::Mat& image, const std
......
o.....
*/
if (start_last_row_size > start_first_row_size && start_last_row_size > end_first_row_size &&
start_last_row_size > end_last_row_size)
if (start_last_row_avg_rel_size > start_first_row_avg_rel_size && start_last_row_avg_rel_size > end_first_row_avg_rel_size &&
start_last_row_avg_rel_size > end_last_row_avg_rel_size)
{
large_point.x = start_last_row_pt.x;
large_point.y = start_last_row_pt.y;
Expand Down Expand Up @@ -209,8 +260,8 @@ static std::vector<cv::Point2d> extractKeyPoints(const cv::Mat& image, const std
......
......
*/
else if (end_first_row_size > end_last_row_size && end_first_row_size > start_last_row_size &&
end_first_row_size > start_first_row_size)
else if (end_first_row_avg_rel_size > end_last_row_avg_rel_size && end_first_row_avg_rel_size > start_last_row_avg_rel_size &&
end_first_row_avg_rel_size > start_first_row_avg_rel_size)
{
large_point.x = end_first_row_pt.x;
large_point.y = end_first_row_pt.y;
Expand Down Expand Up @@ -240,8 +291,8 @@ static std::vector<cv::Point2d> extractKeyPoints(const cv::Mat& image, const std
......
.....o
*/
else if (end_last_row_size > start_last_row_size && end_last_row_size > end_first_row_size &&
end_last_row_size > start_first_row_size)
else if (end_last_row_avg_rel_size > start_last_row_avg_rel_size && end_last_row_avg_rel_size > end_first_row_avg_rel_size &&
end_last_row_avg_rel_size > start_first_row_avg_rel_size)
{
large_point.x = end_last_row_pt.x;
large_point.y = end_last_row_pt.y;
Expand Down Expand Up @@ -275,8 +326,8 @@ static std::vector<cv::Point2d> extractKeyPoints(const cv::Mat& image, const std
......
......
*/
else if (start_first_row_size > end_last_row_size && start_first_row_size > end_first_row_size &&
start_first_row_size > start_last_row_size)
else if (start_first_row_avg_rel_size > end_last_row_avg_rel_size && start_first_row_avg_rel_size > end_first_row_avg_rel_size &&
start_first_row_avg_rel_size > start_last_row_avg_rel_size)
{
large_point.x = start_first_row_pt.x;
large_point.y = start_first_row_pt.y;
Expand Down