X-Git-Url: https://vcs.maemo.org/git/?a=blobdiff_plain;f=src%2Fcv%2Fcvcalibinit.cpp;fp=src%2Fcv%2Fcvcalibinit.cpp;h=5d6eebc82d938bc3a545aaa26c60481cc3b3d77d;hb=e4c14cdbdf2fe805e79cd96ded236f57e7b89060;hp=0000000000000000000000000000000000000000;hpb=454138ff8a20f6edb9b65a910101403d8b520643;p=opencv
diff --git a/src/cv/cvcalibinit.cpp b/src/cv/cvcalibinit.cpp
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+//M*//////////////////////////////////////////////////////////////////////////////////////
+//
+// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+// By downloading, copying, installing or using the software you agree to this license.
+// If you do not agree to this license, do not download, install,
+// copy or use the software.
+//
+//
+// Intel License Agreement
+// For Open Source Computer Vision Library
+//
+// Copyright (C) 2000, Intel Corporation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+// * Redistribution's of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+//
+// * Redistribution's in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+//
+// * The name of Intel Corporation may not be used to endorse or promote products
+// derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+/************************************************************************************\
+ This is improved variant of chessboard corner detection algorithm that
+ uses a graph of connected quads. It is based on the code contributed
+ by Vladimir Vezhnevets and Philip Gruebele.
+ Here is the copyright notice from the original Vladimir's code:
+ ===============================================================
+
+ The algorithms developed and implemented by Vezhnevets Vldimir
+ aka Dead Moroz (vvp@graphics.cs.msu.ru)
+ See http://graphics.cs.msu.su/en/research/calibration/opencv.html
+ for detailed information.
+
+ Reliability additions and modifications made by Philip Gruebele.
+ pgruebele@cox.net
+
+ Some further improvements for detection of partially ocluded boards at non-ideal
+ lighting conditions have been made by Alex Bovyrin and Kurt Kolonige
+
+\************************************************************************************/
+
+#include "_cv.h"
+#include
+
+//#define DEBUG_CHESSBOARD
+#ifdef DEBUG_CHESSBOARD
+static int PRINTF( const char* fmt, ... )
+{
+ va_list args;
+ va_start(args, fmt);
+ return vprintf(fmt, args);
+}
+#include "..//..//include/opencv/highgui.h"
+#else
+static int PRINTF( const char*, ... )
+{
+ return 0;
+}
+#endif
+
+
+//=====================================================================================
+// Implementation for the enhanced calibration object detection
+//=====================================================================================
+
+#define MAX_CONTOUR_APPROX 7
+
+struct CvContourEx
+{
+ CV_CONTOUR_FIELDS()
+ int counter;
+};
+
+//=====================================================================================
+
+/// Corner info structure
+/** This structure stores information about the chessboard corner.*/
+struct CvCBCorner
+{
+ CvPoint2D32f pt; // Coordinates of the corner
+ int row; // Board row index
+ int count; // Number of neighbor corners
+ struct CvCBCorner* neighbors[4]; // Neighbor corners
+
+ float meanDist(int *_n) const
+ {
+ float sum = 0;
+ int n = 0;
+ for( int i = 0; i < 4; i++ )
+ {
+ if( neighbors[i] )
+ {
+ float dx = neighbors[i]->pt.x - pt.x;
+ float dy = neighbors[i]->pt.y - pt.y;
+ sum += sqrt(dx*dx + dy*dy);
+ n++;
+ }
+ }
+ if(_n)
+ *_n = n;
+ return sum/MAX(n,1);
+ }
+};
+
+//=====================================================================================
+/// Quadrangle contour info structure
+/** This structure stores information about the chessboard quadrange.*/
+struct CvCBQuad
+{
+ int count; // Number of quad neighbors
+ int group_idx; // quad group ID
+ int row, col; // row and column of this quad
+ bool ordered; // true if corners/neighbors are ordered counter-clockwise
+ float edge_len; // quad edge len, in pix^2
+ // neighbors and corners are synced, i.e., neighbor 0 shares corner 0
+ CvCBCorner *corners[4]; // Coordinates of quad corners
+ struct CvCBQuad *neighbors[4]; // Pointers of quad neighbors
+};
+
+//=====================================================================================
+
+//static CvMat* debug_img = 0;
+
+static int icvGenerateQuads( CvCBQuad **quads, CvCBCorner **corners,
+ CvMemStorage *storage, CvMat *image, int flags );
+
+/*static int
+icvGenerateQuadsEx( CvCBQuad **out_quads, CvCBCorner **out_corners,
+ CvMemStorage *storage, CvMat *image, CvMat *thresh_img, int dilation, int flags );*/
+
+static void icvFindQuadNeighbors( CvCBQuad *quads, int quad_count );
+
+static int icvFindConnectedQuads( CvCBQuad *quads, int quad_count,
+ CvCBQuad **quad_group, int group_idx,
+ CvMemStorage* storage );
+
+static int icvCheckQuadGroup( CvCBQuad **quad_group, int count,
+ CvCBCorner **out_corners, CvSize pattern_size );
+
+static int icvCleanFoundConnectedQuads( int quad_count,
+ CvCBQuad **quads, CvSize pattern_size );
+
+static int icvOrderFoundConnectedQuads( int quad_count, CvCBQuad **quads,
+ int *all_count, CvCBQuad **all_quads, CvCBCorner **corners,
+ CvSize pattern_size, CvMemStorage* storage );
+
+static void icvOrderQuad(CvCBQuad *quad, CvCBCorner *corner, int common);
+
+static int icvTrimCol(CvCBQuad **quads, int count, int col, int dir);
+
+static int icvTrimRow(CvCBQuad **quads, int count, int row, int dir);
+
+static int icvAddOuterQuad(CvCBQuad *quad, CvCBQuad **quads, int quad_count,
+ CvCBQuad **all_quads, int all_count, CvCBCorner **corners);
+
+static void icvRemoveQuadFromGroup(CvCBQuad **quads, int count, CvCBQuad *q0);
+
+static int icvCheckBoardMonotony( CvPoint2D32f* corners, CvSize pattern_size );
+
+#if 0
+static void
+icvCalcAffineTranf2D32f(CvPoint2D32f* pts1, CvPoint2D32f* pts2, int count, CvMat* affine_trans)
+{
+ int i, j;
+ int real_count = 0;
+ for( j = 0; j < count; j++ )
+ {
+ if( pts1[j].x >= 0 ) real_count++;
+ }
+ if(real_count < 3) return;
+ CvMat* xy = cvCreateMat( 2*real_count, 6, CV_32FC1 );
+ CvMat* uv = cvCreateMat( 2*real_count, 1, CV_32FC1 );
+ //estimate affine transfromation
+ for( i = 0, j = 0; j < count; j++ )
+ {
+ if( pts1[j].x >= 0 )
+ {
+ CV_MAT_ELEM( *xy, float, i*2+1, 2 ) = CV_MAT_ELEM( *xy, float, i*2, 0 ) = pts2[j].x;
+ CV_MAT_ELEM( *xy, float, i*2+1, 3 ) = CV_MAT_ELEM( *xy, float, i*2, 1 ) = pts2[j].y;
+ CV_MAT_ELEM( *xy, float, i*2, 2 ) = CV_MAT_ELEM( *xy, float, i*2, 3 ) = CV_MAT_ELEM( *xy, float, i*2, 5 ) = \
+ CV_MAT_ELEM( *xy, float, i*2+1, 0 ) = CV_MAT_ELEM( *xy, float, i*2+1, 1 ) = CV_MAT_ELEM( *xy, float, i*2+1, 4 ) = 0;
+ CV_MAT_ELEM( *xy, float, i*2, 4 ) = CV_MAT_ELEM( *xy, float, i*2+1, 5 ) = 1;
+ CV_MAT_ELEM( *uv, float, i*2, 0 ) = pts1[j].x;
+ CV_MAT_ELEM( *uv, float, i*2+1, 0 ) = pts1[j].y;
+ i++;
+ }
+ }
+
+ cvSolve( xy, uv, affine_trans, CV_SVD );
+ cvReleaseMat(&xy);
+ cvReleaseMat(&uv);
+}
+#endif
+
+CV_IMPL
+int cvFindChessboardCorners( const void* arr, CvSize pattern_size,
+ CvPoint2D32f* out_corners, int* out_corner_count,
+ int flags )
+{
+ int k = 0;
+ const int min_dilations = 0;
+ const int max_dilations = 7;
+ int found = 0;
+ CvMat* norm_img = 0;
+ CvMat* thresh_img = 0;
+#ifdef DEBUG_CHESSBOARD
+ IplImage *dbg_img = 0;
+ IplImage *dbg1_img = 0;
+ IplImage *dbg2_img = 0;
+#endif
+ CvMemStorage* storage = 0;
+
+ CvCBQuad *quads = 0, **quad_group = 0;
+ CvCBCorner *corners = 0, **corner_group = 0;
+ CvMat stub, *img = (CvMat*)arr;
+
+ int expected_corners_num = (pattern_size.width/2+1)*(pattern_size.height/2+1);
+
+ int prev_sqr_size = 0;
+
+ if( out_corner_count )
+ *out_corner_count = 0;
+
+ CV_FUNCNAME( "cvFindChessBoardCornerGuesses2" );
+
+ __BEGIN__;
+
+ int quad_count = 0, group_idx = 0, i = 0, dilations = 0;
+
+ CV_CALL( img = cvGetMat( img, &stub ));
+ //debug_img = img;
+
+ if( CV_MAT_DEPTH( img->type ) != CV_8U || CV_MAT_CN( img->type ) == 2 )
+ CV_ERROR( CV_StsUnsupportedFormat, "Only 8-bit grayscale or color images are supported" );
+
+ if( pattern_size.width <= 2 || pattern_size.height <= 2 )
+ CV_ERROR( CV_StsOutOfRange, "Both width and height of the pattern should have bigger than 2" );
+
+ if( !out_corners )
+ CV_ERROR( CV_StsNullPtr, "Null pointer to corners" );
+
+ CV_CALL( storage = cvCreateMemStorage(0) );
+ CV_CALL( thresh_img = cvCreateMat( img->rows, img->cols, CV_8UC1 ));
+
+#ifdef DEBUG_CHESSBOARD
+ CV_CALL( dbg_img = cvCreateImage(cvGetSize(img), IPL_DEPTH_8U, 3 ));
+ CV_CALL( dbg1_img = cvCreateImage(cvGetSize(img), IPL_DEPTH_8U, 3 ));
+ CV_CALL( dbg2_img = cvCreateImage(cvGetSize(img), IPL_DEPTH_8U, 3 ));
+#endif
+
+ if( CV_MAT_CN(img->type) != 1 || (flags & CV_CALIB_CB_NORMALIZE_IMAGE) )
+ {
+ // equalize the input image histogram -
+ // that should make the contrast between "black" and "white" areas big enough
+ CV_CALL( norm_img = cvCreateMat( img->rows, img->cols, CV_8UC1 ));
+
+ if( CV_MAT_CN(img->type) != 1 )
+ {
+ CV_CALL( cvCvtColor( img, norm_img, CV_BGR2GRAY ));
+ img = norm_img;
+ }
+
+ if( flags & CV_CALIB_CB_NORMALIZE_IMAGE )
+ {
+ cvEqualizeHist( img, norm_img );
+ img = norm_img;
+ }
+ }
+
+ // Try our standard "1" dilation, but if the pattern is not found, iterate the whole procedure with higher dilations.
+ // This is necessary because some squares simply do not separate properly with a single dilation. However,
+ // we want to use the minimum number of dilations possible since dilations cause the squares to become smaller,
+ // making it difficult to detect smaller squares.
+ for( k = 0; k < 3; k++ )
+ {
+ for( dilations = min_dilations; dilations <= max_dilations; dilations++ )
+ {
+ if (found)
+ break; // already found it
+
+ /*if( k == 1 )
+ {
+ //Pattern was not found using binarization
+ // Run multi-level quads extraction
+ // In case one-level binarization did not give enough number of quads
+ CV_CALL( quad_count = icvGenerateQuadsEx( &quads, &corners, storage, img, thresh_img, dilations, flags ));
+ PRINTF("EX quad count: %d/%d\n", quad_count, expected_corners_num);
+ }
+ else*/
+ {
+ // convert the input grayscale image to binary (black-n-white)
+ if( flags & CV_CALIB_CB_ADAPTIVE_THRESH )
+ {
+ int block_size = cvRound(prev_sqr_size == 0 ?
+ MIN(img->cols,img->rows)*0.2 : prev_sqr_size*2.)|1;
+
+ // convert to binary
+ cvAdaptiveThreshold( img, thresh_img, 255,
+ CV_ADAPTIVE_THRESH_MEAN_C, CV_THRESH_BINARY, block_size, k*5 );
+ if (dilations > 0)
+ cvDilate( thresh_img, thresh_img, 0, dilations-1 );
+ }
+ else
+ {
+ // Make dilation before the thresholding.
+ // It splits chessboard corners
+ //cvDilate( img, thresh_img, 0, 1 );
+
+ // empiric threshold level
+ double mean = cvMean( img );
+ int thresh_level = cvRound( mean - 10 );
+ thresh_level = MAX( thresh_level, 10 );
+
+ cvThreshold( img, thresh_img, thresh_level, 255, CV_THRESH_BINARY );
+ cvDilate( thresh_img, thresh_img, 0, dilations );
+ }
+
+#ifdef DEBUG_CHESSBOARD
+ cvCvtColor(thresh_img,dbg_img,CV_GRAY2BGR);
+#endif
+
+ // So we can find rectangles that go to the edge, we draw a white line around the image edge.
+ // Otherwise FindContours will miss those clipped rectangle contours.
+ // The border color will be the image mean, because otherwise we risk screwing up filters like cvSmooth()...
+ cvRectangle( thresh_img, cvPoint(0,0), cvPoint(thresh_img->cols-1,
+ thresh_img->rows-1), CV_RGB(255,255,255), 3, 8);
+
+ CV_CALL( quad_count = icvGenerateQuads( &quads, &corners, storage, thresh_img, flags ));
+
+
+ PRINTF("Quad count: %d/%d\n", quad_count, expected_corners_num);
+ }
+
+
+#ifdef DEBUG_CHESSBOARD
+ cvCopy(dbg_img, dbg1_img);
+ cvNamedWindow("all_quads", 1);
+ // copy corners to temp array
+ for( i = 0; i < quad_count; i++ )
+ {
+ for (int k=0; k<4; k++)
+ {
+ CvPoint2D32f pt1, pt2;
+ CvScalar color = CV_RGB(30,255,30);
+ pt1 = quads[i].corners[k]->pt;
+ pt2 = quads[i].corners[(k+1)%4]->pt;
+ pt2.x = (pt1.x + pt2.x)/2;
+ pt2.y = (pt1.y + pt2.y)/2;
+ if (k>0)
+ color = CV_RGB(200,200,0);
+ cvLine( dbg1_img, cvPointFrom32f(pt1), cvPointFrom32f(pt2), color, 3, 8);
+ }
+ }
+
+
+ cvShowImage("all_quads", (IplImage*)dbg1_img);
+ cvWaitKey();
+#endif
+
+ if( quad_count <= 0 )
+ continue;
+
+ // Find quad's neighbors
+ CV_CALL( icvFindQuadNeighbors( quads, quad_count ));
+
+ // allocate extra for adding in icvOrderFoundQuads
+ CV_CALL( quad_group = (CvCBQuad**)cvAlloc( sizeof(quad_group[0]) * (quad_count+quad_count / 2)));
+ CV_CALL( corner_group = (CvCBCorner**)cvAlloc( sizeof(corner_group[0]) * (quad_count+quad_count / 2)*4 ));
+
+ for( group_idx = 0; ; group_idx++ )
+ {
+ int count = 0;
+ CV_CALL( count = icvFindConnectedQuads( quads, quad_count, quad_group, group_idx, storage ));
+
+ int icount = count;
+ if( count == 0 )
+ break;
+
+ // order the quad corners globally
+ // maybe delete or add some
+ PRINTF("Starting ordering of inner quads\n");
+ count = icvOrderFoundConnectedQuads(count, quad_group, &quad_count, &quads, &corners,
+ pattern_size, storage );
+ PRINTF("Orig count: %d After ordering: %d\n", icount, count);
+
+
+#ifdef DEBUG_CHESSBOARD
+ cvCopy(dbg_img,dbg2_img);
+ cvNamedWindow("connected_group", 1);
+ // copy corners to temp array
+ for( i = 0; i < quad_count; i++ )
+ {
+ if (quads[i].group_idx == group_idx)
+ for (int k=0; k<4; k++)
+ {
+ CvPoint2D32f pt1, pt2;
+ CvScalar color = CV_RGB(30,255,30);
+ if (quads[i].ordered)
+ color = CV_RGB(255,30,30);
+ pt1 = quads[i].corners[k]->pt;
+ pt2 = quads[i].corners[(k+1)%4]->pt;
+ pt2.x = (pt1.x + pt2.x)/2;
+ pt2.y = (pt1.y + pt2.y)/2;
+ if (k>0)
+ color = CV_RGB(200,200,0);
+ cvLine( dbg2_img, cvPointFrom32f(pt1), cvPointFrom32f(pt2), color, 3, 8);
+ }
+ }
+ cvShowImage("connected_group", (IplImage*)dbg2_img);
+ cvWaitKey();
+#endif
+
+ if (count == 0)
+ continue; // haven't found inner quads
+
+
+ // If count is more than it should be, this will remove those quads
+ // which cause maximum deviation from a nice square pattern.
+ CV_CALL( count = icvCleanFoundConnectedQuads( count, quad_group, pattern_size ));
+ PRINTF("Connected group: %d orig count: %d cleaned: %d\n", group_idx, icount, count);
+
+ CV_CALL( count = icvCheckQuadGroup( quad_group, count, corner_group, pattern_size ));
+ PRINTF("Connected group: %d count: %d cleaned: %d\n", group_idx, icount, count);
+
+ {
+ int n = count > 0 ? pattern_size.width * pattern_size.height : -count;
+ n = MIN( n, pattern_size.width * pattern_size.height );
+ float sum_dist = 0;
+ int total = 0;
+
+ for( i = 0; i < n; i++ )
+ {
+ int ni = 0;
+ float avgi = corner_group[i]->meanDist(&ni);
+ sum_dist += avgi*ni;
+ total += ni;
+ }
+ prev_sqr_size = cvRound(sum_dist/MAX(total, 1));
+
+ if( count > 0 || (out_corner_count && -count > *out_corner_count) )
+ {
+ // copy corners to output array
+ for( i = 0; i < n; i++ )
+ out_corners[i] = corner_group[i]->pt;
+
+ if( out_corner_count )
+ *out_corner_count = n;
+
+ if( count == pattern_size.width*pattern_size.height &&
+ icvCheckBoardMonotony( out_corners, pattern_size ))
+ {
+ found = 1;
+ break;
+ }
+ }
+ }
+ }
+
+ cvFree( &quads );
+ cvFree( &corners );
+ cvFree( &quad_group );
+ cvFree( &corner_group );
+ }//dilations
+ }//
+
+
+ __END__;
+
+ if( found )
+ found = icvCheckBoardMonotony( out_corners, pattern_size );
+
+ if( found && pattern_size.height % 2 == 0 && pattern_size.width % 2 == 0 )
+ {
+ int last_row = (pattern_size.height-1)*pattern_size.width;
+ double dy0 = out_corners[last_row].y - out_corners[0].y;
+ if( dy0 < 0 )
+ {
+ int i, n = pattern_size.width*pattern_size.height;
+ for( i = 0; i < n/2; i++ )
+ {
+ CvPoint2D32f temp;
+ CV_SWAP(out_corners[i], out_corners[n-i-1], temp);
+ }
+ }
+ }
+
+ if( found )
+ {
+ CvMat* gray = 0;
+ if( CV_MAT_CN(img->type) != 1 )
+ {
+ gray = cvCreateMat(img->rows, img->cols, CV_8UC1);
+ cvCvtColor(img, gray, CV_BGR2GRAY);
+ }
+ else
+ gray = img;
+ int wsize = 2;
+ cvFindCornerSubPix( gray, out_corners, pattern_size.width*pattern_size.height,
+ cvSize(wsize, wsize), cvSize(-1,-1), cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER, 15, 0.1));
+ if( gray != img )
+ cvReleaseMat( &gray );
+ }
+
+ cvReleaseMemStorage( &storage );
+ cvReleaseMat( &norm_img );
+ cvReleaseMat( &thresh_img );
+ cvFree( &quads );
+ cvFree( &corners );
+
+ return found;
+}
+
+//
+// Checks that each board row and column is pretty much monotonous curve:
+// It analyzes each row and each column of the chessboard as following:
+// for each corner c lying between end points in the same row/column it checks that
+// the point projection to the line segment (a,b) is lying between projections
+// of the neighbor corners in the same row/column.
+//
+// This function has been created as temporary workaround for the bug in current implementation
+// of cvFindChessboardCornes that produces absolutely unordered sets of corners.
+//
+
+static int
+icvCheckBoardMonotony( CvPoint2D32f* corners, CvSize pattern_size )
+{
+ int i, j, k;
+
+ for( k = 0; k < 2; k++ )
+ {
+ for( i = 0; i < (k == 0 ? pattern_size.height : pattern_size.width); i++ )
+ {
+ CvPoint2D32f a = k == 0 ? corners[i*pattern_size.width] : corners[i];
+ CvPoint2D32f b = k == 0 ? corners[(i+1)*pattern_size.width-1] :
+ corners[(pattern_size.height-1)*pattern_size.width + i];
+ float prevt = 0, dx0 = b.x - a.x, dy0 = b.y - a.y;
+ if( fabs(dx0) + fabs(dy0) < FLT_EPSILON )
+ return 0;
+ for( j = 1; j < (k == 0 ? pattern_size.width : pattern_size.height) - 1; j++ )
+ {
+ CvPoint2D32f c = k == 0 ? corners[i*pattern_size.width + j] :
+ corners[j*pattern_size.width + i];
+ float t = ((c.x - a.x)*dx0 + (c.y - a.y)*dy0)/(dx0*dx0 + dy0*dy0);
+ if( t < prevt || t > 1 )
+ return 0;
+ prevt = t;
+ }
+ }
+ }
+
+ return 1;
+}
+
+//
+// order a group of connected quads
+// order of corners:
+// 0 is top left
+// clockwise from there
+// note: "top left" is nominal, depends on initial ordering of starting quad
+// but all other quads are ordered consistently
+//
+// can change the number of quads in the group
+// can add quads, so we need to have quad/corner arrays passed in
+//
+
+static int
+icvOrderFoundConnectedQuads( int quad_count, CvCBQuad **quads,
+ int *all_count, CvCBQuad **all_quads, CvCBCorner **corners,
+ CvSize pattern_size, CvMemStorage* storage )
+{
+ CvMemStorage* temp_storage = cvCreateChildMemStorage( storage );
+ CvSeq* stack = cvCreateSeq( 0, sizeof(*stack), sizeof(void*), temp_storage );
+ int i;
+
+ // first find an interior quad
+ CvCBQuad *start = NULL;
+ for (i=0; icount == 4)
+ {
+ start = quads[i];
+ break;
+ }
+ }
+
+ if (start == NULL)
+ {
+ cvReleaseMemStorage( &temp_storage );
+ return 0; // no 4-connected quad
+ }
+
+ // start with first one, assign rows/cols
+ int row_min = 0, col_min = 0, row_max=0, col_max = 0;
+
+ std::map col_hist;
+ std::map row_hist;
+
+ cvSeqPush(stack, &start);
+ start->row = 0;
+ start->col = 0;
+ start->ordered = true;
+
+ // Recursively order the quads so that all position numbers (e.g.,
+ // 0,1,2,3) are in the at the same relative corner (e.g., lower right).
+
+ while( stack->total )
+ {
+ CvCBQuad* q;
+ cvSeqPop( stack, &q );
+ int col = q->col;
+ int row = q->row;
+ col_hist[col]++;
+ row_hist[row]++;
+
+ // check min/max
+ if (row > row_max) row_max = row;
+ if (row < row_min) row_min = row;
+ if (col > col_max) col_max = col;
+ if (col < col_min) col_min = col;
+
+ for(int i = 0; i < 4; i++ )
+ {
+ CvCBQuad *neighbor = q->neighbors[i];
+ switch(i) // adjust col, row for this quad
+ { // start at top left, go clockwise
+ case 0:
+ row--; col--; break;
+ case 1:
+ col += 2; break;
+ case 2:
+ row += 2; break;
+ case 3:
+ col -= 2; break;
+ }
+
+ // just do inside quads
+ if (neighbor && neighbor->ordered == false && neighbor->count == 4)
+ {
+ PRINTF("col: %d row: %d\n", col, row);
+ icvOrderQuad(neighbor, q->corners[i], (i+2)%4); // set in order
+ neighbor->ordered = true;
+ neighbor->row = row;
+ neighbor->col = col;
+ cvSeqPush( stack, &neighbor );
+ }
+ }
+ }
+
+ cvReleaseMemStorage( &temp_storage );
+
+ for (i=col_min; i<=col_max; i++)
+ PRINTF("HIST[%d] = %d\n", i, col_hist[i]);
+
+ // analyze inner quad structure
+ int w = pattern_size.width - 1;
+ int h = pattern_size.height - 1;
+ int drow = row_max - row_min + 1;
+ int dcol = col_max - col_min + 1;
+
+ // normalize pattern and found quad indices
+ if ((w > h && dcol < drow) ||
+ (w < h && drow < dcol))
+ {
+ h = pattern_size.width - 1;
+ w = pattern_size.height - 1;
+ }
+
+ PRINTF("Size: %dx%d Pattern: %dx%d\n", dcol, drow, w, h);
+
+ // check if there are enough inner quads
+ if (dcol < w || drow < h) // found enough inner quads?
+ {
+ PRINTF("Too few inner quad rows/cols\n");
+ return 0; // no, return
+ }
+
+ // too many columns, not very common
+ if (dcol == w+1) // too many, trim
+ {
+ PRINTF("Trimming cols\n");
+ if (col_hist[col_max] > col_hist[col_min])
+ {
+ PRINTF("Trimming left col\n");
+ quad_count = icvTrimCol(quads,quad_count,col_min,-1);
+ }
+ else
+ {
+ PRINTF("Trimming right col\n");
+ quad_count = icvTrimCol(quads,quad_count,col_max,+1);
+ }
+ }
+
+ // too many rows, not very common
+ if (drow == h+1) // too many, trim
+ {
+ PRINTF("Trimming rows\n");
+ if (row_hist[row_max] > row_hist[row_min])
+ {
+ PRINTF("Trimming top row\n");
+ quad_count = icvTrimRow(quads,quad_count,row_min,-1);
+ }
+ else
+ {
+ PRINTF("Trimming bottom row\n");
+ quad_count = icvTrimRow(quads,quad_count,row_max,+1);
+ }
+ }
+
+
+ // check edges of inner quads
+ // if there is an outer quad missing, fill it in
+ // first order all inner quads
+ int found = 0;
+ for (i=0; icount == 4)
+ { // ok, look at neighbors
+ int col = quads[i]->col;
+ int row = quads[i]->row;
+ for (int j=0; j<4; j++)
+ {
+ switch(j) // adjust col, row for this quad
+ { // start at top left, go clockwise
+ case 0:
+ row--; col--; break;
+ case 1:
+ col += 2; break;
+ case 2:
+ row += 2; break;
+ case 3:
+ col -= 2; break;
+ }
+ CvCBQuad *neighbor = quads[i]->neighbors[j];
+ if (neighbor && !neighbor->ordered && // is it an inner quad?
+ col <= col_max && col >= col_min &&
+ row <= row_max && row >= row_min)
+ {
+ // if so, set in order
+ PRINTF("Adding inner: col: %d row: %d\n", col, row);
+ found++;
+ icvOrderQuad(neighbor, quads[i]->corners[j], (j+2)%4);
+ neighbor->ordered = true;
+ neighbor->row = row;
+ neighbor->col = col;
+ }
+ }
+ }
+ }
+
+ // if we have found inner quads, add corresponding outer quads,
+ // which are missing
+ if (found > 0)
+ {
+ PRINTF("Found %d inner quads not connected to outer quads, repairing\n", found);
+ for (int i=0; icount < 4 && quads[i]->ordered)
+ {
+ int added = icvAddOuterQuad(quads[i],quads,quad_count,all_quads,*all_count,corners);
+ *all_count += added;
+ quad_count += added;
+ }
+ }
+ }
+
+
+ // final trimming of outer quads
+ if (dcol == w && drow == h) // found correct inner quads
+ {
+ PRINTF("Inner bounds ok, check outer quads\n");
+ int rcount = quad_count;
+ for (int i=quad_count-1; i>=0; i--) // eliminate any quad not connected to
+ // an ordered quad
+ {
+ if (quads[i]->ordered == false)
+ {
+ bool outer = false;
+ for (int j=0; j<4; j++) // any neighbors that are ordered?
+ {
+ if (quads[i]->neighbors[j] && quads[i]->neighbors[j]->ordered)
+ outer = true;
+ }
+ if (!outer) // not an outer quad, eliminate
+ {
+ PRINTF("Removing quad %d\n", i);
+ icvRemoveQuadFromGroup(quads,rcount,quads[i]);
+ rcount--;
+ }
+ }
+
+ }
+ return rcount;
+ }
+
+ return 0;
+}
+
+
+// add an outer quad
+// looks for the neighbor of that isn't present,
+// tries to add it in.
+// is ordered
+
+static int
+icvAddOuterQuad( CvCBQuad *quad, CvCBQuad **quads, int quad_count,
+ CvCBQuad **all_quads, int all_count, CvCBCorner **corners )
+
+{
+ int added = 0;
+ for (int i=0; i<4; i++) // find no-neighbor corners
+ {
+ if (!quad->neighbors[i]) // ok, create and add neighbor
+ {
+ int j = (i+2)%4;
+ PRINTF("Adding quad as neighbor 2\n");
+ CvCBQuad *q = &(*all_quads)[all_count];
+ memset( q, 0, sizeof(*q) );
+ added++;
+ quads[quad_count] = q;
+ quad_count++;
+
+ // set neighbor and group id
+ quad->neighbors[i] = q;
+ quad->count += 1;
+ q->neighbors[j] = quad;
+ q->group_idx = quad->group_idx;
+ q->count = 1; // number of neighbors
+ q->ordered = false;
+ q->edge_len = quad->edge_len;
+
+ // make corners of new quad
+ // same as neighbor quad, but offset
+ CvPoint2D32f pt = quad->corners[i]->pt;
+ CvCBCorner* corner;
+ float dx = pt.x - quad->corners[j]->pt.x;
+ float dy = pt.y - quad->corners[j]->pt.y;
+ for (int k=0; k<4; k++)
+ {
+ corner = &(*corners)[all_count*4+k];
+ pt = quad->corners[k]->pt;
+ memset( corner, 0, sizeof(*corner) );
+ corner->pt = pt;
+ q->corners[k] = corner;
+ corner->pt.x += dx;
+ corner->pt.y += dy;
+ }
+ // have to set exact corner
+ q->corners[j] = quad->corners[i];
+
+ // now find other neighbor and add it, if possible
+ if (quad->neighbors[(i+3)%4] &&
+ quad->neighbors[(i+3)%4]->ordered &&
+ quad->neighbors[(i+3)%4]->neighbors[i] &&
+ quad->neighbors[(i+3)%4]->neighbors[i]->ordered )
+ {
+ CvCBQuad *qn = quad->neighbors[(i+3)%4]->neighbors[i];
+ q->count = 2;
+ q->neighbors[(j+1)%4] = qn;
+ qn->neighbors[(i+1)%4] = q;
+ qn->count += 1;
+ // have to set exact corner
+ q->corners[(j+1)%4] = qn->corners[(i+1)%4];
+ }
+
+ all_count++;
+ }
+ }
+ return added;
+}
+
+
+// trimming routines
+
+static int
+icvTrimCol(CvCBQuad **quads, int count, int col, int dir)
+{
+ int rcount = count;
+ // find the right quad(s)
+ for (int i=0; iordered)
+ PRINTF("index: %d cur: %d\n", col, quads[i]->col);
+#endif
+ if (quads[i]->ordered && quads[i]->col == col)
+ {
+ if (dir == 1)
+ {
+ if (quads[i]->neighbors[1])
+ {
+ icvRemoveQuadFromGroup(quads,rcount,quads[i]->neighbors[1]);
+ rcount--;
+ }
+ if (quads[i]->neighbors[2])
+ {
+ icvRemoveQuadFromGroup(quads,rcount,quads[i]->neighbors[2]);
+ rcount--;
+ }
+ }
+ else
+ {
+ if (quads[i]->neighbors[0])
+ {
+ icvRemoveQuadFromGroup(quads,rcount,quads[i]->neighbors[0]);
+ rcount--;
+ }
+ if (quads[i]->neighbors[3])
+ {
+ icvRemoveQuadFromGroup(quads,rcount,quads[i]->neighbors[3]);
+ rcount--;
+ }
+ }
+
+ }
+ }
+ return rcount;
+}
+
+static int
+icvTrimRow(CvCBQuad **quads, int count, int row, int dir)
+{
+ int i, rcount = count;
+ // find the right quad(s)
+ for (i=0; iordered)
+ PRINTF("index: %d cur: %d\n", row, quads[i]->row);
+#endif
+ if (quads[i]->ordered && quads[i]->row == row)
+ {
+ if (dir == 1) // remove from bottom
+ {
+ if (quads[i]->neighbors[2])
+ {
+ icvRemoveQuadFromGroup(quads,rcount,quads[i]->neighbors[2]);
+ rcount--;
+ }
+ if (quads[i]->neighbors[3])
+ {
+ icvRemoveQuadFromGroup(quads,rcount,quads[i]->neighbors[3]);
+ rcount--;
+ }
+ }
+ else // remove from top
+ {
+ if (quads[i]->neighbors[0])
+ {
+ icvRemoveQuadFromGroup(quads,rcount,quads[i]->neighbors[0]);
+ rcount--;
+ }
+ if (quads[i]->neighbors[1])
+ {
+ icvRemoveQuadFromGroup(quads,rcount,quads[i]->neighbors[1]);
+ rcount--;
+ }
+ }
+
+ }
+ }
+ return rcount;
+}
+
+
+//
+// remove quad from quad group
+//
+
+static void
+icvRemoveQuadFromGroup(CvCBQuad **quads, int count, CvCBQuad *q0)
+{
+ int i, j;
+ // remove any references to this quad as a neighbor
+ for(i = 0; i < count; i++ )
+ {
+ CvCBQuad *q = quads[i];
+ for(j = 0; j < 4; j++ )
+ {
+ if( q->neighbors[j] == q0 )
+ {
+ q->neighbors[j] = 0;
+ q->count--;
+ for(int k = 0; k < 4; k++ )
+ if( q0->neighbors[k] == q )
+ {
+ q0->neighbors[k] = 0;
+ q0->count--;
+ break;
+ }
+ break;
+ }
+ }
+ }
+
+ // remove the quad
+ for(i = 0; i < count; i++ )
+ {
+ CvCBQuad *q = quads[i];
+ if (q == q0)
+ {
+ quads[i] = quads[count-1];
+ break;
+ }
+ }
+}
+
+//
+// put quad into correct order, where has value
+//
+
+static void
+icvOrderQuad(CvCBQuad *quad, CvCBCorner *corner, int common)
+{
+ // find the corner
+ int tc;
+ for (tc=0; tc<4; tc++)
+ if (quad->corners[tc]->pt.x == corner->pt.x &&
+ quad->corners[tc]->pt.y == corner->pt.y)
+ break;
+
+ // set corner order
+ // shift
+ while (tc != common)
+ {
+ // shift by one
+ CvCBCorner *tempc;
+ CvCBQuad *tempq;
+ tempc = quad->corners[3];
+ tempq = quad->neighbors[3];
+ for (int i=3; i>0; i--)
+ {
+ quad->corners[i] = quad->corners[i-1];
+ quad->neighbors[i] = quad->neighbors[i-1];
+ }
+ quad->corners[0] = tempc;
+ quad->neighbors[0] = tempq;
+ tc++;
+ tc = tc%4;
+ }
+}
+
+
+// if we found too many connect quads, remove those which probably do not belong.
+static int
+icvCleanFoundConnectedQuads( int quad_count, CvCBQuad **quad_group, CvSize pattern_size )
+{
+ CvMemStorage *temp_storage = 0;
+ CvPoint2D32f *centers = 0;
+
+ CV_FUNCNAME( "icvCleanFoundConnectedQuads" );
+
+ __BEGIN__;
+
+ CvPoint2D32f center = {0,0};
+ int i, j, k;
+ // number of quads this pattern should contain
+ int count = ((pattern_size.width + 1)*(pattern_size.height + 1) + 1)/2;
+
+ // if we have more quadrangles than we should,
+ // try to eliminate duplicates or ones which don't belong to the pattern rectangle...
+ if( quad_count <= count )
+ EXIT;
+
+ // create an array of quadrangle centers
+ CV_CALL( centers = (CvPoint2D32f *)cvAlloc( sizeof(centers[0])*quad_count ));
+ CV_CALL( temp_storage = cvCreateMemStorage(0));
+
+ for( i = 0; i < quad_count; i++ )
+ {
+ CvPoint2D32f ci = {0,0};
+ CvCBQuad* q = quad_group[i];
+
+ for( j = 0; j < 4; j++ )
+ {
+ CvPoint2D32f pt = q->corners[j]->pt;
+ ci.x += pt.x;
+ ci.y += pt.y;
+ }
+
+ ci.x *= 0.25f;
+ ci.y *= 0.25f;
+
+ centers[i] = ci;
+ center.x += ci.x;
+ center.y += ci.y;
+ }
+ center.x /= quad_count;
+ center.y /= quad_count;
+
+ // If we still have more quadrangles than we should,
+ // we try to eliminate bad ones based on minimizing the bounding box.
+ // We iteratively remove the point which reduces the size of
+ // the bounding box of the blobs the most
+ // (since we want the rectangle to be as small as possible)
+ // remove the quadrange that causes the biggest reduction
+ // in pattern size until we have the correct number
+ for( ; quad_count > count; quad_count-- )
+ {
+ double min_box_area = DBL_MAX;
+ int skip, min_box_area_index = -1;
+ CvCBQuad *q0, *q;
+
+ // For each point, calculate box area without that point
+ for( skip = 0; skip < quad_count; skip++ )
+ {
+ // get bounding rectangle
+ CvPoint2D32f temp = centers[skip]; // temporarily make index 'skip' the same as
+ centers[skip] = center; // pattern center (so it is not counted for convex hull)
+ CvMat pointMat = cvMat(1, quad_count, CV_32FC2, centers);
+ CvSeq *hull = cvConvexHull2( &pointMat, temp_storage, CV_CLOCKWISE, 1 );
+ centers[skip] = temp;
+ double hull_area = fabs(cvContourArea(hull, CV_WHOLE_SEQ));
+
+ // remember smallest box area
+ if( hull_area < min_box_area )
+ {
+ min_box_area = hull_area;
+ min_box_area_index = skip;
+ }
+ cvClearMemStorage( temp_storage );
+ }
+
+ q0 = quad_group[min_box_area_index];
+
+ // remove any references to this quad as a neighbor
+ for( i = 0; i < quad_count; i++ )
+ {
+ q = quad_group[i];
+ for( j = 0; j < 4; j++ )
+ {
+ if( q->neighbors[j] == q0 )
+ {
+ q->neighbors[j] = 0;
+ q->count--;
+ for( k = 0; k < 4; k++ )
+ if( q0->neighbors[k] == q )
+ {
+ q0->neighbors[k] = 0;
+ q0->count--;
+ break;
+ }
+ break;
+ }
+ }
+ }
+
+ // remove the quad
+ quad_count--;
+ quad_group[min_box_area_index] = quad_group[quad_count];
+ centers[min_box_area_index] = centers[quad_count];
+ }
+
+ __END__;
+
+ cvReleaseMemStorage( &temp_storage );
+ cvFree( ¢ers );
+
+ return quad_count;
+}
+
+//=====================================================================================
+
+static int
+icvFindConnectedQuads( CvCBQuad *quad, int quad_count, CvCBQuad **out_group,
+ int group_idx, CvMemStorage* storage )
+{
+ CvMemStorage* temp_storage = cvCreateChildMemStorage( storage );
+ CvSeq* stack = cvCreateSeq( 0, sizeof(*stack), sizeof(void*), temp_storage );
+ int i, count = 0;
+
+ // Scan the array for a first unlabeled quad
+ for( i = 0; i < quad_count; i++ )
+ {
+ if( quad[i].count > 0 && quad[i].group_idx < 0)
+ break;
+ }
+
+ // Recursively find a group of connected quads starting from the seed quad[i]
+ if( i < quad_count )
+ {
+ CvCBQuad* q = &quad[i];
+ cvSeqPush( stack, &q );
+ out_group[count++] = q;
+ q->group_idx = group_idx;
+ q->ordered = false;
+
+ while( stack->total )
+ {
+ cvSeqPop( stack, &q );
+ for( i = 0; i < 4; i++ )
+ {
+ CvCBQuad *neighbor = q->neighbors[i];
+ if( neighbor && neighbor->count > 0 && neighbor->group_idx < 0 )
+ {
+ cvSeqPush( stack, &neighbor );
+ out_group[count++] = neighbor;
+ neighbor->group_idx = group_idx;
+ neighbor->ordered = false;
+ }
+ }
+ }
+ }
+
+ cvReleaseMemStorage( &temp_storage );
+ return count;
+}
+
+
+//=====================================================================================
+
+static int
+icvCheckQuadGroup( CvCBQuad **quad_group, int quad_count,
+ CvCBCorner **out_corners, CvSize pattern_size )
+{
+ const int ROW1 = 1000000;
+ const int ROW2 = 2000000;
+ const int ROW_ = 3000000;
+ int result = 0;
+ int i, out_corner_count = 0, corner_count = 0;
+ CvCBCorner** corners = 0;
+
+ CV_FUNCNAME( "icvCheckQuadGroup" );
+
+ __BEGIN__;
+
+ int j, k, kk;
+ int width = 0, height = 0;
+ int hist[5] = {0,0,0,0,0};
+ CvCBCorner* first = 0, *first2 = 0, *right, *cur, *below, *c;
+ CV_CALL( corners = (CvCBCorner**)cvAlloc( quad_count*4*sizeof(corners[0]) ));
+
+ // build dual graph, which vertices are internal quad corners
+ // and two vertices are connected iff they lie on the same quad edge
+ for( i = 0; i < quad_count; i++ )
+ {
+ CvCBQuad* q = quad_group[i];
+ /*CvScalar color = q->count == 0 ? cvScalar(0,255,255) :
+ q->count == 1 ? cvScalar(0,0,255) :
+ q->count == 2 ? cvScalar(0,255,0) :
+ q->count == 3 ? cvScalar(255,255,0) :
+ cvScalar(255,0,0);*/
+
+ for( j = 0; j < 4; j++ )
+ {
+ //cvLine( debug_img, cvPointFrom32f(q->corners[j]->pt), cvPointFrom32f(q->corners[(j+1)&3]->pt), color, 1, CV_AA, 0 );
+ if( q->neighbors[j] )
+ {
+ CvCBCorner *a = q->corners[j], *b = q->corners[(j+1)&3];
+ // mark internal corners that belong to:
+ // - a quad with a single neighbor - with ROW1,
+ // - a quad with two neighbors - with ROW2
+ // make the rest of internal corners with ROW_
+ int row_flag = q->count == 1 ? ROW1 : q->count == 2 ? ROW2 : ROW_;
+
+ if( a->row == 0 )
+ {
+ corners[corner_count++] = a;
+ a->row = row_flag;
+ }
+ else if( a->row > row_flag )
+ a->row = row_flag;
+
+ if( q->neighbors[(j+1)&3] )
+ {
+ if( a->count >= 4 || b->count >= 4 )
+ EXIT;
+ for( k = 0; k < 4; k++ )
+ {
+ if( a->neighbors[k] == b )
+ EXIT;
+ if( b->neighbors[k] == a )
+ EXIT;
+ }
+ a->neighbors[a->count++] = b;
+ b->neighbors[b->count++] = a;
+ }
+ }
+ }
+ }
+
+ if( corner_count != pattern_size.width*pattern_size.height )
+ EXIT;
+
+ for( i = 0; i < corner_count; i++ )
+ {
+ int n = corners[i]->count;
+ assert( 0 <= n && n <= 4 );
+ hist[n]++;
+ if( !first && n == 2 )
+ {
+ if( corners[i]->row == ROW1 )
+ first = corners[i];
+ else if( !first2 && corners[i]->row == ROW2 )
+ first2 = corners[i];
+ }
+ }
+
+ // start with a corner that belongs to a quad with a signle neighbor.
+ // if we do not have such, start with a corner of a quad with two neighbors.
+ if( !first )
+ first = first2;
+
+ if( !first || hist[0] != 0 || hist[1] != 0 || hist[2] != 4 ||
+ hist[3] != (pattern_size.width + pattern_size.height)*2 - 8 )
+ EXIT;
+
+ cur = first;
+ right = below = 0;
+ out_corners[out_corner_count++] = cur;
+
+ for( k = 0; k < 4; k++ )
+ {
+ c = cur->neighbors[k];
+ if( c )
+ {
+ if( !right )
+ right = c;
+ else if( !below )
+ below = c;
+ }
+ }
+
+ if( !right || (right->count != 2 && right->count != 3) ||
+ !below || (below->count != 2 && below->count != 3) )
+ EXIT;
+
+ cur->row = 0;
+ //cvCircle( debug_img, cvPointFrom32f(cur->pt), 3, cvScalar(0,255,0), -1, 8, 0 );
+
+ first = below; // remember the first corner in the next row
+ // find and store the first row (or column)
+ for(j=1;;j++)
+ {
+ right->row = 0;
+ out_corners[out_corner_count++] = right;
+ //cvCircle( debug_img, cvPointFrom32f(right->pt), 3, cvScalar(0,255-j*10,0), -1, 8, 0 );
+ if( right->count == 2 )
+ break;
+ if( right->count != 3 || out_corner_count >= MAX(pattern_size.width,pattern_size.height) )
+ EXIT;
+ cur = right;
+ for( k = 0; k < 4; k++ )
+ {
+ c = cur->neighbors[k];
+ if( c && c->row > 0 )
+ {
+ for( kk = 0; kk < 4; kk++ )
+ {
+ if( c->neighbors[kk] == below )
+ break;
+ }
+ if( kk < 4 )
+ below = c;
+ else
+ right = c;
+ }
+ }
+ }
+
+ width = out_corner_count;
+ if( width == pattern_size.width )
+ height = pattern_size.height;
+ else if( width == pattern_size.height )
+ height = pattern_size.width;
+ else
+ EXIT;
+
+ // find and store all the other rows
+ for( i = 1; ; i++ )
+ {
+ if( !first )
+ break;
+ cur = first;
+ first = 0;
+ for( j = 0;; j++ )
+ {
+ cur->row = i;
+ out_corners[out_corner_count++] = cur;
+ //cvCircle( debug_img, cvPointFrom32f(cur->pt), 3, cvScalar(0,0,255-j*10), -1, 8, 0 );
+ if( cur->count == 2 + (i < height-1) && j > 0 )
+ break;
+
+ right = 0;
+
+ // find a neighbor that has not been processed yet
+ // and that has a neighbor from the previous row
+ for( k = 0; k < 4; k++ )
+ {
+ c = cur->neighbors[k];
+ if( c && c->row > i )
+ {
+ for( kk = 0; kk < 4; kk++ )
+ {
+ if( c->neighbors[kk] && c->neighbors[kk]->row == i-1 )
+ break;
+ }
+ if( kk < 4 )
+ {
+ right = c;
+ if( j > 0 )
+ break;
+ }
+ else if( j == 0 )
+ first = c;
+ }
+ }
+ if( !right )
+ EXIT;
+ cur = right;
+ }
+
+ if( j != width - 1 )
+ EXIT;
+ }
+
+ if( out_corner_count != corner_count )
+ EXIT;
+
+ // check if we need to transpose the board
+ if( width != pattern_size.width )
+ {
+ CV_SWAP( width, height, k );
+
+ memcpy( corners, out_corners, corner_count*sizeof(corners[0]) );
+ for( i = 0; i < height; i++ )
+ for( j = 0; j < width; j++ )
+ out_corners[i*width + j] = corners[j*height + i];
+ }
+
+ // check if we need to revert the order in each row
+ {
+ CvPoint2D32f p0 = out_corners[0]->pt, p1 = out_corners[pattern_size.width-1]->pt,
+ p2 = out_corners[pattern_size.width]->pt;
+ if( (p1.x - p0.x)*(p2.y - p1.y) - (p1.y - p0.y)*(p2.x - p1.x) < 0 )
+ {
+ if( width % 2 == 0 )
+ {
+ for( i = 0; i < height; i++ )
+ for( j = 0; j < width/2; j++ )
+ CV_SWAP( out_corners[i*width+j], out_corners[i*width+width-j-1], c );
+ }
+ else
+ {
+ for( j = 0; j < width; j++ )
+ for( i = 0; i < height/2; i++ )
+ CV_SWAP( out_corners[i*width+j], out_corners[(height - i - 1)*width+j], c );
+ }
+ }
+ }
+
+ result = corner_count;
+
+ __END__;
+
+ if( result <= 0 && corners )
+ {
+ corner_count = MIN( corner_count, pattern_size.width*pattern_size.height );
+ for( i = 0; i < corner_count; i++ )
+ out_corners[i] = corners[i];
+ result = -corner_count;
+
+ if (result == -pattern_size.width*pattern_size.height)
+ result = -result;
+ }
+
+ cvFree( &corners );
+
+ return result;
+}
+
+
+
+
+//=====================================================================================
+
+static void icvFindQuadNeighbors( CvCBQuad *quads, int quad_count )
+{
+ const float thresh_scale = 1.f;
+ int idx, i, k, j;
+ float dx, dy, dist;
+
+ // find quad neighbors
+ for( idx = 0; idx < quad_count; idx++ )
+ {
+ CvCBQuad* cur_quad = &quads[idx];
+
+ // choose the points of the current quadrangle that are close to
+ // some points of the other quadrangles
+ // (it can happen for split corners (due to dilation) of the
+ // checker board). Search only in other quadrangles!
+
+ // for each corner of this quadrangle
+ for( i = 0; i < 4; i++ )
+ {
+ CvPoint2D32f pt;
+ float min_dist = FLT_MAX;
+ int closest_corner_idx = -1;
+ CvCBQuad *closest_quad = 0;
+ CvCBCorner *closest_corner = 0;
+
+ if( cur_quad->neighbors[i] )
+ continue;
+
+ pt = cur_quad->corners[i]->pt;
+
+ // find the closest corner in all other quadrangles
+ for( k = 0; k < quad_count; k++ )
+ {
+ if( k == idx )
+ continue;
+
+ for( j = 0; j < 4; j++ )
+ {
+ if( quads[k].neighbors[j] )
+ continue;
+
+ dx = pt.x - quads[k].corners[j]->pt.x;
+ dy = pt.y - quads[k].corners[j]->pt.y;
+ dist = dx * dx + dy * dy;
+
+ if( dist < min_dist &&
+ dist <= cur_quad->edge_len*thresh_scale &&
+ dist <= quads[k].edge_len*thresh_scale )
+ {
+ // check edge lengths, make sure they're compatible
+ // edges that are different by more than 1:4 are rejected
+ float ediff = cur_quad->edge_len - quads[k].edge_len;
+ if (ediff > 32*cur_quad->edge_len ||
+ ediff > 32*quads[k].edge_len)
+ {
+ PRINTF("Incompatible edge lengths\n");
+ continue;
+ }
+ closest_corner_idx = j;
+ closest_quad = &quads[k];
+ min_dist = dist;
+ }
+ }
+ }
+
+ // we found a matching corner point?
+ if( closest_corner_idx >= 0 && min_dist < FLT_MAX )
+ {
+ // If another point from our current quad is closer to the found corner
+ // than the current one, then we don't count this one after all.
+ // This is necessary to support small squares where otherwise the wrong
+ // corner will get matched to closest_quad;
+ closest_corner = closest_quad->corners[closest_corner_idx];
+
+ for( j = 0; j < 4; j++ )
+ {
+ if( cur_quad->neighbors[j] == closest_quad )
+ break;
+
+ dx = closest_corner->pt.x - cur_quad->corners[j]->pt.x;
+ dy = closest_corner->pt.y - cur_quad->corners[j]->pt.y;
+
+ if( dx * dx + dy * dy < min_dist )
+ break;
+ }
+
+ if( j < 4 || cur_quad->count >= 4 || closest_quad->count >= 4 )
+ continue;
+
+ // Check that each corner is a neighbor of different quads
+ for( j = 0; j < closest_quad->count; j++ )
+ {
+ if( closest_quad->neighbors[j] == cur_quad )
+ break;
+ }
+ if( j < closest_quad->count )
+ continue;
+
+ // check whether the closest corner to closest_corner
+ // is different from cur_quad->corners[i]->pt
+ for( k = 0; k < quad_count; k++ )
+ {
+ CvCBQuad* q = &quads[k];
+ if( k == idx || q == closest_quad )
+ continue;
+
+ for( j = 0; j < 4; j++ )
+ if( !q->neighbors[j] )
+ {
+ dx = closest_corner->pt.x - q->corners[j]->pt.x;
+ dy = closest_corner->pt.y - q->corners[j]->pt.y;
+ dist = dx*dx + dy*dy;
+ if( dist < min_dist )
+ break;
+ }
+ if( j < 4 )
+ break;
+ }
+
+ if( k < quad_count )
+ continue;
+
+ closest_corner->pt.x = (pt.x + closest_corner->pt.x) * 0.5f;
+ closest_corner->pt.y = (pt.y + closest_corner->pt.y) * 0.5f;
+
+ // We've found one more corner - remember it
+ cur_quad->count++;
+ cur_quad->neighbors[i] = closest_quad;
+ cur_quad->corners[i] = closest_corner;
+
+ closest_quad->count++;
+ closest_quad->neighbors[closest_corner_idx] = cur_quad;
+ }
+ }
+ }
+}
+
+//=====================================================================================
+
+// returns corners in clockwise order
+// corners don't necessarily start at same position on quad (e.g.,
+// top left corner)
+
+static int
+icvGenerateQuads( CvCBQuad **out_quads, CvCBCorner **out_corners,
+ CvMemStorage *storage, CvMat *image, int flags )
+{
+ int quad_count = 0;
+ CvMemStorage *temp_storage = 0;
+
+ if( out_quads )
+ *out_quads = 0;
+
+ if( out_corners )
+ *out_corners = 0;
+
+ CV_FUNCNAME( "icvGenerateQuads" );
+
+ __BEGIN__;
+
+ CvSeq *src_contour = 0;
+ CvSeq *root;
+ CvContourEx* board = 0;
+ CvContourScanner scanner;
+ int i, idx, min_size;
+
+ CV_ASSERT( out_corners && out_quads );
+
+ // empiric bound for minimal allowed perimeter for squares
+ min_size = 25; //cvRound( image->cols * image->rows * .03 * 0.01 * 0.92 );
+
+ // create temporary storage for contours and the sequence of pointers to found quadrangles
+ CV_CALL( temp_storage = cvCreateChildMemStorage( storage ));
+ CV_CALL( root = cvCreateSeq( 0, sizeof(CvSeq), sizeof(CvSeq*), temp_storage ));
+
+ // initialize contour retrieving routine
+ CV_CALL( scanner = cvStartFindContours( image, temp_storage, 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 )
+ {
+ const int min_approx_level = 2, max_approx_level = MAX_CONTOUR_APPROX;
+ int approx_level;
+ for( approx_level = min_approx_level; approx_level <= max_approx_level; approx_level++ )
+ {
+ dst_contour = cvApproxPoly( src_contour, sizeof(CvContour), temp_storage,
+ CV_POLY_APPROX_DP, (float)approx_level );
+ // we call this again on its own output, because sometimes
+ // cvApproxPoly() does not simplify as much as it should.
+ dst_contour = cvApproxPoly( dst_contour, sizeof(CvContour), temp_storage,
+ CV_POLY_APPROX_DP, (float)approx_level );
+
+ if( dst_contour->total == 4 )
+ break;
+ }
+
+ // reject non-quadrangles
+ if( dst_contour->total == 4 && cvCheckContourConvexity(dst_contour) )
+ {
+ CvPoint pt[4];
+ double d1, d2, p = cvContourPerimeter(dst_contour);
+ double area = fabs(cvContourArea(dst_contour, CV_WHOLE_SEQ));
+ 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);
+
+ // philipg. Only accept those quadrangles which are more square
+ // than rectangular and which are big enough
+ double d3, d4;
+ dx = pt[0].x - pt[1].x;
+ dy = pt[0].y - pt[1].y;
+ d3 = sqrt(dx*dx + dy*dy);
+ dx = pt[1].x - pt[2].x;
+ dy = pt[1].y - pt[2].y;
+ d4 = sqrt(dx*dx + dy*dy);
+ if( !(flags & CV_CALIB_CB_FILTER_QUADS) ||
+ (d3*4 > d4 && d4*4 > d3 && d3*d4 < area*1.5 && area > min_size &&
+ d1 >= 0.15 * p && d2 >= 0.15 * p) )
+ {
+ CvContourEx* parent = (CvContourEx*)(src_contour->v_prev);
+ parent->counter++;
+ if( !board || board->counter < parent->counter )
+ board = parent;
+ dst_contour->v_prev = (CvSeq*)parent;
+ //for( i = 0; i < 4; i++ ) cvLine( debug_img, pt[i], pt[(i+1)&3], cvScalar(200,255,255), 1, CV_AA, 0 );
+ cvSeqPush( root, &dst_contour );
+ }
+ }
+ }
+ }
+
+ // finish contour retrieving
+ cvEndFindContours( &scanner );
+
+ // allocate quad & corner buffers
+ CV_CALL( *out_quads = (CvCBQuad*)cvAlloc((root->total+root->total / 2) * sizeof((*out_quads)[0])));
+ CV_CALL( *out_corners = (CvCBCorner*)cvAlloc((root->total+root->total / 2) * 4 * sizeof((*out_corners)[0])));
+
+ // Create array of quads structures
+ for( idx = 0; idx < root->total; idx++ )
+ {
+ CvCBQuad* q = &(*out_quads)[quad_count];
+ src_contour = *(CvSeq**)cvGetSeqElem( root, idx );
+ if( (flags & CV_CALIB_CB_FILTER_QUADS) && src_contour->v_prev != (CvSeq*)board )
+ continue;
+
+ // reset group ID
+ memset( q, 0, sizeof(*q) );
+ q->group_idx = -1;
+ assert( src_contour->total == 4 );
+ for( i = 0; i < 4; i++ )
+ {
+ CvPoint2D32f pt = cvPointTo32f(*(CvPoint*)cvGetSeqElem(src_contour, i));
+ CvCBCorner* corner = &(*out_corners)[quad_count*4 + i];
+
+ memset( corner, 0, sizeof(*corner) );
+ corner->pt = pt;
+ q->corners[i] = corner;
+ }
+ q->edge_len = FLT_MAX;
+ for( i = 0; i < 4; i++ )
+ {
+ float dx = q->corners[i]->pt.x - q->corners[(i+1)&3]->pt.x;
+ float dy = q->corners[i]->pt.y - q->corners[(i+1)&3]->pt.y;
+ float d = dx*dx + dy*dy;
+ if( q->edge_len > d )
+ q->edge_len = d;
+ }
+ quad_count++;
+ }
+
+ __END__;
+
+ if( cvGetErrStatus() < 0 )
+ {
+ if( out_quads )
+ cvFree( out_quads );
+ if( out_corners )
+ cvFree( out_corners );
+ quad_count = 0;
+ }
+
+ cvReleaseMemStorage( &temp_storage );
+ return quad_count;
+}
+
+
+//=====================================================================================
+
+#if 0
+static int is_equal_quad( const void* _a, const void* _b, void* )
+{
+ CvRect a = (*((CvContour**)_a))->rect;
+ CvRect b = (*((CvContour**)_b))->rect;
+
+ int dx = MIN( b.x + b.width - 1, a.x + a.width - 1) - MAX( b.x, a.x);
+ int dy = MIN( b.y + b.height - 1, a.y + a.height - 1) - MAX( b.y, a.y);
+ int w = (a.width + b.width)>>1;
+ int h = (a.height + b.height)>>1;
+
+ if( dx > w*0.75 && dy > h*0.75 && dx < w*1.25 && dy < h*1.25 ) return 1;
+
+ return 0;
+}
+
+static int
+icvGenerateQuadsEx( CvCBQuad **out_quads, CvCBCorner **out_corners,
+ CvMemStorage *storage, CvMat *image, CvMat *thresh_img, int dilations, int flags )
+{
+ int l;
+ int quad_count = 0;
+ CvMemStorage *temp_storage = 0;
+
+ if( out_quads )
+ *out_quads = 0;
+
+ if( out_corners )
+ *out_corners = 0;
+
+ CV_FUNCNAME( "icvGenerateQuads" );
+
+ __BEGIN__;
+
+ CvSeq *src_contour = 0;
+ CvSeq *root, *root_tmp;
+ CvContourEx* board = 0;
+ CvContourScanner scanner;
+ int i, idx, min_size;
+ int step_level = 25;
+
+ CV_ASSERT( out_corners && out_quads );
+
+ // empiric bound for minimal allowed perimeter for squares
+ min_size = cvRound( image->cols * image->rows * .03 * 0.01 * 0.92 );
+
+ // create temporary storage for contours and the sequence of pointers to found quadrangles
+ CV_CALL( temp_storage = cvCreateChildMemStorage( storage ));
+ CV_CALL( root_tmp = cvCreateSeq( 0, sizeof(CvSeq), sizeof(CvSeq*), temp_storage ));
+ CV_CALL( root = cvCreateSeq( 0, sizeof(CvSeq), sizeof(CvSeq*), temp_storage ));
+
+ //perform contours slicing
+ cvEqualizeHist(image,image);
+ for(l = step_level; l < 256-step_level; l+= step_level)
+ {
+ cvThreshold( image, thresh_img, l, 255, CV_THRESH_BINARY );
+ cvDilate( thresh_img, thresh_img, 0, dilations );
+
+ //draw frame to extract edge quads
+ cvRectangle( thresh_img, cvPoint(0,0), cvPoint(thresh_img->cols-1,
+ thresh_img->rows-1), CV_RGB(255,255,255), 3, 8);
+
+ // initialize contour retrieving routine
+ CV_CALL( scanner = cvStartFindContours( thresh_img, temp_storage, 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 )
+ {
+ const int min_approx_level = 2, max_approx_level = MAX_CONTOUR_APPROX;
+ int approx_level;
+ for( approx_level = min_approx_level; approx_level <= max_approx_level; approx_level++ )
+ {
+ dst_contour = cvApproxPoly( src_contour, sizeof(CvContour), temp_storage,
+ CV_POLY_APPROX_DP, (float)approx_level );
+ // we call this again on its own output, because sometimes
+ // cvApproxPoly() does not simplify as much as it should.
+ dst_contour = cvApproxPoly( dst_contour, sizeof(CvContour), temp_storage,
+ CV_POLY_APPROX_DP, (float)approx_level );
+
+ if( dst_contour->total == 4 )
+ break;
+ }
+
+ // reject non-quadrangles
+ if( dst_contour->total == 4 && cvCheckContourConvexity(dst_contour) )
+ {
+ CvPoint pt[4];
+ double d1, d2, p = cvContourPerimeter(dst_contour);
+ double area = fabs(cvContourArea(dst_contour, CV_WHOLE_SEQ));
+ double dx, dy;
+
+ for( i = 0; i < 4; i++ )
+ pt[i] = *(CvPoint*)cvGetSeqElem(dst_contour, i);
+
+ //check border condition. if this is edge square we will add this as is
+ int edge_flag = 0, eps = 2;
+ for( i = 0; i < 4; i++ )
+ if( pt[i].x <= eps || pt[i].y <= eps ||
+ pt[i].x >= image->width - eps ||
+ pt[i].y >= image->height - eps ) edge_flag = 1;
+
+ 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);
+
+ // philipg. Only accept those quadrangles which are more square
+ // than rectangular and which are big enough
+ double d3, d4;
+ dx = pt[0].x - pt[1].x;
+ dy = pt[0].y - pt[1].y;
+ d3 = sqrt(dx*dx + dy*dy);
+ dx = pt[1].x - pt[2].x;
+ dy = pt[1].y - pt[2].y;
+ d4 = sqrt(dx*dx + dy*dy);
+ if( edge_flag ||
+ (!(flags & CV_CALIB_CB_FILTER_QUADS) ||
+ (d3*4 > d4 && d4*4 > d3 && d3*d4 < area*1.5 && area > min_size &&
+ d1 >= 0.15 * p && d2 >= 0.15 * p)) )
+ {
+ CvContourEx* parent = (CvContourEx*)(src_contour->v_prev);
+ parent->counter++;
+ if( !board || board->counter < parent->counter )
+ board = parent;
+ dst_contour->v_prev = (CvSeq*)parent;
+ //for( i = 0; i < 4; i++ ) cvLine( debug_img, pt[i], pt[(i+1)&3], cvScalar(200,255,255), 1, CV_AA, 0 );
+ cvSeqPush( root_tmp, &dst_contour );
+ }
+ }
+ }
+ }
+ // finish contour retrieving
+ cvEndFindContours( &scanner );
+ }
+
+
+ // Perform clustering of extracted quads
+ // Same quad can be extracted from different binarization levels
+ if( root_tmp->total )
+ {
+ CvSeq* idx_seq = 0;
+ int n_quads = cvSeqPartition( root_tmp, temp_storage, &idx_seq, is_equal_quad, 0 );
+ for( i = 0; i < n_quads; i++ )
+ {
+ //extract biggest quad in group
+ int max_size = 0;
+ CvSeq* max_seq = 0;
+ for( int j = 0; j < root_tmp->total; j++ )
+ {
+ int index = *(int*)cvGetSeqElem(idx_seq, j);
+ if(index!=i) continue;
+ CvContour* cnt = *(CvContour**)cvGetSeqElem(root_tmp, j);
+ if(cnt->rect.width > max_size)
+ {
+ max_size = cnt->rect.width;
+ max_seq = (CvSeq*)cnt;
+ }
+ }
+ cvSeqPush( root, &max_seq);
+ }
+ }
+
+ // allocate quad & corner buffers
+ CV_CALL( *out_quads = (CvCBQuad*)cvAlloc((root->total+root->total / 2) * sizeof((*out_quads)[0])));
+ CV_CALL( *out_corners = (CvCBCorner*)cvAlloc((root->total+root->total / 2) * 4 * sizeof((*out_corners)[0])));
+
+ // Create array of quads structures
+ for( idx = 0; idx < root->total; idx++ )
+ {
+ CvCBQuad* q = &(*out_quads)[quad_count];
+ src_contour = *(CvSeq**)cvGetSeqElem( root, idx );
+ if( (flags & CV_CALIB_CB_FILTER_QUADS) && src_contour->v_prev != (CvSeq*)board )
+ continue;
+
+ // reset group ID
+ memset( q, 0, sizeof(*q) );
+ q->group_idx = -1;
+ assert( src_contour->total == 4 );
+ for( i = 0; i < 4; i++ )
+ {
+ CvPoint2D32f pt = cvPointTo32f(*(CvPoint*)cvGetSeqElem(src_contour, i));
+ CvCBCorner* corner = &(*out_corners)[quad_count*4 + i];
+
+ memset( corner, 0, sizeof(*corner) );
+ corner->pt = pt;
+ q->corners[i] = corner;
+ }
+ q->edge_len = FLT_MAX;
+ for( i = 0; i < 4; i++ )
+ {
+ float dx = q->corners[i]->pt.x - q->corners[(i+1)&3]->pt.x;
+ float dy = q->corners[i]->pt.y - q->corners[(i+1)&3]->pt.y;
+ float d = dx*dx + dy*dy;
+ if( q->edge_len > d )
+ q->edge_len = d;
+ }
+ quad_count++;
+ }
+
+ __END__;
+
+ if( cvGetErrStatus() < 0 )
+ {
+ if( out_quads )
+ cvFree( out_quads );
+ if( out_corners )
+ cvFree( out_corners );
+ quad_count = 0;
+ }
+
+ cvReleaseMemStorage( &temp_storage );
+ return quad_count;
+}
+#endif
+
+CV_IMPL void
+cvDrawChessboardCorners( CvArr* _image, CvSize pattern_size,
+ CvPoint2D32f* corners, int count, int found )
+{
+ CV_FUNCNAME( "cvDrawChessboardCorners" );
+
+ __BEGIN__;
+
+ const int shift = 0;
+ const int radius = 4;
+ const int r = radius*(1 << shift);
+ int i;
+ CvMat stub, *image;
+ double scale = 1;
+ int type, cn, line_type;
+
+ CV_CALL( image = cvGetMat( _image, &stub ));
+
+ type = CV_MAT_TYPE(image->type);
+ cn = CV_MAT_CN(type);
+ if( cn != 1 && cn != 3 && cn != 4 )
+ CV_ERROR( CV_StsUnsupportedFormat, "Number of channels must be 1, 3 or 4" );
+
+ switch( CV_MAT_DEPTH(image->type) )
+ {
+ case CV_8U:
+ scale = 1;
+ break;
+ case CV_16U:
+ scale = 256;
+ break;
+ case CV_32F:
+ scale = 1./255;
+ break;
+ default:
+ CV_ERROR( CV_StsUnsupportedFormat,
+ "Only 8-bit, 16-bit or floating-point 32-bit images are supported" );
+ }
+
+ line_type = type == CV_8UC1 || type == CV_8UC3 ? CV_AA : 8;
+
+ if( !found )
+ {
+ CvScalar color = {{0,0,255}};
+ if( cn == 1 )
+ color = cvScalarAll(200);
+ color.val[0] *= scale;
+ color.val[1] *= scale;
+ color.val[2] *= scale;
+ color.val[3] *= scale;
+
+ for( i = 0; i < count; i++ )
+ {
+ CvPoint pt;
+ pt.x = cvRound(corners[i].x*(1 << shift));
+ pt.y = cvRound(corners[i].y*(1 << shift));
+ cvLine( image, cvPoint( pt.x - r, pt.y - r ),
+ cvPoint( pt.x + r, pt.y + r ), color, 1, line_type, shift );
+ cvLine( image, cvPoint( pt.x - r, pt.y + r),
+ cvPoint( pt.x + r, pt.y - r), color, 1, line_type, shift );
+ cvCircle( image, pt, r+(1<& corners, int flags )
+{
+ int count = patternSize.area()*2;
+ corners.resize(count);
+ CvMat _image = image;
+ bool ok = cvFindChessboardCorners(&_image, patternSize,
+ (CvPoint2D32f*)&corners[0], &count, flags ) > 0;
+ corners.resize(count);
+ return ok;
+}
+
+void drawChessboardCorners( Mat& image, Size patternSize,
+ const Mat& corners,
+ bool patternWasFound )
+{
+ CvMat _image = image;
+ CV_Assert((corners.cols == 1 || corners.rows == 1) &&
+ corners.type() == CV_32FC2 && corners.isContinuous());
+ cvDrawChessboardCorners( &_image, patternSize, (CvPoint2D32f*)corners.data,
+ corners.cols + corners.rows - 1, patternWasFound );
+}
+
+}
+
+/* End of file. */