/// <summary>
/// Finds centers in the grid of circles
/// </summary>
/// <param name="image">Source chessboard view</param>
/// <param name="patternSize">The number of inner circle per chessboard row and column</param>
/// <param name="flags">Various operation flags</param>
/// <param name="featureDetector">The feature detector. Use a SimpleBlobDetector for default</param>
/// <param name="centers">output array of detected centers.</param>
/// <returns>True if grid found.</returns>
public static bool FindCirclesGrid(IInputArray image, Size patternSize, IOutputArray centers, CvEnum.CalibCgType flags, Feature2D featureDetector)
{
using (InputArray iaImage = image.GetInputArray())
using (OutputArray oaCenters = centers.GetOutputArray())
return(cveFindCirclesGrid(iaImage, ref patternSize, oaCenters, flags, featureDetector.Feature2DPtr));
}
private static extern bool cveFindCirclesGrid(IntPtr image, ref Size patternSize, IntPtr centers, CvEnum.CalibCgType flags, IntPtr blobDetector);
/*
* public static void TestDrawLine(IntPtr img, int startX, int startY, int endX, int endY, MCvScalar color)
* {
* TestDrawLine(img, startX, startY, endX, endY, color.v0, color.v1, color.v2, color.v3);
* }
*
* [DllImport(CvInvoke.ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention, EntryPoint="testDrawLine")]
* private static extern void TestDrawLine(IntPtr img, int startX, int startY, int endX, int endY, double v0, double v1, double v2, double v3);
*
* /// <summary>
* /// Implements the chamfer matching algorithm on images taking into account both distance from
* /// the template pixels to the nearest pixels and orientation alignment between template and image
* /// contours.
* /// </summary>
* /// <param name="img">The edge image where search is performed</param>
* /// <param name="templ">The template (an edge image)</param>
* /// <param name="contours">The output contours</param>
* /// <param name="cost">The cost associated with the matching</param>
* /// <param name="templScale">The template scale</param>
* /// <param name="maxMatches">The maximum number of matches</param>
* /// <param name="minMatchDistance">The minimum match distance</param>
* /// <param name="padX">PadX</param>
* /// <param name="padY">PadY</param>
* /// <param name="scales">Scales</param>
* /// <param name="minScale">Minimum scale</param>
* /// <param name="maxScale">Maximum scale</param>
* /// <param name="orientationWeight">Orientation weight</param>
* /// <param name="truncate">Truncate</param>
* /// <returns>The number of matches</returns>
* public static int ChamferMatching(Mat img, Mat templ,
* out Point[][] contours, out float[] cost,
* double templScale = 1, int maxMatches = 20,
* double minMatchDistance = 1.0, int padX = 3,
* int padY = 3, int scales = 5, double minScale = 0.6, double maxScale = 1.6,
* double orientationWeight = 0.5, double truncate = 20)
* {
* using (Emgu.CV.Util.VectorOfVectorOfPoint vecOfVecOfPoint = new Util.VectorOfVectorOfPoint())
* using (Emgu.CV.Util.VectorOfFloat vecOfFloat = new Util.VectorOfFloat())
* {
* int count = cveChamferMatching(img, templ, vecOfVecOfPoint, vecOfFloat, templScale, maxMatches, minMatchDistance, padX, padY, scales, minScale, maxScale, orientationWeight, truncate);
* contours = vecOfVecOfPoint.ToArrayOfArray();
* cost = vecOfFloat.ToArray();
* return count;
* }
* }
* [DllImport(ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)]
* private static extern int cveChamferMatching(
* IntPtr img, IntPtr templ,
* IntPtr results, IntPtr cost,
* double templScale, int maxMatches,
* double minMatchDistance, int padX,
* int padY, int scales, double minScale, double maxScale,
* double orientationWeight, double truncate);
*/
/// <summary>
/// Finds centers in the grid of circles
/// </summary>
/// <param name="image">Source chessboard view</param>
/// <param name="patternSize">The number of inner circle per chessboard row and column</param>
/// <param name="flags">Various operation flags</param>
/// <param name="featureDetector">The feature detector. Use a SimpleBlobDetector for default</param>
/// <returns>The center of circles detected if the chess board pattern is found, otherwise null is returned</returns>
public static PointF[] FindCirclesGrid(Image <Gray, Byte> image, Size patternSize, CvEnum.CalibCgType flags, Feature2D featureDetector)
{
using (Util.VectorOfPointF vec = new Util.VectorOfPointF())
{
bool patternFound =
FindCirclesGrid(
image,
patternSize,
vec,
flags,
featureDetector
);
return(patternFound ? vec.ToArray() : null);
}
}
