public static bool FindChessboardCorners(Mat grayTexMat, Vector2Int innerCornerCount, ref MatOfPoint2f cornerPoints, bool fastAndImprecise = false)
{
Vector2IntToSize(innerCornerCount, ref _tempSize);
if (cornerPoints == null)
{
cornerPoints = new MatOfPoint2f();
}
if (!fastAndImprecise)
{
// TODO: Enable CALIB_CB_LARGER and CALIB_CB_MARKER when they are supported.
// https://forum.unity.com/threads/released-opencv-for-unity.277080/page-47#post-5665141
const int flagsSB =
Calib3d.CALIB_CB_EXHAUSTIVE; // Run an exhaustive search to improve detection rate. (Note: this seems to have very positive impact).
//Calib3d.CALIB_CB_LARGER // The detected pattern is allowed to be larger than patternSize
//Calib3d.CALIB_CB_MARKER // The detected pattern must have a marker
//Calib3d.CALIB_CB_NORMALIZE_IMAGE // Normalize the image gamma with equalizeHist before detection
// findChessboardCornersSB() is supposed to work better than combined findChessboardCorners() and cornerSubPix().
return(Calib3d.findChessboardCornersSB(grayTexMat, _tempSize, cornerPoints, flagsSB));
}
// Normally, you would use find4QuadCornersSubpix after findChessboardCorners to improve the result, but
// we just want fast.
const int flags =
Calib3d.CALIB_CB_FAST_CHECK; // |
//Calib3d.CALIB_CB_NORMALIZE_IMAGE |
//Calib3d.CALIB_CB_FILTER_QUADS |
//Calib3d.CALIB_CB_ADAPTIVE_THRESH;
bool success = Calib3d.findChessboardCorners(grayTexMat, _tempSize, cornerPoints, flags);
// Because the old version prefers to start at black tile corner vs findChessboardCornersSB prefering to start
// at white tile corner, we have to reverse the order of points for the old version to match up.
if (success)
{
ReverseOrder(cornerPoints);
}
return(success);
}
