Class cv::randpattern::RandomPatternCornerFinder#

Class for finding features points and corresponding 3D in world coordinate of a "random" pattern, which can be to be used in calibration. It is useful when pattern is partly occluded or only a part of pattern can be observed in multiple cameras calibration. The pattern can be generated by RandomPatternGenerator class described in this file. View details

#include <opencv2/ccalib/randpattern.hpp>

Collaboration diagram for cv::randpattern::RandomPatternCornerFinder:

cv::randpattern::RandomPatternCornerFinder Node1 cv::randpattern::RandomPattern CornerFinder   + RandomPatternCornerFinder() + computeObjectImagePoints() + computeObjectImagePoints ForSingle() + getImagePoints() + getObjectPoints() + loadPattern() + loadPattern()

cv::randpattern::RandomPatternCornerFinder Node1 cv::randpattern::RandomPattern CornerFinder   + RandomPatternCornerFinder() + computeObjectImagePoints() + computeObjectImagePoints ForSingle() + getImagePoints() + getObjectPoints() + loadPattern() + loadPattern()

Detailed Description#

Class for finding features points and corresponding 3D in world coordinate of a “random” pattern, which can be to be used in calibration. It is useful when pattern is partly occluded or only a part of pattern can be observed in multiple cameras calibration. The pattern can be generated by RandomPatternGenerator class described in this file.

Please refer to paper B. Li, L. Heng, K. Kevin and M. Pollefeys, “A Multiple-Camera System

Calibration Toolbox Using A Feature Descriptor-Based Calibration

Pattern”, in IROS 2013.

Constructor & Destructor Documentation#

RandomPatternCornerFinder()#

cv::randpattern::RandomPatternCornerFinder::RandomPatternCornerFinder(
float patternWidth,
float patternHeight,
int nminiMatch = 20,
int depth = CV_32F,
int verbose = 0,
int showExtraction = 0,
Ptr< FeatureDetector > detector = xfeatures2d::AKAZE::create(xfeatures2d::AKAZE::DESCRIPTOR_MLDB, 0, 3, 0.005f),
Ptr< DescriptorExtractor > descriptor = xfeatures2d::AKAZE::create(xfeatures2d::AKAZE::DESCRIPTOR_MLDB, 0, 3, 0.005f),
Ptr< DescriptorMatcher > matcher = DescriptorMatcher::create(“BruteForce-L1”) )

Member Function Documentation#

computeObjectImagePoints()#

void cv::randpattern::RandomPatternCornerFinder::computeObjectImagePoints(std::vector< cv::Mat > inputImages)

computeObjectImagePointsForSingle()#

std::vector< cv::Mat > cv::randpattern::RandomPatternCornerFinder::computeObjectImagePointsForSingle(cv::Mat inputImage)

getImagePoints()#

const std::vector< cv::Mat > & cv::randpattern::RandomPatternCornerFinder::getImagePoints()

getObjectPoints()#

const std::vector< cv::Mat > & cv::randpattern::RandomPatternCornerFinder::getObjectPoints()

loadPattern()#

void cv::randpattern::RandomPatternCornerFinder::loadPattern(const cv::Mat & patternImage)

loadPattern()#

void cv::randpattern::RandomPatternCornerFinder::loadPattern(
const cv::Mat & patternImage,
const std::vector< cv::KeyPoint > & patternKeyPoints,
const cv::Mat & patternDescriptors )

crossCheckMatching()#

void cv::randpattern::RandomPatternCornerFinder::crossCheckMatching(
cv::Ptr< DescriptorMatcher > & descriptorMatcher,
const Mat & descriptors1,
const Mat & descriptors2,
std::vector< DMatch > & filteredMatches12,
int knn = 1 )

drawCorrespondence()#

void cv::randpattern::RandomPatternCornerFinder::drawCorrespondence(
const Mat & image1,
const std::vector< cv::KeyPoint > keypoint1,
const Mat & image2,
const std::vector< cv::KeyPoint > keypoint2,
const std::vector< cv::DMatch > matchces,
const Mat & mask1,
const Mat & mask2,
const int step )

getFilteredLocation()#

void cv::randpattern::RandomPatternCornerFinder::getFilteredLocation(
cv::Mat & imageKeypoints,
cv::Mat & patternKeypoints,
const cv::Mat mask )

getObjectImagePoints()#

void cv::randpattern::RandomPatternCornerFinder::getObjectImagePoints(
const cv::Mat & imageKeypoints,
const cv::Mat & patternKeypoints )

keyPoints2MatchedLocation()#

void cv::randpattern::RandomPatternCornerFinder::keyPoints2MatchedLocation(
const std::vector< cv::KeyPoint > & imageKeypoints,
const std::vector< cv::KeyPoint > & patternKeypoints,
const std::vector< cv::DMatch > matchces,
cv::Mat & matchedImagelocation,
cv::Mat & matchedPatternLocation )

Member Data Documentation#

_depth#

int cv::randpattern::RandomPatternCornerFinder::_depth

_descriptor#

Ptr< DescriptorExtractor > cv::randpattern::RandomPatternCornerFinder::_descriptor

_descriptorPattern#

Mat cv::randpattern::RandomPatternCornerFinder::_descriptorPattern

_detector#

Ptr< FeatureDetector > cv::randpattern::RandomPatternCornerFinder::_detector

_imagePoints#

std::vector< cv::Mat > cv::randpattern::RandomPatternCornerFinder::_imagePoints

_keypointsPattern#

std::vector< cv::KeyPoint > cv::randpattern::RandomPatternCornerFinder::_keypointsPattern

_matcher#

Ptr< DescriptorMatcher > cv::randpattern::RandomPatternCornerFinder::_matcher

_nminiMatch#

int cv::randpattern::RandomPatternCornerFinder::_nminiMatch

_objectPonits#

std::vector< cv::Mat > cv::randpattern::RandomPatternCornerFinder::_objectPonits

_patternHeight#

float cv::randpattern::RandomPatternCornerFinder::_patternHeight

_patternImage#

Mat cv::randpattern::RandomPatternCornerFinder::_patternImage

_patternImageSize#

cv::Size cv::randpattern::RandomPatternCornerFinder::_patternImageSize

_patternWidth#

float cv::randpattern::RandomPatternCornerFinder::_patternWidth

_showExtraction#

int cv::randpattern::RandomPatternCornerFinder::_showExtraction

_verbose#

int cv::randpattern::RandomPatternCornerFinder::_verbose

Source file#

The documentation for this class was generated from the following file: