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[software] PanoramaInit: fix bug in the estimation of the fisheye circle #857

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merged 2 commits into from
Aug 13, 2020
Merged

[software] PanoramaInit: fix bug in the estimation of the fisheye circle #857

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9d916b7
bug in minimization
servantftechnicolor Aug 12, 2020
4e02c97
add masks to polar image
servantftechnicolor Aug 12, 2020
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46 changes: 31 additions & 15 deletions src/software/pipeline/main_panoramaInit.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -142,12 +142,17 @@ class CircleDetector {

double max_rx = std::max(double(source.Width()) - level_centerx, level_centerx);
double max_ry = std::max(double(source.Height()) - level_centery, level_centery);

double max_radius = std::min(max_rx, max_ry);
//Just in case the smallest side is cropped inside the circle.
max_radius *= 1.5;

size_t max_radius_i = size_t(std::ceil(max_radius));
double angles_bins = size_t(std::ceil(max_radius * M_PI));

image::Image<float> polarImage(max_radius_i, angles_bins);
if (!buildPolarImage(polarImage, source, level_centerx, level_centery)) {
image::Image<float> polarImage(max_radius_i, angles_bins, true, 0.0f);
image::Image<unsigned char> polarImageMask(max_radius_i, angles_bins, true, 0);
if (!buildPolarImage(polarImage, polarImageMask, source, level_centerx, level_centery)) {
return false;
}

Expand All @@ -158,7 +163,7 @@ class CircleDetector {
int min_radius = 8;
int radius = min_radius;// * pow(2, diff);

if (!buildGradientImage(gradientImage, polarImage, radius)) {
if (!buildGradientImage(gradientImage, polarImage, polarImageMask, radius)) {
return false;
}

Expand Down Expand Up @@ -331,7 +336,11 @@ class CircleDetector {
double cx = pt(0) - best_params(0);
double cy = pt(1) - best_params(1);
double r = best_params(2);
double dist = sqrt(cx * cx + cy * cy) - r;
double normsq = cx * cx + cy * cy;
double norm = sqrt(normsq);
double dist = norm - r;



double w = 0.0;
if (dist < c) {
Expand All @@ -341,13 +350,13 @@ class CircleDetector {
}

Eigen::Vector3d J;
if (std::abs(dist) < 1e-12) {
if (std::abs(normsq) < 1e-12) {
J.fill(0);
J(2) = -w;
}
else {
J(0) = - w * cx / dist;
J(1) = - w * cy / dist;
J(0) = - w * cx / norm;
J(1) = - w * cy / norm;
J(2) = - w;
}

Expand Down Expand Up @@ -445,12 +454,11 @@ class CircleDetector {
return true;
}

bool buildPolarImage(image::Image<float> & dst, const image::Image<float> & src, float center_x, float center_y) {
bool buildPolarImage(image::Image<float> & dst, image::Image<unsigned char> & dstmask, const image::Image<float> & src, float center_x, float center_y) {

image::Sampler2d<image::SamplerLinear> sampler;
size_t count_angles = dst.Height();



for (int angle = 0; angle < count_angles; angle++) {
double rangle = angle * (2.0 * M_PI / double(count_angles));
Expand All @@ -463,16 +471,19 @@ class CircleDetector {
double y = center_y + sangle * double(amplitude);

dst(angle, amplitude) = 0;
dstmask(angle, amplitude) = 0;

if (x < 0 || y < 0) continue;
if (x >= src.Width() || y >= src.Height()) continue;
dst(angle, amplitude) = sampler(src, y, x);
dstmask(angle, amplitude) = 255;
}
}

return true;
}

bool buildGradientImage(image::Image<float> & dst, const image::Image<float> & src, size_t radius_size) {
bool buildGradientImage(image::Image<float> & dst, const image::Image<float> & src, const image::Image<unsigned char> & srcMask, size_t radius_size) {

/*Build gradient for x coordinates image */
dst.fill(0);
Expand All @@ -489,24 +500,29 @@ class CircleDetector {
float sum_inside = 0.0;
float sum_outside = 0.0;

unsigned char valid = 255;

for (int dx = -kernel_radius; dx < 0; dx++) {
sum_inside += src(angle, amplitude + dx);
valid &= srcMask(angle, amplitude + dx);
}
for (int dx = 1; dx <= kernel_radius * 2; dx++) {
sum_outside += src(angle, amplitude + dx);
valid &= srcMask(angle, amplitude + dx);
}

dst(angle, amplitude) = sum_inside - sum_outside;
if (valid) {
dst(angle, amplitude) = std::max(0.0f, (sum_inside - sum_outside));
}
else {
dst(angle, amplitude) = 0.0f;
}
}
}

return true;
}

/*void drawCircle(image::Image<image::RGBfColor> & dest) {
image::DrawCircle(_center_x, _center_y, _radius, image::RGBfColor(1.0f), &dest);
}*/

double getCircleCenterX() const {
return _center_x;
}
Expand Down