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During the cluster-based detection of circle grids, the detected circle pattern has to be mapped to 3D-points. When doing this the width (i.e. more circles) and height (i.e. less circles) of the pattern need to be identified in image coordinates. Until now this was done by assuming that the shorter side in image coordinates (length in pixels) corresponds to the height in 3D. This assumption does not hold if we look at the pattern from a perspective where the projection of the width is shorter than the projection of the height. This in turn lead to misdetections in although the circle pattern was clearly visible. Instead count how many circles have been detected along two edges of the projected quadrangle and use the one with more circles as width and the one with less as height. |
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OpenCV: Open Source Computer Vision Library
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