be more picky about front and back cols

src/charuco.cpp

@@ -22,10 +22,6 @@
 #include <opencv2/highgui.hpp>
 #include "uvosunwrap/log.h"
 
-static constexpr unsigned int X_BOARD_SIZE = 20;
-static constexpr unsigned int Y_BOARD_SIZE = 12;
-
-
 void createCharucoBoard(unsigned int size, const std::string& fileName)
 {
     cv::Ptr<cv::aruco::CharucoBoard> board = 
@@ -35,7 +31,7 @@ void createCharucoBoard(unsigned int size, const std::string& fileName)
 	double cellSize = size/(double)Y_BOARD_SIZE;
 	board->draw(cv::Size((size*X_BOARD_SIZE)/Y_BOARD_SIZE, size), charucoImage, 0, 1);
 	cv::Mat charucoImageWithBorder = 
-		cv::Mat::zeros(cv::Size(cellSize*(X_BOARD_SIZE+2), cellSize*(Y_BOARD_SIZE+2)), CV_8UC1);
+		cv::Mat::zeros(cv::Size(cellSize*(X_BOARD_SIZE+1), cellSize*(Y_BOARD_SIZE+2)), CV_8UC1);
 	cv::Rect roi(cellSize, cellSize, charucoImage.cols, charucoImage.rows);
 	charucoImage.copyTo(charucoImageWithBorder(roi));
 	cv::imwrite(fileName, charucoImageWithBorder);

src/main.cpp

@@ -143,7 +143,7 @@ int perfromOperation(int operation, char** fileNames, const Config& config)
 	if(operation == CREATE_CHARUCO)
 	{
 		std::string fileName = config.output.empty() ? "out.png" : config.output;
-		createCharucoBoard(config.size*42, fileName);
+		createCharucoBoard(config.size*X_BOARD_SIZE, fileName);
 		Log(Log::INFO)<<"Exported charuco map of size "<<config.size*14<<" to "<<fileName;
 		return 0;
 	}

src/matutils.cpp

@@ -250,7 +250,8 @@ void fillMissing(cv::Mat& mat)
 			}
 		}
 	}
-	if(!finished) fillMissing(mat);
+	if(!finished) 
+		fillMissing(mat);
 }
 
 bool findDeadSpace(const cv::Mat& mat, cv::Rect& roi)
@@ -287,48 +288,7 @@ bool findDeadSpace(const cv::Mat& mat, cv::Rect& roi)
 	return true;
 }
 
-bool deleteEmptyCols(cv::Mat& mat)
+void removeSparseCols(cv::Mat& mat, float reject, bool front)
-{
-	assert(mat.type() == CV_32FC1);
-
-	std::vector<size_t> cols;
-	cols.reserve(mat.cols);
-	
-	for(int x = 0; x < mat.cols; x++)
-	{
-		bool empty = true;
-		for(int y = 0; y < mat.rows; y++)
-		{
-			if(mat.at<float>(x,y) > 0)
-			{
-				empty = false;
-				break;
-			}
-		}
-		
-		if(!empty)
-			cols.push_back(x);
-	}
-	
-	if(mat.cols < static_cast<long int>(cols.size()))
-	{
-		cv::Mat tmp(cv::Size(cols.size(), mat.rows), CV_32FC1);
-
-		for(auto& col : cols)
-		{
-			cv::Rect roi(cv::Point2i(col, 0), cv::Size(1, mat.rows));
-			mat.copyTo(tmp(roi));
-		}
-		mat.release();
-		mat = tmp;
-		
-		return true;
-	}
-	
-	return false;
-}
-
-void removeSparseCols(cv::Mat& mat, bool front)
 {
 	assert(mat.type() == CV_32FC1);
 
@@ -339,14 +299,14 @@ void removeSparseCols(cv::Mat& mat, bool front)
 		else if(mat.at<float>(y,mat.cols-1) >= 0) ++count;
 	}
 	cv::Rect roi;
-	bool rej = (count < mat.rows/2);
+	bool rej = (count < mat.rows*reject);
 	roi.x=front ? rej : 0;
 	roi.y=0;
 	roi.width = mat.cols - rej;
 	roi.height = mat.rows;
 	mat = mat(roi);
 	if(rej)
-		removeSparseCols(mat, front);
+		removeSparseCols(mat, reject, front);
 }
 
 static float linInterpolate(float A, float B, float x)

src/matutils.h

@@ -43,9 +43,7 @@ void fillMissing(cv::Mat& mat);
 
 bool findDeadSpace(const cv::Mat& mat, cv::Rect& roi);
 
-bool deleteEmptyCols(cv::Mat& mat);
+void removeSparseCols(cv::Mat& mat, float reject, bool front);
-
-void removeSparseCols(cv::Mat& mat, bool front);
 
 bool bilinearResize(const cv::Mat& inImage, cv::Mat& outImage, cv::Size size);
 

src/unwrap.cpp

@@ -97,11 +97,11 @@ bool createRemapMap(const cv::Mat& image, RemapMap& out, const std::vector<Detec
 	Log(Log::DEBUG)<<__func__<<": xMat raw\n"<<out.xMat;
 	
 	int cols = out.xMat.cols;
-	removeSparseCols(out.xMat, true);
+	removeSparseCols(out.xMat, 0.75,true);
 	out.topLeftCoordinate.x += cols-out.xMat.cols;
-	removeSparseCols(out.xMat, false);
+	removeSparseCols(out.xMat, 0.75, false);
-	removeSparseCols(out.yMat, true);
+	removeSparseCols(out.yMat, 0.75, true);
-	removeSparseCols(out.yMat, false);
+	removeSparseCols(out.yMat, 0.75, false);
 	Log(Log::DEBUG)<<__func__<<": xMat rejcted\n"<<out.xMat;
 	fillMissing(out.xMat);
 	Log(Log::DEBUG)<<__func__<<": xMat filled\n"<<out.xMat;

src/uvosunwrap/charuco.h

@@ -23,6 +23,9 @@
 #include <opencv2/core/ocl.hpp>
 #include "detectedpoint.h"
 
+static constexpr unsigned int X_BOARD_SIZE = 20;
+static constexpr unsigned int Y_BOARD_SIZE = 12;
+
 void createCharucoBoard(unsigned int size, const std::string& fileName);
 
 std::vector<DetectedPoint> detectCharucoPoints(cv::Mat image, bool verbose = true);