opencv圆心提取--findCirlesGrid

findCirlesGrid–标定圆心
有大佬看过opencv检测圆心这个函数吗？看不懂啊！求源码分析

bool findCirclesGrid( InputArray _image, Size patternSize,OutputArray _centers, int flags, const Ptr<FeatureDetector> &blobDetector,const CirclesGridFinderParameters& parameters_)
{CV_INSTRUMENT_REGION();CirclesGridFinderParameters parameters = parameters_; // parameters.gridType is amended belowbool isAsymmetricGrid = (flags & CALIB_CB_ASYMMETRIC_GRID) ? true : false;bool isSymmetricGrid  = (flags & CALIB_CB_SYMMETRIC_GRID ) ? true : false;CV_Assert(isAsymmetricGrid ^ isSymmetricGrid);std::vector<Point2f> centers;std::vector<Point2f> points;if (blobDetector) //斑点检测{std::vector<KeyPoint> keypoints;blobDetector->detect(_image, keypoints);for (size_t i = 0; i < keypoints.size(); i++){points.push_back(keypoints[i].pt);}}else{CV_CheckTypeEQ(_image.type(), CV_32FC2, "blobDetector must be provided or image must contains Point2f array (std::vector<Point2f>) with candidates");_image.copyTo(points); //把image的内容粘贴到points}if(flags & CALIB_CB_ASYMMETRIC_GRID)parameters.gridType = CirclesGridFinderParameters::ASYMMETRIC_GRID;if(flags & CALIB_CB_SYMMETRIC_GRID)parameters.gridType = CirclesGridFinderParameters::SYMMETRIC_GRID;if(flags & CALIB_CB_CLUSTERING){CirclesGridClusterFinder circlesGridClusterFinder(parameters);circlesGridClusterFinder.findGrid(points, patternSize, centers);Mat(centers).copyTo(_centers);return !centers.empty();}bool isValid = false;const int attempts = 2;const size_t minHomographyPoints = 4;Mat H;for (int i = 0; i < attempts; i++){centers.clear();//斑点变量清零//根据CirclesGridFinder 类（几何特征），检测相关圆形，并排序输出。CirclesGridFinder boxFinder(patternSize, points, parameters); try{bool isFound = boxFinder.findHoles();if (isFound){switch(parameters.gridType){case CirclesGridFinderParameters::SYMMETRIC_GRID:boxFinder.getHoles(centers);break;case CirclesGridFinderParameters::ASYMMETRIC_GRID:boxFinder.getAsymmetricHoles(centers);break;default:CV_Error(Error::StsBadArg, "Unknown pattern type");}isValid = true;break;  // done, return result}}catch (const cv::Exception& e){CV_UNUSED(e);CV_LOG_DEBUG(NULL, "findCirclesGrid2: attempt=" << i << ": " << e.what());// nothing, next attempt}boxFinder.getHoles(centers);if (i != attempts - 1){if (centers.size() < minHomographyPoints)break;H = CirclesGridFinder::rectifyGrid(boxFinder.getDetectedGridSize(), centers, points, points);}}if (!centers.empty() && !H.empty())  // undone rectification{Mat orgPointsMat;transform(centers, orgPointsMat, H.inv());convertPointsFromHomogeneous(orgPointsMat, centers);}Mat(centers).copyTo(_centers);return isValid;
}

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