chessboard_find_corners.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#ifndef mrpt_vision_find_chessboard_H
#define mrpt_vision_find_chessboard_H

#include <mrpt/utils/CImage.h>

#include <mrpt/vision/types.h>

namespace mrpt
{
namespace vision
{
/** \addtogroup chessboard_calib
        @{ */

/** Look for the corners of a chessboard in the image using one of two different
  *methods.
  *
  *  The search algorithm will be OpenCV's function cvFindChessboardCorners or
  *its improved
  *   version published by M. Rufli, D. Scaramuzza, and R. Siegwart. See:
  *http://robotics.ethz.ch/~scaramuzza/Davide_Scaramuzza_files/Research/OcamCalib_Tutorial.htm
  *    and the papers:
  *             - 1. Scaramuzza, D., Martinelli, A. and Siegwart, R. (2006), A Toolbox
  *for
  *Easily Calibrating Omnidirectional Cameras, Proceedings of the IEEE/RSJ
  *International Conference on Intelligent Robots and Systems  (IROS 2006),
  *Beijing, China, October 2006.
  *             - 2. Scaramuzza, D., Martinelli, A. and Siegwart, R., (2006). "A
  *Flexible
  *Technique for Accurate Omnidirectional Camera Calibration and Structure from
  *Motion", Proceedings of IEEE International Conference of Vision Systems
  *(ICVS'06), New York, January 5-7, 2006.
  *             - 3. Rufli, M., Scaramuzza, D., and Siegwart, R. (2008), Automatic
  *Detection of Checkerboards on Blurred and Distorted Images, Proceedings of
  *the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS
  *2008), Nice, France, September 2008.
  *
  *  After detecting the corners with either method, it's called
  *"cvFindCornerSubPix" to achieve subpixel accuracy.
  *
  * \param cornerCoords [OUT] The pixel coordinates of all the corners.
  * \param check_size_x [IN] The number of squares, in the X direction
  * \param check_size_y [IN] The number of squares, in the Y direction
  * \param normalize_image [IN] Whether to normalize the image before detection
  * \param useScaramuzzaMethod [IN] Whether to use the alternative, more robust
  *method by M. Rufli, D. Scaramuzza, and R. Siegwart.
  *
  * \return true on success
  *
  * \sa findMultipleChessboardsCorners,
  *mrpt::vision::checkerBoardCameraCalibration, drawChessboardCorners
  */
bool findChessboardCorners(
        const mrpt::utils::CImage& img,
        std::vector<mrpt::utils::TPixelCoordf>& cornerCoords,
        unsigned int check_size_x, unsigned int check_size_y,
        bool normalize_image = true, bool useScaramuzzaMethod = false);

/** Look for the corners of one or more chessboard/checkerboards in the image.
  *  This method uses an improved version of OpenCV's cvFindChessboardCorners
  *published
  *   by M. Rufli, D. Scaramuzza, and R. Siegwart. See:
  *http://robotics.ethz.ch/~scaramuzza/Davide_Scaramuzza_files/Research/OcamCalib_Tutorial.htm
  *    and the papers:
  *             - 1. Scaramuzza, D., Martinelli, A. and Siegwart, R. (2006), A Toolbox
  *for
  *Easily Calibrating Omnidirectional Cameras, Proceedings of the IEEE/RSJ
  *International Conference on Intelligent Robots and Systems  (IROS 2006),
  *Beijing, China, October 2006.
  *             - 2. Scaramuzza, D., Martinelli, A. and Siegwart, R., (2006). "A
  *Flexible
  *Technique for Accurate Omnidirectional Camera Calibration and Structure from
  *Motion", Proceedings of IEEE International Conference of Vision Systems
  *(ICVS'06), New York, January 5-7, 2006.
  *             - 3. Rufli, M., Scaramuzza, D., and Siegwart, R. (2008), Automatic
  *Detection of Checkerboards on Blurred and Distorted Images, Proceedings of
  *the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS
  *2008), Nice, France, September 2008.
  *
  *  That method has been extended in this MRPT implementation to automatically
  *detect a
  *   number of different checkerboards in the same image.
  *
  * \param cornerCoords [OUT] A vector of N vectors of pixel coordinates, for
  *each of the N chessboards detected.
  * \param check_size_x [IN] The number of squares, in the X direction
  * \param check_size_y [IN] The number of squares, in the Y direction
  *
  *
  * \sa mrpt::vision::checkerBoardCameraCalibration, drawChessboardCorners
  */
void findMultipleChessboardsCorners(
        const mrpt::utils::CImage& img,
        std::vector<std::vector<mrpt::utils::TPixelCoordf>>& cornerCoords,
        unsigned int check_size_x, unsigned int check_size_y);

/** @} */
}
}
#endif