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chessboard_find_corners.h
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 
10 #ifndef mrpt_vision_find_chessboard_H
11 #define mrpt_vision_find_chessboard_H
12 
13 #include <mrpt/utils/CImage.h>
14 
15 #include <mrpt/vision/types.h>
17 
18 namespace mrpt
19 {
20  namespace vision
21  {
22  /** \addtogroup chessboard_calib
23  @{ */
24 
25  /** Look for the corners of a chessboard in the image using one of two different methods.
26  *
27  * The search algorithm will be OpenCV's function cvFindChessboardCorners or its improved
28  * version published by M. Rufli, D. Scaramuzza, and R. Siegwart. See: http://robotics.ethz.ch/~scaramuzza/Davide_Scaramuzza_files/Research/OcamCalib_Tutorial.htm
29  * and the papers:
30  * - 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.
31  * - 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.
32  * - 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.
33  *
34  * After detecting the corners with either method, it's called "cvFindCornerSubPix" to achieve subpixel accuracy.
35  *
36  * \param cornerCoords [OUT] The pixel coordinates of all the corners.
37  * \param check_size_x [IN] The number of squares, in the X direction
38  * \param check_size_y [IN] The number of squares, in the Y direction
39  * \param normalize_image [IN] Whether to normalize the image before detection
40  * \param useScaramuzzaMethod [IN] Whether to use the alternative, more robust method by M. Rufli, D. Scaramuzza, and R. Siegwart.
41  *
42  * \return true on success
43  *
44  * \sa findMultipleChessboardsCorners, mrpt::vision::checkerBoardCameraCalibration, drawChessboardCorners
45  */
47  const mrpt::utils::CImage &img,
48  std::vector<mrpt::utils::TPixelCoordf> &cornerCoords,
49  unsigned int check_size_x,
50  unsigned int check_size_y,
51  bool normalize_image = true,
52  bool useScaramuzzaMethod = false );
53 
54  /** Look for the corners of one or more chessboard/checkerboards in the image.
55  * This method uses an improved version of OpenCV's cvFindChessboardCorners published
56  * by M. Rufli, D. Scaramuzza, and R. Siegwart. See: http://robotics.ethz.ch/~scaramuzza/Davide_Scaramuzza_files/Research/OcamCalib_Tutorial.htm
57  * and the papers:
58  * - 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.
59  * - 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.
60  * - 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.
61  *
62  * That method has been extended in this MRPT implementation to automatically detect a
63  * number of different checkerboards in the same image.
64  *
65  * \param cornerCoords [OUT] A vector of N vectors of pixel coordinates, for each of the N chessboards detected.
66  * \param check_size_x [IN] The number of squares, in the X direction
67  * \param check_size_y [IN] The number of squares, in the Y direction
68  *
69  *
70  * \sa mrpt::vision::checkerBoardCameraCalibration, drawChessboardCorners
71  */
73  const mrpt::utils::CImage &img,
74  std::vector<std::vector<mrpt::utils::TPixelCoordf> > &cornerCoords,
75  unsigned int check_size_x,
76  unsigned int check_size_y );
77 
78  /** @} */
79  }
80 }
81 #endif
82 
A class for storing images as grayscale or RGB bitmaps.
Definition: CImage.h:101
bool VISION_IMPEXP 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 a chessboard in the image using one of two different methods.
GLint GLvoid * img
Definition: glext.h:3645
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
void VISION_IMPEXP findMultipleChessboardsCorners(const mrpt::utils::CImage &img, std::vector< std::vector< mrpt::utils::TPixelCoordf > > &cornerCoords, unsigned int check_size_x, unsigned int check_size_y)
Look for the corners of one or more chessboard/checkerboards in the image.



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