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<div class="title">chessboard_find_corners.h</div> </div>
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<a href="chessboard__find__corners_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028
<a name="l00029"></a>00029 <span class="preprocessor">#ifndef mrpt_vision_find_chessboard_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span><span class="preprocessor">#define mrpt_vision_find_chessboard_H</span>
<a name="l00031"></a>00031 <span class="preprocessor"></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_image_8h.html">mrpt/utils/CImage.h</a>></span>
<a name="l00033"></a>00033
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="vision_2include_2mrpt_2vision_2types_8h.html">mrpt/vision/types.h</a>></span>
<a name="l00035"></a>00035 <span class="preprocessor">#include <<a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html">mrpt/vision/link_pragmas.h</a>></span>
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="keyword">namespace </span>mrpt
<a name="l00038"></a>00038 {
<a name="l00039"></a>00039 <span class="keyword">namespace </span>vision
<a name="l00040"></a>00040 {<span class="comment"></span>
<a name="l00041"></a>00041 <span class="comment"> /** \addtogroup chessboard_calib</span>
<a name="l00042"></a>00042 <span class="comment"> @{ */</span>
<a name="l00043"></a>00043 <span class="comment"></span>
<a name="l00044"></a>00044 <span class="comment"> /** Look for the corners of a chessboard in the image using one of two different methods.</span>
<a name="l00045"></a>00045 <span class="comment"> *</span>
<a name="l00046"></a>00046 <span class="comment"> * The search algorithm will be OpenCV's function cvFindChessboardCorners or its improved</span>
<a name="l00047"></a>00047 <span class="comment"> * version published by M. Rufli, D. Scaramuzza, and R. Siegwart. See: http://robotics.ethz.ch/~scaramuzza/Davide_Scaramuzza_files/Research/OcamCalib_Tutorial.htm</span>
<a name="l00048"></a>00048 <span class="comment"> * and the papers:</span>
<a name="l00049"></a>00049 <span class="comment"> * - 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.</span>
<a name="l00050"></a>00050 <span class="comment"> * - 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.</span>
<a name="l00051"></a>00051 <span class="comment"> * - 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.</span>
<a name="l00052"></a>00052 <span class="comment"> *</span>
<a name="l00053"></a>00053 <span class="comment"> * After detecting the corners with either method, it's called "cvFindCornerSubPix" to achieve subpixel accuracy.</span>
<a name="l00054"></a>00054 <span class="comment"> *</span>
<a name="l00055"></a>00055 <span class="comment"> * \param cornerCoords [OUT] The pixel coordinates of all the corners.</span>
<a name="l00056"></a>00056 <span class="comment"> * \param check_size_x [IN] The number of squares, in the X direction</span>
<a name="l00057"></a>00057 <span class="comment"> * \param check_size_y [IN] The number of squares, in the Y direction</span>
<a name="l00058"></a>00058 <span class="comment"> * \param normalize_image [IN] Whether to normalize the image before detection</span>
<a name="l00059"></a>00059 <span class="comment"> * \param useScaramuzzaMethod [IN] Whether to use the alternative, more robust method by M. Rufli, D. Scaramuzza, and R. Siegwart.</span>
<a name="l00060"></a>00060 <span class="comment"> *</span>
<a name="l00061"></a>00061 <span class="comment"> * \return true on success</span>
<a name="l00062"></a>00062 <span class="comment"> *</span>
<a name="l00063"></a>00063 <span class="comment"> * \sa findMultipleChessboardsCorners, mrpt::vision::checkerBoardCameraCalibration, drawChessboardCorners</span>
<a name="l00064"></a>00064 <span class="comment"> */</span>
<a name="l00065"></a>00065 <span class="keywordtype">bool</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__chessboard__calib.html#gac88718d9f59ced199ba4475ef7299f30" title="Look for the corners of a chessboard in the image using one of two different methods.">findChessboardCorners</a>(
<a name="l00066"></a>00066 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_image.html" title="A class for storing images as grayscale or RGB bitmaps.">mrpt::utils::CImage</a> &img,
<a name="l00067"></a>00067 <a class="code" href="classstd_1_1vector.html">std::vector<TPixelCoordf></a> &cornerCoords,
<a name="l00068"></a>00068 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> check_size_x,
<a name="l00069"></a>00069 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> check_size_y,
<a name="l00070"></a>00070 <span class="keywordtype">bool</span> normalize_image = <span class="keyword">true</span>,
<a name="l00071"></a>00071 <span class="keywordtype">bool</span> useScaramuzzaMethod = <span class="keyword">false</span> );
<a name="l00072"></a>00072 <span class="comment"></span>
<a name="l00073"></a>00073 <span class="comment"> /** Look for the corners of one or more chessboard/checkerboards in the image.</span>
<a name="l00074"></a>00074 <span class="comment"> * This method uses an improved version of OpenCV's cvFindChessboardCorners published</span>
<a name="l00075"></a>00075 <span class="comment"> * by M. Rufli, D. Scaramuzza, and R. Siegwart. See: http://robotics.ethz.ch/~scaramuzza/Davide_Scaramuzza_files/Research/OcamCalib_Tutorial.htm</span>
<a name="l00076"></a>00076 <span class="comment"> * and the papers:</span>
<a name="l00077"></a>00077 <span class="comment"> * - 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.</span>
<a name="l00078"></a>00078 <span class="comment"> * - 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.</span>
<a name="l00079"></a>00079 <span class="comment"> * - 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.</span>
<a name="l00080"></a>00080 <span class="comment"> *</span>
<a name="l00081"></a>00081 <span class="comment"> * That method has been extended in this MRPT implementation to automatically detect a</span>
<a name="l00082"></a>00082 <span class="comment"> * number of different checkerboards in the same image.</span>
<a name="l00083"></a>00083 <span class="comment"> *</span>
<a name="l00084"></a>00084 <span class="comment"> * \param cornerCoords [OUT] A vector of N vectors of pixel coordinates, for each of the N chessboards detected.</span>
<a name="l00085"></a>00085 <span class="comment"> * \param check_size_x [IN] The number of squares, in the X direction</span>
<a name="l00086"></a>00086 <span class="comment"> * \param check_size_y [IN] The number of squares, in the Y direction</span>
<a name="l00087"></a>00087 <span class="comment"> *</span>
<a name="l00088"></a>00088 <span class="comment"> *</span>
<a name="l00089"></a>00089 <span class="comment"> * \sa mrpt::vision::checkerBoardCameraCalibration, drawChessboardCorners</span>
<a name="l00090"></a>00090 <span class="comment"> */</span>
<a name="l00091"></a>00091 <span class="keywordtype">void</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__chessboard__calib.html#gafb7eb4cd30b399456b1eb456c32c4be4" title="Look for the corners of one or more chessboard/checkerboards in the image.">findMultipleChessboardsCorners</a>(
<a name="l00092"></a>00092 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_image.html" title="A class for storing images as grayscale or RGB bitmaps.">mrpt::utils::CImage</a> &img,
<a name="l00093"></a>00093 <a class="code" href="classstd_1_1vector.html" title="STL class.">std::vector</a><<a class="code" href="classstd_1_1vector.html">std::vector<TPixelCoordf></a> > &cornerCoords,
<a name="l00094"></a>00094 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> check_size_x,
<a name="l00095"></a>00095 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> check_size_y );
<a name="l00096"></a>00096 <span class="comment"></span>
<a name="l00097"></a>00097 <span class="comment"> /** @} */</span>
<a name="l00098"></a>00098 }
<a name="l00099"></a>00099 }
<a name="l00100"></a>00100 <span class="preprocessor">#endif</span>
<a name="l00101"></a>00101 <span class="preprocessor"></span>
</pre></div></div>
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