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<div class="title">Chessboard calibration</div> </div>
<div class="ingroups"><a class="el" href="group__mrpt__vision__grp.html">[mrpt-vision]</a></div></div>
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Collaboration diagram for Chessboard calibration:</div>
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<center><table><tr><td><img src="group__chessboard__calib.png" border="0" alt="" usemap="#group____chessboard____calib"/>
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<table class="memberdecls">
<tr><td colspan="2"><h2><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1vision_1_1_t_image_calib_data.html">mrpt::vision::TImageCalibData</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Data associated to each image in the calibration process <a class="el" href="group__chessboard__calib.html#ga1da75caa6896523de9ecce29f5abe391" title="Performs a camera calibration (computation of projection and distortion parameters) from a sequence o...">mrpt::vision::checkerBoardCameraCalibration</a> (All the information can be left empty and will be filled up in the calibration method). <a href="structmrpt_1_1vision_1_1_t_image_calib_data.html#details">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="typedef-members"></a>
Typedefs</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classstd_1_1map.html">std::map</a>< <a class="el" href="classstd_1_1string.html">std::string</a>, <br class="typebreak"/>
TImageCalibData > </td><td class="memItemRight" valign="bottom"><a class="el" href="group__chessboard__calib.html#ga73701bb299aae17c11656efb6c46625d">mrpt::vision::TCalibrationImageList</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A list of images, used in checkerBoardCameraCalibration. <a href="#ga73701bb299aae17c11656efb6c46625d"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="func-members"></a>
Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__chessboard__calib.html#ga1da75caa6896523de9ecce29f5abe391">mrpt::vision::checkerBoardCameraCalibration</a> (TCalibrationImageList &images, unsigned int check_size_x, unsigned int check_size_y, double check_squares_length_X_meters, double check_squares_length_Y_meters, <a class="el" href="classmrpt_1_1utils_1_1_t_camera.html">mrpt::utils::TCamera</a> &out_camera_params, bool normalize_image=true, double *out_MSE=NULL, bool skipDrawDetectedImgs=false, bool useScaramuzzaAlternativeDetector=false)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Performs a camera calibration (computation of projection and distortion parameters) from a sequence of captured images of a checkerboard. <a href="#ga1da75caa6896523de9ecce29f5abe391"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__chessboard__calib.html#gaa4ed326d576cd201b8a64ebe9bd4f32d">mrpt::vision::checkerBoardCameraCalibration</a> (TCalibrationImageList &images, unsigned int check_size_x, unsigned int check_size_y, double check_squares_length_X_meters, double check_squares_length_Y_meters, CMatrixDouble33 &intrinsicParams, <a class="el" href="classstd_1_1vector.html">std::vector</a>< double > &distortionParams, bool normalize_image=true, double *out_MSE=NULL, bool skipDrawDetectedImgs=false, bool useScaramuzzaAlternativeDetector=false)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Performs a camera calibration (computation of projection and distortion parameters) from a sequence of captured images of a checkerboard. <a href="#gaa4ed326d576cd201b8a64ebe9bd4f32d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__chessboard__calib.html#gac88718d9f59ced199ba4475ef7299f30">mrpt::vision::findChessboardCorners</a> (const <a class="el" href="classmrpt_1_1utils_1_1_c_image.html">mrpt::utils::CImage</a> &img, <a class="el" href="classstd_1_1vector.html">std::vector</a>< TPixelCoordf > &cornerCoords, unsigned int check_size_x, unsigned int check_size_y, bool normalize_image=true, bool useScaramuzzaMethod=false)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Look for the corners of a chessboard in the image using one of two different methods. <a href="#gac88718d9f59ced199ba4475ef7299f30"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__chessboard__calib.html#gafb7eb4cd30b399456b1eb456c32c4be4">mrpt::vision::findMultipleChessboardsCorners</a> (const <a class="el" href="classmrpt_1_1utils_1_1_c_image.html">mrpt::utils::CImage</a> &img, <a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="classstd_1_1vector.html">std::vector</a>< TPixelCoordf > > &cornerCoords, unsigned int check_size_x, unsigned int check_size_y)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Look for the corners of one or more chessboard/checkerboards in the image. <a href="#gafb7eb4cd30b399456b1eb456c32c4be4"></a><br/></td></tr>
</table>
<hr/><h2>Typedef Documentation</h2>
<a class="anchor" id="ga73701bb299aae17c11656efb6c46625d"></a><!-- doxytag: member="mrpt::vision::TCalibrationImageList" ref="ga73701bb299aae17c11656efb6c46625d" args="" -->
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<td class="memname">typedef <a class="el" href="classstd_1_1map.html">std::map</a><<a class="el" href="classstd_1_1string.html">std::string</a>,TImageCalibData> <a class="el" href="group__chessboard__calib.html#ga73701bb299aae17c11656efb6c46625d">mrpt::vision::TCalibrationImageList</a></td>
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<p>A list of images, used in checkerBoardCameraCalibration. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="group__chessboard__calib.html#ga1da75caa6896523de9ecce29f5abe391" title="Performs a camera calibration (computation of projection and distortion parameters) from a sequence o...">checkerBoardCameraCalibration</a> </dd></dl>
<p>Definition at line <a class="el" href="chessboard__camera__calib_8h_source.html#l00064">64</a> of file <a class="el" href="chessboard__camera__calib_8h_source.html">chessboard_camera_calib.h</a>.</p>
</div>
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<hr/><h2>Function Documentation</h2>
<a class="anchor" id="ga1da75caa6896523de9ecce29f5abe391"></a><!-- doxytag: member="mrpt::vision::checkerBoardCameraCalibration" ref="ga1da75caa6896523de9ecce29f5abe391" args="(TCalibrationImageList &images, unsigned int check_size_x, unsigned int check_size_y, double check_squares_length_X_meters, double check_squares_length_Y_meters, mrpt::utils::TCamera &out_camera_params, bool normalize_image=true, double *out_MSE=NULL, bool skipDrawDetectedImgs=false, bool useScaramuzzaAlternativeDetector=false)" -->
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<td class="memname">bool VISION_IMPEXP mrpt::vision::checkerBoardCameraCalibration </td>
<td>(</td>
<td class="paramtype">TCalibrationImageList & </td>
<td class="paramname"><em>images</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">unsigned int </td>
<td class="paramname"><em>check_size_x</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">unsigned int </td>
<td class="paramname"><em>check_size_y</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>check_squares_length_X_meters</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>check_squares_length_Y_meters</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_t_camera.html">mrpt::utils::TCamera</a> & </td>
<td class="paramname"><em>out_camera_params</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>normalize_image</em> = <code>true</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double * </td>
<td class="paramname"><em>out_MSE</em> = <code>NULL</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>skipDrawDetectedImgs</em> = <code>false</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>useScaramuzzaAlternativeDetector</em> = <code>false</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
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<div class="memdoc">
<p>Performs a camera calibration (computation of projection and distortion parameters) from a sequence of captured images of a checkerboard. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">input_images</td><td>[IN/OUT] At input, this list must have one entry for each image to process. At output the original, detected checkboard and rectified images can be found here. See <a class="el" href="structmrpt_1_1vision_1_1_t_image_calib_data.html" title="Data associated to each image in the calibration process mrpt::vision::checkerBoardCameraCalibration ...">TImageCalibData</a>. </td></tr>
<tr><td class="paramname">check_size_x</td><td>[IN] The number of squares in the checkerboard in the X direction. </td></tr>
<tr><td class="paramname">check_size_y</td><td>[IN] The number of squares in the checkerboard in the Y direction. </td></tr>
<tr><td class="paramname">check_squares_length_X_meters</td><td>[IN] The size of each square in the checkerboard, in meters, in the X axis. </td></tr>
<tr><td class="paramname">check_squares_length_Y_meters</td><td>[IN] This will typically be equal to check_squares_length_X_meters. </td></tr>
<tr><td class="paramname">intrinsicParams</td><td>[OUT] The 3x3 intrinsic parameters matrix. See <a href="http://www.mrpt.org/Camera_Parameters">http://www.mrpt.org/Camera_Parameters</a> </td></tr>
<tr><td class="paramname">distortionParams</td><td>[OUT] The 1x4 vector of distortion parameters: k1 k2 p1 p2. See <a href="http://www.mrpt.org/Camera_Parameters">http://www.mrpt.org/Camera_Parameters</a> </td></tr>
<tr><td class="paramname">normalize_image</td><td>[IN] Select OpenCV flag </td></tr>
<tr><td class="paramname">out_MSE</td><td>[OUT] If set to !=NULL, the mean square error of the reprojection will be stored here (in pixel units). </td></tr>
<tr><td class="paramname">skipDrawDetectedImgs</td><td>[IN] Whether to skip the generation of the undistorted and detected images in each <a class="el" href="structmrpt_1_1vision_1_1_t_image_calib_data.html" title="Data associated to each image in the calibration process mrpt::vision::checkerBoardCameraCalibration ...">TImageCalibData</a> </td></tr>
<tr><td class="paramname">useScaramuzzaAlternativeDetector</td><td>[IN] Whether to use an alternative detector. See CImage::findChessboardCorners for more deatails and references. </td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd>The <a href="http://www.mrpt.org/Application:camera-calib-gui">camera-calib-gui application</a> is a user-friendly GUI to this class. </dd></dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>false on any error (more info will be dumped to cout), or true on success. </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd>CImage::findChessboardCorners </dd></dl>
</div>
</div>
<a class="anchor" id="gaa4ed326d576cd201b8a64ebe9bd4f32d"></a><!-- doxytag: member="mrpt::vision::checkerBoardCameraCalibration" ref="gaa4ed326d576cd201b8a64ebe9bd4f32d" args="(TCalibrationImageList &images, unsigned int check_size_x, unsigned int check_size_y, double check_squares_length_X_meters, double check_squares_length_Y_meters, CMatrixDouble33 &intrinsicParams, std::vector< double > &distortionParams, bool normalize_image=true, double *out_MSE=NULL, bool skipDrawDetectedImgs=false, bool useScaramuzzaAlternativeDetector=false)" -->
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<td class="memname">bool VISION_IMPEXP mrpt::vision::checkerBoardCameraCalibration </td>
<td>(</td>
<td class="paramtype">TCalibrationImageList & </td>
<td class="paramname"><em>images</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">unsigned int </td>
<td class="paramname"><em>check_size_x</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">unsigned int </td>
<td class="paramname"><em>check_size_y</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>check_squares_length_X_meters</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>check_squares_length_Y_meters</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">CMatrixDouble33 & </td>
<td class="paramname"><em>intrinsicParams</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classstd_1_1vector.html">std::vector</a>< double > & </td>
<td class="paramname"><em>distortionParams</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>normalize_image</em> = <code>true</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double * </td>
<td class="paramname"><em>out_MSE</em> = <code>NULL</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>skipDrawDetectedImgs</em> = <code>false</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>useScaramuzzaAlternativeDetector</em> = <code>false</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Performs a camera calibration (computation of projection and distortion parameters) from a sequence of captured images of a checkerboard. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">input_images</td><td>[IN/OUT] At input, this list must have one entry for each image to process. At output the original, detected checkboard and rectified images can be found here. See <a class="el" href="structmrpt_1_1vision_1_1_t_image_calib_data.html" title="Data associated to each image in the calibration process mrpt::vision::checkerBoardCameraCalibration ...">TImageCalibData</a>. </td></tr>
<tr><td class="paramname">check_size_x</td><td>[IN] The number of squares in the checkerboard in the X direction. </td></tr>
<tr><td class="paramname">check_size_y</td><td>[IN] The number of squares in the checkerboard in the Y direction. </td></tr>
<tr><td class="paramname">check_squares_length_X_meters</td><td>[IN] The size of each square in the checkerboard, in meters, in the X axis. </td></tr>
<tr><td class="paramname">check_squares_length_Y_meters</td><td>[IN] This will typically be equal to check_squares_length_X_meters. </td></tr>
<tr><td class="paramname">intrinsicParams</td><td>[OUT] The 3x3 intrinsic parameters matrix. See <a href="http://www.mrpt.org/Camera_Parameters">http://www.mrpt.org/Camera_Parameters</a> </td></tr>
<tr><td class="paramname">distortionParams</td><td>[OUT] The 1x4 vector of distortion parameters: k1 k2 p1 p2. See <a href="http://www.mrpt.org/Camera_Parameters">http://www.mrpt.org/Camera_Parameters</a> </td></tr>
<tr><td class="paramname">normalize_image</td><td>[IN] Select OpenCV flag </td></tr>
<tr><td class="paramname">out_MSE</td><td>[OUT] If set to !=NULL, the mean square error of the reprojection will be stored here (in pixel units). </td></tr>
<tr><td class="paramname">skipDrawDetectedImgs</td><td>[IN] Whether to skip the generation of the undistorted and detected images in each <a class="el" href="structmrpt_1_1vision_1_1_t_image_calib_data.html" title="Data associated to each image in the calibration process mrpt::vision::checkerBoardCameraCalibration ...">TImageCalibData</a> </td></tr>
<tr><td class="paramname">useScaramuzzaAlternativeDetector</td><td>[IN] Whether to use an alternative detector. See CImage::findChessboardCorners for more deatails and references. </td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd>The <a href="http://www.mrpt.org/Application:camera-calib-gui">camera-calib-gui application</a> is a user-friendly GUI to this class. </dd></dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>false on any error (more info will be dumped to cout), or true on success. </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd>CImage::findChessboardCorners </dd></dl>
</div>
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<a class="anchor" id="gac88718d9f59ced199ba4475ef7299f30"></a><!-- doxytag: member="mrpt::vision::findChessboardCorners" ref="gac88718d9f59ced199ba4475ef7299f30" args="(const mrpt::utils::CImage &img, std::vector< TPixelCoordf > &cornerCoords, unsigned int check_size_x, unsigned int check_size_y, bool normalize_image=true, bool useScaramuzzaMethod=false)" -->
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<td class="memname">bool VISION_IMPEXP mrpt::vision::findChessboardCorners </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1utils_1_1_c_image.html">mrpt::utils::CImage</a> & </td>
<td class="paramname"><em>img</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classstd_1_1vector.html">std::vector</a>< TPixelCoordf > & </td>
<td class="paramname"><em>cornerCoords</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">unsigned int </td>
<td class="paramname"><em>check_size_x</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">unsigned int </td>
<td class="paramname"><em>check_size_y</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>normalize_image</em> = <code>true</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>useScaramuzzaMethod</em> = <code>false</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
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</table>
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<p>Look for the corners of a chessboard in the image using one of two different methods. </p>
<p>The search algorithm will be OpenCV's function cvFindChessboardCorners or its improved version published by M. Rufli, D. Scaramuzza, and R. Siegwart. See: <a href="http://robotics.ethz.ch/~scaramuzza/Davide_Scaramuzza_files/Research/OcamCalib_Tutorial.htm">http://robotics.ethz.ch/~scaramuzza/Davide_Scaramuzza_files/Research/OcamCalib_Tutorial.htm</a> and the papers:</p>
<ul>
<li>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.</li>
<li>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.</li>
<li>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.</li>
</ul>
<p>After detecting the corners with either method, it's called "cvFindCornerSubPix" to achieve subpixel accuracy.</p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">cornerCoords</td><td>[OUT] The pixel coordinates of all the corners. </td></tr>
<tr><td class="paramname">check_size_x</td><td>[IN] The number of squares, in the X direction </td></tr>
<tr><td class="paramname">check_size_y</td><td>[IN] The number of squares, in the Y direction </td></tr>
<tr><td class="paramname">normalize_image</td><td>[IN] Whether to normalize the image before detection </td></tr>
<tr><td class="paramname">useScaramuzzaMethod</td><td>[IN] Whether to use the alternative, more robust method by M. Rufli, D. Scaramuzza, and R. Siegwart.</td></tr>
</table>
</dd>
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<dl class="return"><dt><b>Returns:</b></dt><dd>true on success</dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="group__chessboard__calib.html#gafb7eb4cd30b399456b1eb456c32c4be4" title="Look for the corners of one or more chessboard/checkerboards in the image.">findMultipleChessboardsCorners</a>, <a class="el" href="group__chessboard__calib.html#ga1da75caa6896523de9ecce29f5abe391" title="Performs a camera calibration (computation of projection and distortion parameters) from a sequence o...">mrpt::vision::checkerBoardCameraCalibration</a>, drawChessboardCorners </dd></dl>
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<a class="anchor" id="gafb7eb4cd30b399456b1eb456c32c4be4"></a><!-- doxytag: member="mrpt::vision::findMultipleChessboardsCorners" ref="gafb7eb4cd30b399456b1eb456c32c4be4" args="(const mrpt::utils::CImage &img, std::vector< std::vector< TPixelCoordf > > &cornerCoords, unsigned int check_size_x, unsigned int check_size_y)" -->
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<td class="memname">void VISION_IMPEXP mrpt::vision::findMultipleChessboardsCorners </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1utils_1_1_c_image.html">mrpt::utils::CImage</a> & </td>
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<td class="paramtype"><a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="classstd_1_1vector.html">std::vector</a>< TPixelCoordf > > & </td>
<td class="paramname"><em>cornerCoords</em>, </td>
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<td class="paramtype">unsigned int </td>
<td class="paramname"><em>check_size_x</em>, </td>
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<td class="paramtype">unsigned int </td>
<td class="paramname"><em>check_size_y</em> </td>
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<p>Look for the corners of one or more chessboard/checkerboards in the image. </p>
<p>This method uses an improved version of OpenCV's cvFindChessboardCorners published by M. Rufli, D. Scaramuzza, and R. Siegwart. See: <a href="http://robotics.ethz.ch/~scaramuzza/Davide_Scaramuzza_files/Research/OcamCalib_Tutorial.htm">http://robotics.ethz.ch/~scaramuzza/Davide_Scaramuzza_files/Research/OcamCalib_Tutorial.htm</a> and the papers:</p>
<ul>
<li>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.</li>
<li>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.</li>
<li>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.</li>
</ul>
<p>That method has been extended in this MRPT implementation to automatically detect a number of different checkerboards in the same image.</p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">cornerCoords</td><td>[OUT] A vector of N vectors of pixel coordinates, for each of the N chessboards detected. </td></tr>
<tr><td class="paramname">check_size_x</td><td>[IN] The number of squares, in the X direction </td></tr>
<tr><td class="paramname">check_size_y</td><td>[IN] The number of squares, in the Y direction</td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="group__chessboard__calib.html#ga1da75caa6896523de9ecce29f5abe391" title="Performs a camera calibration (computation of projection and distortion parameters) from a sequence o...">mrpt::vision::checkerBoardCameraCalibration</a>, drawChessboardCorners </dd></dl>
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