chessboard_find_corners.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#pragma once

#include <mrpt/img/CImage.h>

#include <mrpt/vision/types.h>

namespace mrpt::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::img::CImage& img,
    std::vector<mrpt::img::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::img::CImage& img,
    std::vector<std::vector<mrpt::img::TPixelCoordf>>& cornerCoords,
    unsigned int check_size_x, unsigned int check_size_y);

/** @} */
}  // namespace mrpt::vision