Example: vision_checkerboard_detectors

C++ example source code:

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2024, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include <mrpt/gui/CDisplayWindow.h>
#include <mrpt/img/CImage.h>
#include <mrpt/system/CTimeLogger.h>
#include <mrpt/vision/chessboard_find_corners.h>

#include <chrono>
#include <iostream>
#include <thread>

using namespace std;
using namespace mrpt;
using namespace mrpt::img;
using namespace mrpt::system;
using namespace mrpt::gui;

#include <mrpt/examples_config.h>
std::string myDataDir =
    MRPT_EXAMPLES_BASE_DIRECTORY + string("vision_checkerboard_detectors/");

// ------------------------------------------------------
//              TestCheckerboardDetectors
// ------------------------------------------------------
void TestCheckerboardDetectors()
{
    CTimeLogger timlog;

    // Load img:
    CImage img;
    if (!img.loadFromFile(myDataDir + string("test_1_checkerboard_9x6.jpg")))
        throw std::runtime_error("Can't load demo image!");

    // Detect multiple-checkerboards:
    vector<TPixelCoordf> cornerCoords;
    const unsigned int checkerboard_size_x = 6;
    const unsigned int checkerboard_size_y = 9;

    // Detect:
    timlog.enter("findChessboardCorners");

    // bool detectOk1 =
    mrpt::vision::findChessboardCorners(
        img, cornerCoords, checkerboard_size_x, checkerboard_size_y,
        true  // normalize_image
    );

    timlog.leave("findChessboardCorners");

    // Draw:
    CImage img_detect1 = img;
    img_detect1.drawChessboardCorners(
        cornerCoords, checkerboard_size_x, checkerboard_size_y);

    // Show results:
    CDisplayWindow win1("Detected checkerboard");
    win1.showImage(img_detect1);

    timlog.dumpAllStats();
    timlog.clear();

    // wait till user closes any window:
    while (win1.isOpen())
    {
        std::this_thread::sleep_for(10ms);
    }
}

// ------------------------------------------------------
//                      MAIN
// ------------------------------------------------------
int main()
{
    try
    {
        TestCheckerboardDetectors();
        return 0;
    }
    catch (const std::exception& e)
    {
        std::cerr << "MRPT error: " << mrpt::exception_to_str(e) << std::endl;
        return -1;
    }
}