boofcv.alg.fiducial.calib.chess

Class DetectChessboardFiducial<T extends ImageGray>

java.lang.Object

boofcv.alg.fiducial.calib.chess.DetectChessboardFiducial<T>

public class DetectChessboardFiducial<T extends ImageGray>
extends java.lang.Object

Detects calibration points inside a chessboard calibration target. The image is first the image is thresholded to create a binary image for square detection, then the binary image is eroded to make sure the squares don't touch. After that DetectChessSquarePoints is called and it detects and sorts the squares.

The found control points are ensured to be returned in a row-major format with the correct number of rows and columns, with a counter clockwise ordering. Note that when viewed on the monitor this will appear to be clockwise because the y-axis points down. If there are multiple valid solution then the solution with the (0,0) grid point closest top the origin is selected.

Example of a 7 by 5 grid; row, column.

Constructor Summary

Constructors

Constructor and Description
DetectChessboardFiducial(int numRows, int numCols, double maxCornerDistance, BinaryPolygonDetector<T> detectorSquare, RefineBinaryPolygon<T> refineLine, RefineBinaryPolygon<T> refineCorner, InputToBinary<T> inputToBinary) Configures detection parameters

Method Summary

Modifier and Type	Method and Description
GrayU8	getBinary()
java.util.List<Point2D_F64>	getCalibrationPoints()
int	getColumns()
DetectChessSquarePoints	getFindSeeds()
int	getRows()
boolean	process(T gray)
void	reset() Forgets any past history and resets the detector

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

DetectChessboardFiducial

public DetectChessboardFiducial(int numRows,
                                int numCols,
                                double maxCornerDistance,
                                BinaryPolygonDetector<T> detectorSquare,
                                RefineBinaryPolygon<T> refineLine,
                                RefineBinaryPolygon<T> refineCorner,
                                InputToBinary<T> inputToBinary)

Configures detection parameters

Parameters:

numRows - Number of rows in the grid. Target dependent.

numCols - Number of columns in the grid. Target dependent.

maxCornerDistance - The maximum distance two square corners can be from each other in pixels

Method Detail

reset

public void reset()

Forgets any past history and resets the detector

process

public boolean process(T gray)

getFindSeeds

public DetectChessSquarePoints getFindSeeds()

getCalibrationPoints

public java.util.List<Point2D_F64> getCalibrationPoints()

getBinary

public GrayU8 getBinary()

getColumns

public int getColumns()

getRows

public int getRows()