Package boofcv.abst.fiducial.calib

Class CalibrationDetectorChessboardX

java.lang.Object

boofcv.abst.fiducial.calib.CalibrationDetectorChessboardX

All Implemented Interfaces:

DetectSingleFiducialCalibration

public class CalibrationDetectorChessboardX
extends Object
implements DetectSingleFiducialCalibration

Detector for chessboard calibration targets which searches for X-Corners. Returns the first chessboard which is detected and matches the expected size is returned.

Constructor Summary

Constructors

Constructor	Description
CalibrationDetectorChessboardX(ConfigChessboardX config, ConfigGridDimen shape)

Method Summary

Modifier and Type	Method	Description
ChessboardCornerClusterFinder<GrayF32>	getClusterFinder()
ChessboardCornerClusterToGrid	getClusterToGrid()
CalibrationObservation	getDetectedPoints()	Returns the set of detected points from the most recent call to DetectSingleFiducialCalibration.process(GrayF32).
DetectChessboardCornersXPyramid<GrayF32>	getDetector()
List<Point2D_F64>	getLayout()	Returns the layout of the calibration points on the target
static List<Point2D_F64>	gridChess(int numRows, int numCols, double squareWidth)	This target is composed of a checkered chess board like squares.
boolean	process(GrayF32 input)	Image processing for calibration target detection
void	setLensDistortion(@Nullable LensDistortionNarrowFOV distortion, int width, int height)	Explicitly handles lens distortion when detecting image features.

Methods inherited from class java.lang.Object

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

Constructor Details

CalibrationDetectorChessboardX

public CalibrationDetectorChessboardX(ConfigChessboardX config,
 ConfigGridDimen shape)

Method Details

process

public boolean process(GrayF32 input)

Description copied from interface: DetectSingleFiducialCalibration

Image processing for calibration target detection

Specified by:

process in interface DetectSingleFiducialCalibration

Parameters:

input - Gray scale image containing calibration target

Returns:

true if target was detected and false if not

getDetectedPoints

public CalibrationObservation getDetectedPoints()

Description copied from interface: DetectSingleFiducialCalibration

Returns the set of detected points from the most recent call to DetectSingleFiducialCalibration.process(GrayF32). Each time this function is invoked a new instance of the list and points is returned. No data reuse here.

Specified by:

getDetectedPoints in interface DetectSingleFiducialCalibration

Returns:

List of detected points in row major grid order.

getLayout

public List<Point2D_F64> getLayout()

Description copied from interface: DetectSingleFiducialCalibration

Returns the layout of the calibration points on the target

Specified by:

getLayout in interface DetectSingleFiducialCalibration

Returns:

List of calibration points

setLensDistortion

public void setLensDistortion(@Nullable
 @Nullable LensDistortionNarrowFOV distortion,
 int width,
 int height)

Description copied from interface: DetectSingleFiducialCalibration

Explicitly handles lens distortion when detecting image features. If used, features will be found in undistorted pixel coordinates

Specified by:

setLensDistortion in interface DetectSingleFiducialCalibration

getDetector

public DetectChessboardCornersXPyramid<GrayF32> getDetector()

getClusterFinder

public ChessboardCornerClusterFinder<GrayF32> getClusterFinder()

getClusterToGrid

public ChessboardCornerClusterToGrid getClusterToGrid()

gridChess

public static List<Point2D_F64> gridChess(int numRows,
 int numCols,
 double squareWidth)

This target is composed of a checkered chess board like squares. Each corner of an interior square touches an adjacent square, but the sides are separated. Only interior square corners provide calibration points.

Parameters:

numRows - Number of grid rows in the calibration target

numCols - Number of grid columns in the calibration target

squareWidth - How wide each square is. Units are target dependent.

Returns:

Target description