/// <summary>
/// Find checkerboard in image
/// </summary>
/// <param name="img">Image to search pattern for</param>
/// <param name="image_points">Detected checkerboard image points</param>
/// <returns>True if pattern was found, false otherwise</returns>
public override bool FindPattern(Emgu.CV.Image <Gray, byte> img, out System.Drawing.PointF[] image_points)
{
Emgu.CV.Image <Gray, byte> my_img = img.Copy();
my_img._EqualizeHist();
bool found = Emgu.CV.CameraCalibration.FindChessboardCorners(
my_img,
_inner_corners,
Emgu.CV.CvEnum.CALIB_CB_TYPE.ADAPTIVE_THRESH |
Emgu.CV.CvEnum.CALIB_CB_TYPE.FILTER_QUADS |
Emgu.CV.CvEnum.CALIB_CB_TYPE.NORMALIZE_IMAGE,
out image_points
);
if (found)
{
my_img.FindCornerSubPix(
new System.Drawing.PointF[][] { image_points },
new System.Drawing.Size(5, 5),
new System.Drawing.Size(-1, -1),
new MCvTermCriteria(0.001));
}
return(found);
}
public static PointF[] DetectCornersRB(Bitmap picture, Size patternSize)
{
var image = new Emgu.CV.Image<Emgu.CV.Structure.Bgr, byte>(picture);
Emgu.CV.Image<Emgu.CV.Structure.Gray, byte> gray = new Emgu.CV.Image<Emgu.CV.Structure.Gray, byte>(new byte[image.Height, image.Width, 1]);
for (var y = 0; y < image.Height; y++)
{
for (var x = 0; x < image.Width; x++)
{
var r = image[y, x].Red;
var b = image[y, x].Blue;
var g = image[y, x].Green;
var rd = Distance(new double[] { r, b, g }, new double[] { 255, 0, 0 });
if (rd < 200)
gray[y, x] = new Emgu.CV.Structure.Gray(0);
else
gray[y, x] = new Emgu.CV.Structure.Gray(255);
}
}
var corners = Emgu.CV.CameraCalibration.FindChessboardCorners(gray, patternSize, Emgu.CV.CvEnum.CALIB_CB_TYPE.ADAPTIVE_THRESH);
if (corners == null)
return null;
var cc = new PointF[][] { corners };
gray.FindCornerSubPix(cc, new System.Drawing.Size(11, 11), new System.Drawing.Size(-1, -1), new Emgu.CV.Structure.MCvTermCriteria(30, 0.1));
return corners;
}
public static PointF[] DetectCornersBW(Bitmap picture, Size patternSize)
{
var image = new Emgu.CV.Image<Emgu.CV.Structure.Gray, byte>(picture);
var corners = Emgu.CV.CameraCalibration.FindChessboardCorners(image, patternSize, Emgu.CV.CvEnum.CALIB_CB_TYPE.ADAPTIVE_THRESH);
if (corners == null)
return null;
var cc = new PointF[][] { corners };
image.FindCornerSubPix(cc, new System.Drawing.Size(11, 11), new System.Drawing.Size(-1, -1), new Emgu.CV.Structure.MCvTermCriteria(30, 0.1));
return corners;
}