/// <summary>
/// Находит углы в изображении шахматной доски, установленном с помощью SetImage
/// </summary>
/// <param name="corners">Найденные углы</param>
/// <returns>Показывает соответствуют-ли найленные углы шаблону CornersPattern</returns>
public bool FindCorners(out CvPoint2D32f[] corners)
{
bool result;
int numCorners;
ChessboardFlag flags = ChessboardFlag.AdaptiveThresh | ChessboardFlag.NormalizeImage | ChessboardFlag.FilterQuads;
CvTermCriteria criteria = new CvTermCriteria(CriteriaType.Iteration | CriteriaType.Epsilon, MaxIterations, Epsilon);
// Находим углы
result = chessBoard.FindChessboardCorners(CornersPattern, out corners, out numCorners, flags);
// Уточнаем положение углов
chessBoard.CvtColor(grayChessBoard, ColorConversion.RgbToGray);
grayChessBoard.FindCornerSubPix(corners, corners.Length, new CvSize(11, 11), new CvSize(-1, -1), criteria);
return(result);
}
/// <summary>
/// Finds the positions of internal corners of the chessboard.
/// </summary>
/// <param name="image">Source chessboard view. It must be an 8-bit grayscale or color image.</param>
/// <param name="patternSize">Number of inner corners per a chessboard row and column
/// ( patternSize = Size(points_per_row,points_per_colum) = Size(columns, rows) ).</param>
/// <param name="corners">Output array of detected corners.</param>
/// <param name="flags">Various operation flags that can be zero or a combination of the ChessboardFlag values</param>
/// <returns>The function returns true if all of the corners are found and they are placed in a certain order (row by row, left to right in every row).
/// Otherwise, if the function fails to find all the corners or reorder them, it returns false.</returns>
public static bool FindChessboardCorners(
InputArray image,
Size patternSize,
out Point2f[] corners,
ChessboardFlag flags = ChessboardFlag.AdaptiveThresh | ChessboardFlag.NormalizeImage)
{
if (image == null)
throw new ArgumentNullException("image");
image.ThrowIfDisposed();
using (var cornersVec = new VectorOfPoint2f())
{
int ret = NativeMethods.calib3d_findChessboardCorners_InputArray(
image.CvPtr, patternSize, cornersVec.CvPtr, (int)flags);
corners = cornersVec.ToArray();
return ret != 0;
}
}
/// <summary>
/// Finds the positions of internal corners of the chessboard.
/// </summary>
/// <param name="image">Source chessboard view. It must be an 8-bit grayscale or color image.</param>
/// <param name="patternSize">Number of inner corners per a chessboard row and column
/// ( patternSize = Size(points_per_row,points_per_colum) = Size(columns, rows) ).</param>
/// <param name="corners">Output array of detected corners.</param>
/// <param name="flags">Various operation flags that can be zero or a combination of the ChessboardFlag values</param>
/// <returns>The function returns true if all of the corners are found and they are placed in a certain order (row by row, left to right in every row).
/// Otherwise, if the function fails to find all the corners or reorder them, it returns false.</returns>
public static bool FindChessboardCorners(
InputArray image,
Size patternSize,
OutputArray corners,
ChessboardFlag flags = ChessboardFlag.AdaptiveThresh | ChessboardFlag.NormalizeImage)
{
if (image == null)
throw new ArgumentNullException("image");
if (corners == null)
throw new ArgumentNullException("corners");
image.ThrowIfDisposed();
corners.ThrowIfNotReady();
int ret = NativeMethods.calib3d_findChessboardCorners_InputArray(
image.CvPtr, patternSize, corners.CvPtr, (int)flags);
corners.Fix();
return ret != 0;
}
/// <summary>
/// 入力画像がチェスボードパターンであるかどうかを確認し，チェスボードの各コーナーの位置検出を試みる．
/// </summary>
/// <param name="image">入力のチェスボード画像．8ビットのグレースケールまたはカラー画像．</param>
/// <param name="patternSize">チェスボードの行と列ごとのコーナーの数</param>
/// <param name="corners">検出されたコーナーの配列. Length=pattern_size.Width*pattern_size.Height</param>
/// <param name="cornerCount">コーナーの数が出力される</param>
/// <param name="flags">処理フラグ</param>
/// <returns>すべてのコーナーが検出され，正しい順番（行順で，かつ各行は左から右に並ぶ）でそれらが配置されている場合には, true</returns>
#else
/// <summary>
/// Finds positions of internal corners of the chessboard
/// </summary>
/// <param name="image">Source chessboard view; it must be 8-bit grayscale or color image. </param>
/// <param name="patternSize">The number of inner corners per chessboard row and column. </param>
/// <param name="corners">The output array of corners detected. </param>
/// <param name="cornerCount">The output corner counter. If it is not null, the function stores there the number of corners found. </param>
/// <param name="flags">Various operation flags</param>
/// <returns>returns true if all the corners have been found and they have been placed in a certain order (row by row, left to right in every row), otherwise, if the function fails to find all the corners or reorder them, it returns false. </returns>
#endif
public static bool FindChessboardCorners(CvArr image, CvSize patternSize, out CvPoint2D32f[] corners, out int cornerCount, ChessboardFlag flags)
{
if (image == null)
{
throw new ArgumentNullException("image");
}
cornerCount = patternSize.Width * patternSize.Height;
corners = new CvPoint2D32f[cornerCount];
using (var cornersPtr = new ArrayAddress1<CvPoint2D32f>(corners))
{
int result = NativeMethods.cvFindChessboardCorners(image.CvPtr, patternSize, cornersPtr, ref cornerCount, flags);
return result != 0;
}
}
