Class for finding features points and corresponding 3D in world coordinate of a "random" pattern, which can be to be used in calibration. It is useful when pattern is partly occluded or only a part of pattern can be observed in multiple cameras calibration. The pattern can be generated by RandomPatternGenerator class described in this file. More...

#include <opencv2/ccalib/randpattern.hpp>

Public Member Functions
	RandomPatternCornerFinder (float patternWidth, float patternHeight, int nminiMatch=20, int depth=CV_32F, int verbose=0, int showExtraction=0, Ptr< FeatureDetector > detector=AKAZE::create(AKAZE::DESCRIPTOR_MLDB, 0, 3, 0.005f), Ptr< DescriptorExtractor > descriptor=AKAZE::create(AKAZE::DESCRIPTOR_MLDB, 0, 3, 0.005f), Ptr< DescriptorMatcher > matcher=DescriptorMatcher::create("BruteForce-L1"))

void	computeObjectImagePoints (std::vector< cv::Mat > inputImages)

std::vector< cv::Mat >	computeObjectImagePointsForSingle (cv::Mat inputImage)

const std::vector< cv::Mat > &	getImagePoints ()

const std::vector< cv::Mat > &	getObjectPoints ()

void	loadPattern (const cv::Mat &patternImage)

void	loadPattern (const cv::Mat &patternImage, const std::vector< cv::KeyPoint > &patternKeyPoints, const cv::Mat &patternDescriptors)

Detailed Description

Class for finding features points and corresponding 3D in world coordinate of a "random" pattern, which can be to be used in calibration. It is useful when pattern is partly occluded or only a part of pattern can be observed in multiple cameras calibration. The pattern can be generated by RandomPatternGenerator class described in this file.

Please refer to paper B. Li, L. Heng, K. Kevin and M. Pollefeys, "A Multiple-Camera System Calibration Toolbox Using A Feature Descriptor-Based Calibration Pattern", in IROS 2013.

Constructor & Destructor Documentation

◆ RandomPatternCornerFinder()

cv::randpattern::RandomPatternCornerFinder::RandomPatternCornerFinder	(	float	patternWidth,
		float	patternHeight,
		int	nminiMatch = `20`,
		int	depth = `CV_32F`,
		int	verbose = `0`,
		int	showExtraction = `0`,
		Ptr< FeatureDetector >	detector = `AKAZE::create(AKAZE::DESCRIPTOR_MLDB, 0, 3, 0.005f)`,
		Ptr< DescriptorExtractor >	descriptor = `AKAZE::create(AKAZE::DESCRIPTOR_MLDB, 0, 3, 0.005f)`,
		Ptr< DescriptorMatcher >	matcher = `DescriptorMatcher::create("BruteForce-L1")`
	)

Member Function Documentation

◆ computeObjectImagePoints()

void cv::randpattern::RandomPatternCornerFinder::computeObjectImagePoints ( std::vector< cv::Mat > inputImages )

◆ computeObjectImagePointsForSingle()

std::vector< cv::Mat > cv::randpattern::RandomPatternCornerFinder::computeObjectImagePointsForSingle ( cv::Mat inputImage )

◆ getImagePoints()

const std::vector< cv::Mat > & cv::randpattern::RandomPatternCornerFinder::getImagePoints ( )

◆ getObjectPoints()

const std::vector< cv::Mat > & cv::randpattern::RandomPatternCornerFinder::getObjectPoints ( )

◆ loadPattern() [1/2]

void cv::randpattern::RandomPatternCornerFinder::loadPattern ( const cv::Mat & patternImage )

◆ loadPattern() [2/2]

void cv::randpattern::RandomPatternCornerFinder::loadPattern	(	const cv::Mat &	patternImage,
		const std::vector< cv::KeyPoint > &	patternKeyPoints,
		const cv::Mat &	patternDescriptors
	)

The documentation for this class was generated from the following file:

opencv2/ccalib/randpattern.hpp

Public Member Functions