detectCheckerboardPoints
Detect checkerboard pattern in image
Syntax
Description
Single Image Checkerboard Detection
[ detects the keypoints
of a checkerboard calibration pattern in a single image, a set of images, or
stereo image pairs. The function returns the detected points
imagePoints,boardSize]
= detectCheckerboardPoints(I)imagePoints, and dimensions of the checkerboard
boardSize.
[
detects a checkerboard pattern in a set of input images, provided as an array of
file names.imagePoints,boardSize,imagesUsed]
= detectCheckerboardPoints(imageFileNames)
[
detects a checkerboard pattern in a set of input images, provided as an array of
grayscale or truecolor images.imagePoints,boardSize,imagesUsed]
= detectCheckerboardPoints(images)
Stereo Pair Checkerboard Detection
[
detects a checkerboard pattern in stereo pairs of images, provided as cell
arrays of file names.imagePoints,boardSize,pairsUsed]
= detectCheckerboardPoints(imageFileNames1,imageFileNames2)
[
detects a checkerboard pattern in stereo pairs of images, provided as arrays of
grayscale or truecolor images.imagePoints,boardSize,pairsUsed]
= detectCheckerboardPoints(images1,images2)
Optional Arguments
[
uses additional options specified by one or more imagePoints,boardSize,pairsUsed]
= detectCheckerboardPoints(___,Name,Value)Name,Value
pair arguments. Unspecified properties have default values.
Examples
Create an imageDatastore containing calibration images from a GoPro camera.
imds = imageDatastore(fullfile(toolboxdir('vision'),'visiondata','calibration','gopro'));
Detect calibration pattern using the 'HighDistortion' option, which is good to use with fisheye lens images.
[imagePoints,boardSize,imagesUsed] = detectCheckerboardPoints(imds.Files(1:4),'HighDistortion',true);Display detected points.
for i = 1:4 % Read image I = readimage(imds, i); % Insert markers at detected point locations I = insertMarker(I, imagePoints(:,:,i), 'o', 'MarkerColor', 'red', 'Size', 10); % Display image subplot(2, 2, i); imshow(I); end
Load an image containing a checkerboard pattern.
imageFileName = fullfile(toolboxdir('vision'),'visiondata','calibration','webcam','image4.tif'); I = imread(imageFileName);
Detect the checkerboard points.
[imagePoints,boardSize] = detectCheckerboardPoints(I);
Display detected points.
J = insertText(I,imagePoints,1:size(imagePoints,1)); J = insertMarker(J,imagePoints,'o','MarkerColor','red','Size',5); imshow(J); title(sprintf('Detected a %d x %d Checkerboard',boardSize));
Create a cell array of file names of calibration images.
for i = 1:5 imageFileName = sprintf('image%d.tif', i); imageFileNames{i} = fullfile(matlabroot,'toolbox','vision',... 'visiondata','calibration','webcam',imageFileName); end
Detect calibration pattern in the images.
[imagePoints,boardSize,imagesUsed] = detectCheckerboardPoints(imageFileNames, 'PartialDetections', false);Display the detected points.
imageFileNames = imageFileNames(imagesUsed); for i = 1:numel(imageFileNames) I = imread(imageFileNames{i}); subplot(2, 2, i); imshow(I); hold on; plot(imagePoints(:,1,i),imagePoints(:,2,i),'ro'); end
Read in stereo images.
numImages = 4; images1 = cell(1, numImages); images2 = cell(1, numImages); for i = 1:numImages images1{i} = fullfile(matlabroot,'toolbox','vision',... 'visiondata','calibration','stereo','left',sprintf('left%02d.png',i)); images2{i} = fullfile(matlabroot,'toolbox','vision',... 'visiondata','calibration','stereo','right',sprintf('right%02d.png',i)); end
Detect the checkerboards in the images.
[imagePoints,boardSize,pairsUsed] = ...
detectCheckerboardPoints(images1,images2);Display points from images1.
images1 = images1(pairsUsed); figure; for i = 1:numel(images1) I = imread(images1{i}); subplot(2,2,i); imshow(I); hold on; plot(imagePoints(:,1,i,1),imagePoints(:,2,i,1),'ro'); end annotation('textbox',[0 0.9 1 0.1],'String','Camera 1',... 'EdgeColor','none','HorizontalAlignment','center')
Display points from images2.
images2 = images2(pairsUsed); figure; for i = 1:numel(images2) I = imread(images2{i}); subplot(2, 2, i); imshow(I); hold on; plot(imagePoints(:,1,i,2),imagePoints(:,2,i,2),'ro'); end annotation('textbox',[0 0.9 1 0.1],'String','Camera 2',... 'EdgeColor','none','HorizontalAlignment','center')
Input Arguments
Name-Value Arguments
Output Arguments
Detected checkerboard corner coordinates, returned as an M-by-2 matrix for one image. For multiple images, points are returned as an M-by-2-by-number of images array, and for stereo pairs of images, the function returns points as an M-by-2-by-number of pairs-by-number of cameras array.
For stereo pairs, imagePoints(:,:,:,1) are the points
from the first set of images, and imagePoints(:,:,:,2)
are the points from the second set of images. The output contains
M number of [x
y] coordinates. Each coordinate represents a point where
square corners are detected on the checkerboard. The number of points the
function returns depends on the value of boardSize,
which indicates the number of squares detected. The function detects the
points with sub-pixel accuracy.
The function calculates the number of points, M, as follows:
M = prod(boardSize-1). |
If the checkerboard cannot be detected:
imagePoints =
[] |
boardSize =
[0,0] |
When you specify the imageFileNames input, the
function can return imagePoints as an
M-by-2-by-N array. In this array,
N represents the number of images in which a
checkerboard is detected. If a checkerboard cannot be detected, the
function sets imagePoints to [].
For single camera images only:
If the complete checkerboard cannot be detected, the function returns a partially detected checkerboard with [
NaN,NaN] as the x-y coordinates for missing corners inimagePoints. This default behavior can be modified using the'PartialDetections'name-value argument.When possible, the function orients the partially detected checkerboard such that the location of the origin and the arrangement of the corners is consistent with the completely visible checkerboard. If the function cannot detect a complete checkerboard in any of the input images, the largest detected checkerboard is used as the reference checkerboard and the size of this board is returned in
boardSize.
Checkerboard dimensions, returned as a 2-element [height, width] vector. The dimensions of the checkerboard are expressed in terms of the number of squares.
If a checkerboard cannot be detected, the function sets
boardSize to [0,0].
Pattern detection flag, returned as an N-by-1 logical
vector of N logicals. The function outputs the same
number of logicals as there are input images. A true
value indicates that the pattern was detected in the corresponding image. A
false value indicates that the function did not
detect a pattern.
Stereo pair pattern detection flag, returned as an N-by-1 logical vector of
N logicals. The function outputs the same number of
logicals as there are input images. A true value
indicates that the pattern is detected in the corresponding stereo image
pair. A false value indicates that the function does not
detect a pattern.
For stereo pair pattern detection, the checkerboard needs to be fully visible in both images for it to be detected. Unlike single camera calibration, partially detected checkerboards are rejected for stereo image pairs.
References
[1] Geiger, A., F. Moosmann, O. Car, and B. Schuster. "Automatic Camera and Range Sensor Calibration using a Single Shot," International Conference on Robotics and Automation (ICRA), St. Paul, USA, May 2012.
Extended Capabilities
Version History
Introduced in R2014a
