cv::findContours()

在全覆盖路径规划算法(Complete Coverage Path Planning)中的应用(预处理栅格地图):

URL: https://markhedleyjones.com/projects/calibration-checkerboard-collection

Calibration Checkerboard Collection

Published: 2018-04-15 · Last updated: 2026-02-08

Free camera calibration checkerboards for computer vision research and robotics applications. Compatible with OpenCV, ROS camera_calibration, and other computer vision libraries. Download high-quality PDF checkerboards in A4, A3, A2, and A1 formats with no watermarks or advertising.

Disable any page scaling or automatic page fitting when printing, otherwise the checker dimensions will be incorrect.

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Generate Your Own Checkerboards

Generates Scalable Vector Graphic (SVG) files, which can be edited using free software such as Inkscape.

Page size:
Checker size:	mm
Page width:	mm
Page height:	mm

A4 - 25mm squares - 10x7 vertices, 11x8 squares

Click to open as SVG — then print (Ctrl+P) to save as PDF

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8x6 Checkerboards

A4 - 25mm squares - 8x6 vertices, 9x7 squaresA4 - 30mm squares - 8x6 vertices, 9x7 squaresA3 - 35mm squares - 8x6 vertices, 9x7 squaresA3 - 40mm squares - 8x6 vertices, 9x7 squaresA2 - 55mm squares - 8x6 vertices, 9x7 squaresA2 - 60mm squares - 8x6 vertices, 9x7 squaresA1 - 75mm squares - 8x6 vertices, 9x7 squaresA1 - 80mm squares - 8x6 vertices, 9x7 squares

A4 Checkerboards

A4 - 20mm squares - 13x9 vertices, 14x10 squaresA4 - 25mm squares - 10x7 vertices, 11x8 squaresA4 - 30mm squares - 8x6 vertices, 9x7 squaresA4 - 35mm squares - 7x4 vertices, 8x5 squaresA4 - 40mm squares - 6x4 vertices, 7x5 squaresA4 - 45mm squares - 5x3 vertices, 6x4 squaresA4 - 50mm squares - 4x2 vertices, 5x3 squaresA4 - 55mm squares - 4x2 vertices, 5x3 squaresA4 - 60mm squares - 3x2 vertices, 4x3 squaresA4 - 65mm squares - 3x2 vertices, 4x3 squaresA4 - 70mm squares - 3x2 vertices, 4x3 squares

A3 Checkerboards

A3 - 20mm squares - 19x13 vertices, 20x14 squaresA3 - 25mm squares - 15x10 vertices, 16x11 squaresA3 - 30mm squares - 12x8 vertices, 13x9 squaresA3 - 35mm squares - 10x7 vertices, 11x8 squaresA3 - 40mm squares - 8x6 vertices, 9x7 squaresA3 - 40mm squares - 9x6 vertices, 10x7 squaresA3 - 45mm squares - 8x5 vertices, 9x6 squaresA3 - 50mm squares - 7x4 vertices, 8x5 squaresA3 - 55mm squares - 6x4 vertices, 7x5 squaresA3 - 60mm squares - 5x3 vertices, 6x4 squaresA3 - 65mm squares - 5x3 vertices, 6x4 squaresA3 - 70mm squares - 4x3 vertices, 5x4 squaresA3 - 75mm squares - 4x2 vertices, 5x3 squaresA3 - 80mm squares - 4x2 vertices, 5x3 squaresA3 - 85mm squares - 3x2 vertices, 4x3 squaresA3 - 90mm squares - 3x2 vertices, 4x3 squaresA3 - 95mm squares - 3x2 vertices, 4x3 squares

A2 Checkerboards

A2 - 20mm squares - 28x19 vertices, 29x20 squaresA2 - 25mm squares - 22x15 vertices, 23x16 squaresA2 - 30mm squares - 18x13 vertices, 19x14 squaresA2 - 35mm squares - 15x11 vertices, 16x12 squaresA2 - 40mm squares - 13x9 vertices, 14x10 squaresA2 - 45mm squares - 12x8 vertices, 13x9 squaresA2 - 50mm squares - 10x7 vertices, 11x8 squaresA2 - 55mm squares - 9x6 vertices, 10x7 squaresA2 - 60mm squares - 8x6 vertices, 9x7 squaresA2 - 65mm squares - 8x5 vertices, 9x6 squaresA2 - 70mm squares - 7x4 vertices, 8x5 squaresA2 - 75mm squares - 6x4 vertices, 7x5 squaresA2 - 80mm squares - 6x4 vertices, 7x5 squaresA2 - 85mm squares - 5x3 vertices, 6x4 squaresA2 - 90mm squares - 5x3 vertices, 6x4 squaresA2 - 95mm squares - 5x3 vertices, 6x4 squaresA2 - 100mm squares - 4x3 vertices, 5x4 squaresA2 - 105mm squares - 4x3 vertices, 5x4 squaresA2 - 110mm squares - 4x2 vertices, 5x3 squaresA2 - 115mm squares - 4x2 vertices, 5x3 squaresA2 - 120mm squares - 3x2 vertices, 4x3 squaresA2 - 125mm squares - 3x2 vertices, 4x3 squaresA2 - 130mm squares - 3x2 vertices, 4x3 squaresA2 - 135mm squares - 3x2 vertices, 4x3 squaresA2 - 140mm squares - 3x2 vertices, 4x3 squares

A1 Checkerboards

A1 - 20mm squares - 41x28 vertices, 42x29 squaresA1 - 25mm squares - 32x22 vertices, 33x23 squaresA1 - 30mm squares - 27x18 vertices, 28x19 squaresA1 - 35mm squares - 23x15 vertices, 24x16 squaresA1 - 40mm squares - 20x13 vertices, 21x14 squaresA1 - 45mm squares - 17x12 vertices, 18x13 squaresA1 - 50mm squares - 15x10 vertices, 16x11 squaresA1 - 55mm squares - 14x9 vertices, 15x10 squaresA1 - 60mm squares - 13x8 vertices, 14x9 squaresA1 - 65mm squares - 11x8 vertices, 12x9 squaresA1 - 70mm squares - 11x7 vertices, 12x8 squaresA1 - 75mm squares - 10x6 vertices, 11x7 squaresA1 - 80mm squares - 8x6 vertices, 9x7 squaresA1 - 80mm squares - 9x6 vertices, 10x7 squaresA1 - 85mm squares - 8x5 vertices, 9x6 squaresA1 - 90mm squares - 8x5 vertices, 9x6 squaresA1 - 95mm squares - 7x5 vertices, 8x6 squaresA1 - 100mm squares - 7x4 vertices, 8x5 squaresA1 - 105mm squares - 7x4 vertices, 8x5 squaresA1 - 110mm squares - 6x4 vertices, 7x5 squaresA1 - 115mm squares - 6x4 vertices, 7x5 squaresA1 - 120mm squares - 6x4 vertices, 7x5 squaresA1 - 125mm squares - 5x3 vertices, 6x4 squaresA1 - 130mm squares - 5x3 vertices, 6x4 squaresA1 - 135mm squares - 5x3 vertices, 6x4 squaresA1 - 140mm squares - 5x3 vertices, 6x4 squaresA1 - 145mm squares - 4x3 vertices, 5x4 squaresA1 - 150mm squares - 4x2 vertices, 5x3 squaresA1 - 155mm squares - 4x2 vertices, 5x3 squaresA1 - 160mm squares - 4x2 vertices, 5x3 squaresA1 - 165mm squares - 4x2 vertices, 5x3 squaresA1 - 170mm squares - 3x2 vertices, 4x3 squaresA1 - 175mm squares - 3x2 vertices, 4x3 squaresA1 - 180mm squares - 3x2 vertices, 4x3 squaresA1 - 185mm squares - 3x2 vertices, 4x3 squaresA1 - 190mm squares - 3x2 vertices, 4x3 squares

1、Depth Anything V2

https://github.com/DepthAnything/Depth-Anything-V2

2、Prior Depth Anything

https://github.com/SpatialVision/Prior-Depth-Anything

3、Metric3D V2

https://github.com/YvanYin/Metric3D?tab=readme-ov-file

4、ZoeDepth

https://github.com/isl-org/ZoeDepth

5、MiDaS

https://github.com/isl-org/MiDaS

6、Depth Pro

https://github.com/apple/ml-depth-pro

7、DepthCrafter

https://github.com/Tencent/DepthCrafter

8、Marigold

https://github.com/prs-eth/Marigold

DBow2: https://github.com/dorian3d/DBoW2/tree/master

DBow3: https://github.com/rmsalinas/DBow3

一、OpenCV 图像格式转换为YUV420

         // yuv420sp format: CV_8UC1, cols: image_width, rows: image_height*3/2

         cv::cvtColor(image, yuv420sp, cv::COLOR_BGR2YUV_I420);

        注意: 上面这行代码转为YUV420后，Y、U、V都是单独平铺的,即 Y,Y,Y...   U,U,U... V,V,V...

二：转为YUV420sp, UV交叠

/*---------------------------------------------------------------------------
**  Convert image format: BGR to YUV420sp
**
**      YUV420sp:
**              Y  Y  Y   Y ...
**              U  V  U  V ...
** -------------------------------------------------------------------------*/
void    To_YUV420_SP(const cv::Mat &image, cv::Mat &yuv420sp)
{
    cv::cvtColor(image, yuv420sp, cv::COLOR_BGR2YUV_I420); // yuv420sp format: CV_8UC1, cols: image_width, rows: image_height*3/2

    cv::Mat  temp = yuv420sp.clone();
    const unsigned char *pU = temp.data + image.cols*image.rows;  // skip Y
    const unsigned char *pV = temp.data + image.cols*image.rows + image.cols*image.rows/4;  // skip Y and U

    unsigned char *pUV = yuv420sp.data + image.cols*image.rows;   // skip Y
    for(int j=0; j<image.cols*image.rows/4; j++){
        *pUV++ = *pU++;
        *pUV++ = *pV++;
    }
    return;
}