boofcv.abst.fiducial

Class CalibrationFiducialDetector<T extends boofcv.struct.image.ImageGray<T>>

java.lang.Object

boofcv.abst.fiducial.FiducialDetectorPnP<T>

boofcv.abst.fiducial.CalibrationFiducialDetector<T>

All Implemented Interfaces:

FiducialDetector<T>

public class CalibrationFiducialDetector<T extends boofcv.struct.image.ImageGray<T>>
extends FiducialDetectorPnP<T>

Wrapper which allows a calibration target to be used like a fiducial for pose estimation. The origin of the coordinate system depends on the default for the calibration target.

Constructor Summary

Constructors

Constructor and Description
CalibrationFiducialDetector(ConfigChessboard config, java.lang.Class<T> imageType) Configure it to detect chessboard style targets
CalibrationFiducialDetector(ConfigCircleHexagonalGrid config, java.lang.Class<T> imageType)
CalibrationFiducialDetector(ConfigCircleRegularGrid config, java.lang.Class<T> imageType)
CalibrationFiducialDetector(ConfigSquareGridBinary config, java.lang.Class<T> imageType) Configure it to detect square-grid style targets
CalibrationFiducialDetector(ConfigSquareGrid config, java.lang.Class<T> imageType) Configure it to detect square-grid style targets

Method Summary

Modifier and Type	Method and Description
void	detect(T input) Detects fiducials inside the image
georegression.struct.shapes.Polygon2D_F64	getBounds(int which, georegression.struct.shapes.Polygon2D_F64 storage) Used to retrieve the bounds around a marker in the image.
boofcv.abst.geo.calibration.DetectorFiducialCalibration	getCalibDetector()
java.util.List<georegression.struct.point.Point2D_F64>	getCalibrationPoints()
void	getCenter(int which, georegression.struct.point.Point2D_F64 location) Returns the detection point average location.
protected java.util.List<boofcv.struct.geo.Point2D3D>	getControl3D(int which) 3D location of control points in the fiducial reference frame
java.util.List<boofcv.struct.geo.PointIndex2D_F64>	getDetectedControl(int which) Returns a list of detected control points in the image for the specified fiducial.
long	getId(int which) If applicable, returns the ID of the fiducial found.
boofcv.struct.image.ImageType<T>	getInputType() Type of input image
java.lang.String	getMessage(int which) If applicable, returns a message associated with the fiducial.
java.util.List<boofcv.struct.geo.Point2D3D>	getPoints2D3D()
double	getWidth(int which) Returns the width of the fiducial in world units.
boolean	hasMessage() If true then FiducialDetector.getMessage(int) returns a valid message
boolean	hasUniqueID() If true then FiducialDetector.getId(int) returns a valid unique number
protected void	init(boofcv.abst.geo.calibration.DetectorFiducialCalibration detector, double width, java.lang.Class<T> imageType)
protected void	selectBoundaryCorners() Selects points which will be the corners in the boundary.
int	totalFound() The total number of fiducial found

Methods inherited from class boofcv.abst.fiducial.FiducialDetectorPnP

computeStability, estimatePose, getFiducialToCamera, getLensDistortion, is3D, setLensDistortion

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

CalibrationFiducialDetector

public CalibrationFiducialDetector(ConfigChessboard config,
                                   java.lang.Class<T> imageType)

Configure it to detect chessboard style targets

CalibrationFiducialDetector

public CalibrationFiducialDetector(ConfigSquareGrid config,
                                   java.lang.Class<T> imageType)

Configure it to detect square-grid style targets

CalibrationFiducialDetector

public CalibrationFiducialDetector(ConfigSquareGridBinary config,
                                   java.lang.Class<T> imageType)

Configure it to detect square-grid style targets

CalibrationFiducialDetector

public CalibrationFiducialDetector(ConfigCircleHexagonalGrid config,
                                   java.lang.Class<T> imageType)

CalibrationFiducialDetector

public CalibrationFiducialDetector(ConfigCircleRegularGrid config,
                                   java.lang.Class<T> imageType)

Method Detail

init

protected void init(boofcv.abst.geo.calibration.DetectorFiducialCalibration detector,
                    double width,
                    java.lang.Class<T> imageType)

selectBoundaryCorners

protected void selectBoundaryCorners()

Selects points which will be the corners in the boundary. Finds the convex hull.

detect

public void detect(T input)

Description copied from interface: FiducialDetector

Detects fiducials inside the image

Parameters:

input - Input image. Not modified.

getCenter

public void getCenter(int which,
                      georegression.struct.point.Point2D_F64 location)

Returns the detection point average location. This will NOT be the same as the geometric center.

Parameters:

which - Fiducial's index

location - (output) Storage for the transform. modified.

getBounds

public georegression.struct.shapes.Polygon2D_F64 getBounds(int which,
                                                           @Nullable
                                                           georegression.struct.shapes.Polygon2D_F64 storage)

Description copied from interface: FiducialDetector

Used to retrieve the bounds around a marker in the image. How the bounds are defined is left up the implementation. It could be a simple rectangle or it could be corner features.

Parameters:

which - Which fiducial.

storage - (Optional) Storage for markers.

Returns:

Found marker. Points are owned by the caller and will not be modified in the future.

totalFound

public int totalFound()

Description copied from interface: FiducialDetector

The total number of fiducial found

Returns:

number of targets found

getId

public long getId(int which)

Description copied from interface: FiducialDetector

If applicable, returns the ID of the fiducial found. Call FiducialDetector.hasUniqueID() to see if this function returns a valid value.

Parameters:

which - Detected fiducial's index

Returns:

ID of the fiducial

getMessage

public java.lang.String getMessage(int which)

Description copied from interface: FiducialDetector

If applicable, returns a message associated with the fiducial. Call FiducialDetector.hasMessage() ()} to see if this function returns a valid value.

Parameters:

which - Detected fiducial's index

Returns:

Encoded message

getInputType

public boofcv.struct.image.ImageType<T> getInputType()

Description copied from interface: FiducialDetector

Type of input image

getCalibrationPoints

public java.util.List<georegression.struct.point.Point2D_F64> getCalibrationPoints()

getCalibDetector

public boofcv.abst.geo.calibration.DetectorFiducialCalibration getCalibDetector()

getPoints2D3D

public java.util.List<boofcv.struct.geo.Point2D3D> getPoints2D3D()

getWidth

public double getWidth(int which)

Description copied from interface: FiducialDetector

Returns the width of the fiducial in world units. If not square then it returns a reasonable approximation. Intended for use in visualization and not precise calculations.

Parameters:

which - Fiducial's index

Returns:

Fiducial's width.

hasUniqueID

public boolean hasUniqueID()

Description copied from interface: FiducialDetector

If true then FiducialDetector.getId(int) returns a valid unique number

Returns:

boolean

hasMessage

public boolean hasMessage()

Description copied from interface: FiducialDetector

If true then FiducialDetector.getMessage(int) returns a valid message

Returns:

boolean

getDetectedControl

public java.util.List<boofcv.struct.geo.PointIndex2D_F64> getDetectedControl(int which)

Description copied from class: FiducialDetectorPnP

Returns a list of detected control points in the image for the specified fiducial. Observations will be in distorted image pixels.

Specified by:

getDetectedControl in class FiducialDetectorPnP<T extends boofcv.struct.image.ImageGray<T>>

getControl3D

protected java.util.List<boofcv.struct.geo.Point2D3D> getControl3D(int which)

Description copied from class: FiducialDetectorPnP

3D location of control points in the fiducial reference frame

Specified by:

getControl3D in class FiducialDetectorPnP<T extends boofcv.struct.image.ImageGray<T>>

Returns:

3D location of control points